CN113714692B - Grabbing mechanism for welding vehicle body and welding system - Google Patents

Grabbing mechanism for welding vehicle body and welding system Download PDF

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Publication number
CN113714692B
CN113714692B CN202111036200.9A CN202111036200A CN113714692B CN 113714692 B CN113714692 B CN 113714692B CN 202111036200 A CN202111036200 A CN 202111036200A CN 113714692 B CN113714692 B CN 113714692B
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China
Prior art keywords
welding
welded
pin
space
vehicle body
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CN202111036200.9A
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Chinese (zh)
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CN113714692A (en
Inventor
黄诚
封余荣
黄大练
胡扬
卢政君
李厚洪
钟俊
欧阳晓文
陶择恒
刘汉水
左文翔
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Dongfeng Liuzhou Motor Co Ltd
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Dongfeng Liuzhou Motor Co Ltd
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Priority to CN202111036200.9A priority Critical patent/CN113714692B/en
Publication of CN113714692A publication Critical patent/CN113714692A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads

Abstract

The invention relates to the technical field of welding process and equipment, and provides a grabbing mechanism and a welding system for welding a vehicle body, wherein the grabbing mechanism comprises: the welding device comprises a frame body, a first clamp, a second clamp, a third pin and a positioning surface, wherein a first space and a second space are formed on the outer side of the frame body; the third pin bodies correspond to the positioning surfaces one to one respectively, and each third pin body is arranged on the positioning surface respectively. The invention is suitable for the configuration and layout of the tooling equipment for combining two or more working procedures into one working procedure to carry out automatic loading and welding, and achieves the aims of high automation rate, high production takt, high welding precision, reduction of the floor area of a production line and investment saving.

Description

Grabbing mechanism for welding vehicle body and welding system
Technical Field
The invention belongs to the technical field of welding processes and equipment, and particularly relates to a grabbing mechanism and a welding system for welding a vehicle body.
Background
The welding of the car body is one of four major processes in the manufacture of the car, and according to the existing process idea, the welding process flow is generally designed according to the assembly sequence of the car body structure. For example, a side wall of a certain truck body needs 3 steps to assemble from an outer plate single piece to a side wall assembly, and 3 piece loading/positioning welding stations are arranged on the existing side wall welding line. In the side wall welding technology transformation practice, collinear production vehicle models need to be increased, the automation rate is improved, if a welding line is designed according to 3 loading/positioning welding stations, the investment of tooling equipment is large, the existing workshop area does not contain the arrangement of the welding line, the number of work positions needs to be compressed, and 2 times of loading and 2 times of welding are carried out on one station. (wherein the primary part: the first object to be welded; the secondary part: the second object to be welded).
The common 2 times of piece feeding and 2 times of welding automation scheme under the prior art is as follows: (1) the welding robot completes one-time welding; (2) A workpiece loading robot (with a workpiece loading gripper) grabs a secondary workpiece; (3) Opening the clamp, and putting the secondary part into the clamp by the workpiece feeding robot; (4) Clamping by a clamp, namely positioning and clamping the secondary part on the primary part; (5) welding by a welding robot; (6) The transfer robot takes out the process-completed article from the jig and sends it to the next process.
The disadvantages are that: the method comprises the following steps of (1) multiple steps and long beat; (2) The secondary workpiece feeding robot and the workpiece finishing robot and the gripper are not shared; (3) The type variety is many, and the location of secondary spare/clamping unit is all done on anchor clamps, and anchor clamps structure is too complicated, and the welding space is little, and the welding of multirobot can not expand, and some solder joints can not weld.
Disclosure of Invention
The invention aims to provide a grabbing mechanism for welding a vehicle body, which aims to solve the technical problem that in the prior art, units for positioning and clamping a secondary object to be welded are arranged on a clamp, so that the clamp is very complicated, and in addition, the aims of automation, high beat and high-precision welding are expected to be achieved.
In order to realize the purpose, the invention adopts the technical scheme that: provided is a grasping mechanism for vehicle body welding, including: the device comprises a frame body, a first pin body, a first clamp, a second clamp, a third pin body and a positioning surface, wherein a first space and a second space are formed on the outer side of the frame body; the second space is positioned between the first space and the frame body; the third pin bodies correspond to the positioning surfaces one by one respectively, and each third pin body is arranged on the positioning surface respectively.
Further, the support body includes: a plurality of rod bodies which are mutually crossed and fixed.
Furthermore, any two mutually crossed rod bodies are arranged perpendicularly to each other.
Further, the cross section of each rod body is octagonal.
Furthermore, the intersection between any two adjacent rod bodies is fixedly connected through a connecting piece.
Further, each of the connecting members is in a triangular shape.
Further, the number of the first pin body and the second pin body is respectively multiple; the number of the first clamper and the second clamper is respectively a plurality.
Furthermore, the number of the third pin bodies and the number of the positioning surfaces are respectively multiple; the third pin bodies correspond to the positioning surfaces one by one respectively; and each third pin body is respectively arranged on the positioning surface.
The present invention also provides a welding system comprising: the grabbing mechanism is used for welding the vehicle body, the sliding rail is used for allowing the first object to be welded to slide, the welding robot is close to the sliding rail and used for welding the first object to be welded on the sliding rail, and the carrying robot is provided with an arm; the frame body is connected to the arm.
Further, still include: the mounting plate and the connecting seat are arranged on the mounting plate; the arm is connected to the connecting seat.
The grabbing mechanism for welding the vehicle body has the advantages that: compared with the prior art, the grabbing mechanism for welding the vehicle body has the advantages that the first space and the second space are formed on the outer side of the frame body, the first space can be used for placing a first object to be welded, and the second space can be used for placing a second object to be welded; the first pin body is inserted into the first object to be welded in the first space, so that the frame body and the first object to be welded can be positioned, then the first clamp is used for fixing the first object to be welded, so that the frame body and the first object to be welded can be fixed, the first object to be welded is very convenient to position, and the structure is very simple; the second pin body is inserted in the second of establishing in the second space and treats on the welding object can carry out and treat the support body and second and treat and fix between the welding object, then the second holder treats the second and treats that the welding object is fixed can fix the support body and second and treat the welding object, and it is very convenient to treat the welding object to fix a position the second, and the structure is very simple. In addition, the second space is located between the first space and the frame body, so that the second object to be welded is fixed in the second space first, and then the first object to be welded can be fixed in the first space, and the first object to be welded and the second object to be welded can be welded conveniently. In addition, when the frame body moves or rotates through the mechanical arm, the first object to be welded or the second object to be welded can be very conveniently welded at different positions.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description 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 for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic perspective view of a grabbing mechanism for welding a vehicle body according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of the point A in FIG. 1;
FIG. 3 is a schematic front view of a gripping mechanism for welding a vehicle body according to an embodiment of the present invention;
FIG. 4 is a schematic front view of a second object to be welded grabbed by the grabbing mechanism for vehicle body welding provided by the embodiment of the invention;
FIG. 5 is a schematic perspective view of a second object to be welded being grabbed by the grabbing mechanism for vehicle body welding provided by the embodiment of the invention;
FIG. 6 is a schematic front view of a first object to be welded and a second object to be welded being grabbed by the grabbing mechanism for vehicle body welding provided by the embodiment of the invention;
fig. 7 is a welding flow chart provided by an embodiment of the invention.
Wherein, in the figures, the respective reference numerals:
1-a frame body; 11-a rod body; 12-a connector; 211-a first pin body; 212-a first gripper; 221-a second pin body; 222-a second gripper; 231-a third pin body; 232-positioning surface; 31-a welding robot; 41-a first object to be welded; 42-a second object to be welded; 51-a mounting plate; 52-a connection seat; 53-a slide rail; 54-staff; 55-a conveyor; 56-a clamp; 571-connecting a process station; 572-first piece on bit; 573-weld site; 574-second upper bit; 581-a first handling robot arm; 582-a second handling robot.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should be noted that in the description of the embodiments of the present application, "/" indicates an OR meaning unless otherwise stated, for example, A/B may indicate A or B; "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. Wherein, A and B can be singular or plural respectively.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 7, a grabbing mechanism for welding a vehicle body according to the present invention will be described. A snatch mechanism for automobile body welding includes: the welding device comprises a frame body 1, a first pin body 211, a first clamp 212, a second pin body 221 and a second clamp 222, wherein a first space and a second space are formed on the outer side of the frame body 1, the first pin body 211 is arranged on the frame body 1 and used for being inserted into a first object to be welded 41 in the first space, the first clamp 212 is arranged on the frame body 1 and used for clamping the first object to be welded 41 in the first space, the second pin body 221 is arranged on the frame body 1 and used for being inserted into a second object to be welded 42 in the second space, and the second clamp 222 is arranged on the frame body 1 and used for clamping the second object to be welded 42 in the second space; the second space is located between the first space and the frame body 1.
Thus, a first space and a second space are formed on the outer side of the frame body 1, the first space can be used for placing the first object to be welded 41, and the second space can be used for placing the second object to be welded 42; the first pin body 211 is inserted into the first object 41 to be welded in the first space to position the frame body 1 and the first object 41 to be welded, and then the first clamp 212 fixes the first object 41 to be welded to fix the frame body 1 and the first object 41 to be welded, so that the first object 41 to be welded is very convenient to position and has a very simple structure; the second pin 221 is inserted into the second object 42 to be welded in the second space, so that the frame body 1 and the second object 42 to be welded can be positioned, then the second holder 222 fixes the second object 42 to be welded, so that the frame body 1 and the second object 42 to be welded can be fixed, the second object 42 to be welded is very convenient to position, and the structure is very simple. In addition, the second space is located between the first space and the frame body 1, so that the first object 41 to be welded can be fixed in the first space after the second object 42 to be welded is fixed in the second space, and the first object to be welded and the second object to be welded can be welded conveniently. In addition, when the frame body 1 moves through the mechanical arm or rotates in the direction, different positions on the first object to be welded 41 or the second object to be welded 42 can be very conveniently welded.
Referring to fig. 1 to 7, a grabbing mechanism for welding a vehicle body according to the present invention will be described. The method comprises the following steps: a frame body 1 with a first space and a second space formed on the outer side, a first pin body 211 arranged on the frame body 1 and used for being inserted into a first object to be welded 41 in the first space, a first clamper 212 arranged on the frame body 1 and used for clamping the first object to be welded 41 in the first space, a second pin body 221 arranged on the frame body 1 and used for being inserted into a second object to be welded 42 in the second space, a second clamper 222 arranged on the frame body 1 and used for clamping the second object to be welded 42 in the second space, a third pin body 231 arranged on the frame body 1 and used for being inserted into external equipment, and a positioning surface 232 arranged on the frame body 1 and used for being attached and positioned with the external equipment; the second space is positioned between the first space and the frame body 1; the third pin bodies 231 correspond to the positioning surfaces 232 one by one, and each third pin body 231 is disposed on the positioning surface 232. So, the third pin 231 is inserted in the positioning hole of external device and is attached to the positioning surface 232 of the external device, and the frame body 1 can be positioned.
In one embodiment, the first gripper 212 comprises: the clamping device comprises a first clamping part, a second clamping part and a first air cylinder for driving the first clamping part and the second clamping part to clamp.
In one embodiment, the second gripper 222 comprises: the clamping device comprises a third clamping part, a fourth clamping part and a second air cylinder for driving the third clamping part and the fourth clamping part to clamp.
In one embodiment, the first space is a space defined by the surface of the frame body 1. In one embodiment, the second space is a space enclosed by the surface of the frame body 1.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, the frame body 1 includes: a plurality of rod bodies 11 fixed to each other in a crossing manner. Thus, the mutually crossed and fixed rod bodies 11 can reduce the weight; the rod body 11 and the rod body 11 can be mutually supported.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, any two cross rods 11 are perpendicular to each other. Thus, when the rods 11 are stretched or squeezed in directions perpendicular to each other, the rods 11 can be supported by each other.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, the cross sections of the rods 11 are octagonal. Thus, when the rod body 11 is externally compressed, the surfaces of the rod body 11 having the octagonal shape are easily supported by each other.
In one embodiment, the rod 11 is a tube, and a hollow tube is disposed in the tube, and the hollow tube and the tube extend in the same direction; the hollow pipe and the inner wall of the pipe body are arranged at intervals, and the hollow pipe and the pipe body are connected through a plurality of ribs arranged at intervals. In one embodiment, the inner wall of the hollow pipe between the adjacent ribs is provided with a mounting hole, so that the weight is reduced, and the external structure is conveniently mounted on the pipe body through the mounting hole. In one embodiment, the ribs are in the form of strip plates. In one embodiment, the ribs are disposed perpendicular to the outer surface of the hollow tube. In one embodiment, for two adjacent ribs, the distance between two adjacent ribs gradually decreases in the direction close to the tubular shape.
In one embodiment, the first holder 212 is connected to a first base having a first U-shaped slot; the pipe body is clamped in the first U-shaped groove, and the first fastening piece is fixed on the mounting hole in the pipe body through the first base. In one embodiment, the first stress release groove is formed on the inner wall of the first U-shaped groove. In one embodiment, a first opening is formed between two adjacent ribs, and the opening direction of the first opening faces the first stress relief groove, so that the first opening can assist stress relief in the process of relieving stress of the first stress relief groove. In one embodiment, the edge of the first stress release groove is formed with a first bending part, the stress on the first base is transmitted to the pipe body through the first bending part, the surface of the pipe body is formed with a second bending part, the stress on the ribs is transmitted to the second bending part, and the first bending part and the second bending part can transmit the stress to each other. In one embodiment, the ribs form first junctions with the tubular body. In one embodiment, the thickness of the tube body increases gradually in a direction of the sidewall of the tube body near the first intersection of the ribs and the inner wall of the tube body, and in one embodiment, the rate of the increase of the thickness of the tube body increases gradually closer to the first intersection (i.e., the increase of the thickness of the tube body increases gradually larger every time the tube body approaches the first predetermined distance during the approach of the first intersection), so that stress is more stably transmitted between the ribs and the tube body. In one embodiment, at the first intersection with the rib on the pipe body, the outer surface of the first intersection is formed by combining two planes with included angles larger than ninety degrees, so that in the process of transferring stress on the outer surface, sudden change occurs at the intersection of the planes, and the stress is released conveniently; the inner surface of the first intersection is a first cambered surface, and the surface of the rib is smoothly connected with the first cambered surface, so that stress can be conveniently transferred between the rib and the first cambered surface; for the pipe body, the stress is released by adopting a stress abrupt change mode on the outer surface, and the stress is transferred by adopting a flat and transfer mode on the inner surface, so that the stress release is facilitated, and the stable balance of the internal stress of the pipe body is also facilitated.
In one embodiment, the second holder 222 is connected to a second base having a second U-shaped slot; the pipe body is clamped in the second U-shaped groove, and the second fastening piece is fixed on the mounting hole in the pipe body through the second base. In one embodiment, the inner wall of the second U-shaped groove is provided with a second stress release groove. In one embodiment, a second opening is formed between two adjacent ribs, and the opening direction of the second opening faces to the second stress relief groove, so that the second opening can assist in stress relief during stress relief of the second stress relief groove. In one embodiment, the edge of the second stress relief groove is formed with a third bending portion, the stress on the second base is transmitted to the tube body through the third bending portion, the surface of the tube body is formed with a fourth bending portion, the stress on the rib is transmitted to the fourth bending portion, and the third bending portion and the fourth bending portion can transmit the stress to each other. In one embodiment, the second intersection is formed between the rib and the tubular body. In one embodiment, the thickness of the tube body increases gradually in a direction of the sidewall of the tube body near the second intersection of the ribs and the inner wall of the tube body, and in one embodiment, the rate of the increase of the thickness of the tube body increases the further the sidewall is near the second intersection (i.e., the increase of the thickness of the tube body increases gradually every time the sidewall is near the first predetermined distance in the process of near the second intersection), so that stress is more stably transferred between the ribs and the tube body. In one embodiment, at the second intersection with the rib on the pipe body, the outer surface of the second intersection is formed by combining two planes with an included angle larger than ninety degrees, so that sudden change occurs at the intersection of the planes in the process of transferring stress on the outer surface, and the stress is released conveniently; the inner surface of the second intersection is a first cambered surface, and the surface of the rib is smoothly connected with the first cambered surface, so that stress can be conveniently transferred between the rib and the second cambered surface; for the pipe body, the stress release is carried out on the outer surface in a stress mutation mode, and the stress transfer is carried out on the inner surface in a flat and transfer mode, so that the stress release is facilitated, and the stable balance of the internal stress of the pipe body is also facilitated.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, the intersection between any two adjacent rod bodies 11 is fixedly connected through a connecting member. In this manner, the connector can enhance the ability of adjacent rods 11 to share or transfer stresses with each other.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for vehicle body welding according to the present invention, each connecting member is in a triangular shape. Thus, the triangular connector can be very conveniently installed at the intersection of the rod bodies 11.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, the number of the first pin body 211 and the second pin body 221 is multiple; the number of the first clamper 212 and the second clamper 222 is plural respectively. In this way, the plurality of first pin bodies 211 inserted on the first object to be welded 41 can be positioned more firmly; the plurality of second pins 221 are inserted on the second object to be welded 42 to enable more secure positioning.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, the grabbing mechanism further includes: a plurality of third pin bodies 231; the frame body 1 is provided with a plurality of positioning surfaces 232; the third pin bodies 231 correspond to the positioning surfaces 232 one by one; the third pins 231 are respectively disposed on the positioning surfaces 232. Thus, the frame body 1 can be inserted into the positioning hole of the external device through the third pin 231 to accurately position the frame body 1 in the coordinate system of the whole vehicle, and the accuracy of the MSA (Measurement Systems Analysis) system of the frame body 1 conforms to the technical standard of the welding fixture.
Referring to fig. 1 to 7, the present invention further provides a welding system, including: the above-mentioned gripping mechanism for vehicle body welding, the slide rail 53 for the first object to be welded 41 to slide, the welding robot 31 near the slide rail 53 for welding the first object to be welded 41 on the slide rail 53, and the transfer robot having an arm; the frame body 1 is connected to the arm. In this way, the first object to be welded 41 can be welded by approaching the welding robot 31 through the slide rail 53, the handling robot can adjust the position of the frame body 1 through an arm, and the grabbing mechanism for welding the vehicle body can grab the first object to be welded 41 and/or the second object to be welded 42; the frame body 1 can bring the second object to be welded 42 close to the first object to be welded 41 so that the welding robot 31 can weld the first object to be welded 41 and the second object to be welded 42 together; due to the adoption of the grabbing mechanism for welding the vehicle body, a first space and a second space are formed on the outer side of the frame body 1, the first space can be used for placing a first object to be welded 41, and the second space can be used for placing a second object to be welded 42; the first pin body 211 is inserted into the first object 41 to be welded in the first space to position the frame body 1 and the first object 41 to be welded, and then the first clamp 212 fixes the first object 41 to be welded to fix the frame body 1 and the first object 41 to be welded, so that the first object 41 to be welded is very convenient to position and has a very simple structure; the second pin 221 is inserted into the second object 42 to be welded in the second space, so that the frame body 1 and the second object 42 to be welded can be positioned, then the second holder 222 fixes the second object 42 to be welded, so that the frame body 1 and the second object 42 to be welded can be fixed, the second object 42 to be welded is very convenient to position, and the structure is very simple. In addition, the second space is located between the first space and the frame body 1, so that the first object 41 to be welded can be fixed in the first space after the second object 42 to be welded is fixed in the second space, and the first object to be welded and the second object to be welded can be welded conveniently. In addition, when the frame body 1 moves through the mechanical arm or rotates in the direction, different positions on the first object to be welded 41 or the second object to be welded 42 can be very conveniently welded.
In one embodiment, the worker 54 stands upstream of the slide rail 53, and the worker 54 can place the first object 41 on the slide rail 53 for movement of the first object 41.
Further, referring to fig. 1 to 7, as an embodiment of the grabbing mechanism for welding the vehicle body according to the present invention, the grabbing mechanism further includes: a mounting plate 51 and a connecting base 52 provided on the mounting plate 51; the arm is connected to the connecting base 52. So, transfer robot's arm can be fixed on support body 1 through connecting seat 52 and mounting panel 51, and transfer robot's arm of being convenient for drives support body 1 and removes.
In one embodiment, the welding process is: (step 1): the quarter outer panel, and the like (hereinafter, collectively referred to as a primary object (i.e., the first object to be welded 41)) are placed on the jig 56 on the slide rail 53 at a primary upper position. After the workpiece is loaded, the fixture 56 slides to the welding position for robotic welding (e.g., by welding robot 31). (step 2): side wall inner panel T-shaped parts (hereinafter, collectively referred to as secondary parts (i.e., second object to be welded 42)) are placed at the second placing position 574, and grippers on the second handling robot arm 582 (i.e., gripping mechanisms for vehicle body welding) grip the secondary parts from the conveyor 55 (i.e., secondary part accumulation type stored conveyor (APC)), and wait at an aerial safety position. (step 3): after the primary piece is tack welded, the welding robot returns to the original position, and the gripper on the second carrying mechanical arm 582 places the secondary piece into the clamp 56. At this point, the clamp 56 remains clamped to keep the disposable from being misaligned. (step 4): the gripper positions and clamps the primary piece together with the secondary piece and the clamp 56 is opened. (step 5): the gripper on the second handling robot 582 lifts the primary part together with the secondary part to the aerial welding position, and the third pin 231 of the gripper on the second handling robot 582 is inserted into the positioning hole provided on the steel platform for positioning. (step 6): the robot performs the positioning welding of the secondary part and the repair welding of other welding points of the primary part, and the clamp 56 returns to the primary workpiece loading position to perform the next workpiece loading operation. (step 7): after the secondary positioning welding is finished, the side wall assembly formed by the primary part and the secondary part is conveyed to a lower station by the gripper on the second carrying mechanical arm 582, and the welding robot returns to the welding station to perform the next welding. (step 8): the gripper on the second handling robot 582 lowers the side wall assembly, returns to grip the secondary part, and waits for the second part to be loaded at the aerial safety position.
In one embodiment, a gripper (i.e., a gripping mechanism for vehicle body welding) on the first handling robot 581 may place the first object to be welded 41 on the slide rail 53.
In one embodiment, the first and second transfer robot 581, 582 are located at the transfer robots, respectively.
In one embodiment, the settings A module: comprises a frame body 1; setting a module B: comprises a second pin body 221 and a second clamp 222; setting a module C: comprises a first pin body 211 and a first clamp 212; (1) The modules A and B are used, so that the secondary part can be grabbed, accurately positioned, clamped, carried and placed into the clamp. (2) The modules A, B and C are used, so that the secondary part and the primary part can be accurately positioned and clamped together and are transported to an overhead welding position. (3) The module D is used, so that the gripper can be positioned on the steel platform to obtain an accurate space coordinate position, the structural rigidity and strength of the gripper are increased, the welding stability and accuracy of the robot are improved in an overhead welding position (4), and the modules A, B and C are used, so that a finished workpiece can be conveyed to be processed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (9)

1. A snatch mechanism for automobile body welding, its characterized in that includes: the device comprises a frame body, a first pin body, a first clamp, a second clamp, a third pin body and a positioning surface, wherein a first space and a second space are formed on the outer side of the frame body; the second space is positioned between the first space and the frame body; the third pin bodies correspond to the positioning surfaces one by one respectively, and each third pin body is arranged on the positioning surface respectively;
the support body includes: a plurality of rod bodies which are mutually crossed and fixed; the rod body is a tube body, a hollow tube is arranged in the tube body, and the extending directions of the hollow tube and the tube body are the same; the hollow pipe and the inner wall of the pipe body are arranged at intervals, and the hollow pipe and the pipe body are connected through a plurality of ribs arranged at intervals; mounting holes are formed in the inner wall of the hollow pipe between the adjacent ribs; the ribs are in a strip plate shape and are vertically arranged with the outer surface of the hollow pipe;
further comprising: a first base and a first fastener; the first base is connected to the first clamp holder, and a first U-shaped groove is formed in the first base; the pipe body is clamped in the first U-shaped groove, and the first fastening piece is fixed on the mounting hole in the pipe body through the first base; a first stress release groove is formed in the inner wall of the first U-shaped groove; further comprising: a second base and a second fastener; the second base is connected to the second clamp holder, and a second U-shaped groove is formed in the second base; the pipe body is clamped in the second U-shaped groove, and the second fastening piece is fixed on the mounting hole in the pipe body through the second base; and a second stress release groove is formed in the inner wall of the second U-shaped groove.
2. The grasping mechanism for vehicle body welding according to claim 1, wherein any two of said rods crossing each other are disposed perpendicular to each other.
3. The grasping mechanism for vehicle body welding according to claim 1, wherein the cross-section of each of said rod bodies is octagonal.
4. The grasping mechanism for vehicle body welding according to claim 1, wherein the intersections between any two adjacent rods are fixedly connected by connecting members, respectively.
5. The grab mechanism for vehicle body welding of claim 4, wherein each of the connectors is triangular in shape.
6. The grasping mechanism for vehicle body welding according to claim 1, wherein the first pin body and the second pin body are plural in number, respectively; the number of the first clamper and the second clamper is respectively a plurality.
7. The grasping mechanism for vehicle body welding according to claim 1, wherein the number of the third pin body and the positioning face is plural respectively; the third pin bodies correspond to the positioning surfaces one by one respectively; and each third pin body is respectively arranged on the positioning surface.
8. A welding system, comprising: the gripping mechanism for vehicle body welding of any one of claims 1 to 7, a slide rail for sliding the first object to be welded, a welding robot adjacent to the slide rail for welding the first object to be welded on the slide rail, and a transfer robot having an arm; the frame body is connected to the arm.
9. The welding system of claim 8, further comprising: the mounting plate and the connecting seat are arranged on the mounting plate; the arm is connected to the connecting seat.
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CN114434435A (en) * 2022-03-18 2022-05-06 上汽通用五菱汽车股份有限公司 High-flexibility side wall assembly pre-installation gripper, side wall installation station and deviation correction method thereof
CN114700985A (en) * 2022-04-01 2022-07-05 柳州柳新汽车冲压件有限公司 Gripping apparatus

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CN103057748B (en) * 2012-12-17 2015-07-01 华中科技大学 Circulating capturing mechanism
KR101481278B1 (en) * 2013-06-11 2015-01-09 현대자동차주식회사 Multi-functional robot apparatus for common use
CN211331922U (en) * 2019-04-02 2020-08-25 上海冠致工业自动化有限公司 Robot for integrating grabbing and welding of automobile A column
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