CN114524036B - Vehicle doorsill installation device and method - Google Patents

Abstract

The invention relates to the technical field of vehicle door sill installation, and discloses a vehicle door sill installation device and method, the device includes a handle mechanism, the handle mechanism includes a main frame, a first drive mechanism and a second drive mechanism, and the left side of the main frame is slidingly set There is a left sill clamping mechanism, the right sill clamping mechanism is set slidingly on the right side, and the front floor clamping mechanism is set in the middle. It is connected by transmission with the right threshold clamping mechanism; the left gripper docking mechanism and the right gripper docking mechanism both include a base and a gripper clamping mechanism, and the gripper clamping mechanism is provided with multiple clamping parts, and the multiple clamping parts are respectively Removably clips to the left or right side of the main frame. The invention utilizes the same gripper mechanism to complete the grasping, positioning and installation of each component without handover and transfer of each component, thereby reducing equipment usage, reducing operating procedures, and improving the utilization rate of the automatic production line.

Description

A vehicle door sill installation device and method

technical field

The invention relates to the technical field of vehicle door sill installation, in particular to a vehicle door sill installation device and method.

Background technique

At present, in the installation process of the vehicle threshold, the front, front floor, and rear floor are generally installed first, and after welding to form the floor assembly, the floor assembly is transported to the next process, and then the vehicle threshold is installed, and the vehicle threshold is welded to both sides of the front floor on the floor assembly. When installing the threshold of the vehicle, the left threshold and the right threshold are conveyed first through the threshold conveyor, and the left threshold and the right threshold are grasped and positioned by the left gripper mechanism, and the right threshold is placed in the storage by the left gripper mechanism. platform, the right gripper mechanism grabs and positions the right threshold of the storage platform, transfers the left threshold to the left threshold installation mechanism through the left gripper mechanism, transfers the right threshold to the right threshold installation mechanism through the right gripper mechanism, passes through the left threshold The installation mechanism and the right threshold installation mechanism position and install the left threshold and the right threshold, and install the left threshold and the right threshold to both sides of the front floor on the floor assembly. This installation method grabs and installs the left threshold and the right threshold respectively. Both the left threshold and the right threshold are installed on the same side. The right threshold needs to be placed on the storage table by the left gripper mechanism first, and then the right gripper mechanism Grabbing will lead to an increase in equipment, an increase in processes, and a decrease in the utilization rate of the automatic production line.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a vehicle door sill installation device and method to solve the problem of grasping and installing the left door sill and the right door sill respectively when the existing vehicle door sill is installed. It is placed on the storage table, and then grasped by the right gripper mechanism, resulting in an increase in equipment, an increase in procedures, and a decrease in the utilization rate of the automatic production line.

In order to achieve the above object, the present invention adopts the following technical solutions:

One aspect of the present invention is to provide a vehicle door sill installation device, comprising:

The handle mechanism, the handle mechanism includes a main frame, a first drive mechanism and a second drive mechanism, the left side of the main frame slides left and right and is provided with a left door sill clamping mechanism for clamping the left door sill, the main frame A right door sill clamping mechanism for clamping the right sill is provided for sliding left and right on the right side of the main frame, and a front floor clamping mechanism for clamping the front floor is provided in the middle of the main frame. The first driving mechanism, the second The driving mechanisms are all mounted on the main frame, the output end of the first driving mechanism is in transmission connection with the left door sill clamping mechanism, and the output end of the second driving mechanism is in transmission connection with the right door sill clamping mechanism ;

The left gripper docking mechanism and the right gripper docking mechanism arranged at relative intervals, the left gripper docking mechanism and the right gripper docking mechanism both include a base and a gripper clamping mechanism sliding left and right on the base, The handle clamping mechanism is provided with a plurality of clamping parts, and the multiple clamping parts are respectively detachably clamped on the left side or the right side of the main frame.

Preferably, both the left door sill clamping mechanism and the right door sill clamping mechanism include:

a support frame, the support frame is slidingly connected to the main frame;

The first sill clamping assembly and the second sill clamping assembly are symmetrically arranged on the support frame up and down, the first sill clamping assembly is clamped on the upper side of the left sill or the right sill, the The second sill clamping assembly is clamped on the lower side of the left sill or the right sill, and both the first sill clamping assembly and the second sill clamping assembly include a first driving cylinder, a fixed part and a movable The fixed part is fixed on the support frame, the output end of the first driving cylinder is connected to the movable part, and the first driving cylinder drives the movable part to rotate, so that the movable part is close to Or away from the fixed part.

Preferably, first positioning pins and second positioning pins are arranged at intervals on the support frame, and the first positioning pins and the second positioning pins are respectively extended and arranged along the length direction of the main frame. The distance between a positioning pin and the second positioning pin is adapted to the spacing of the positioning holes on the left threshold or the right threshold.

Preferably, a limit mechanism is provided on the left and right sides of the main frame, and the limit mechanism includes a first limit block and a second limit block arranged opposite to each other on the left and right sides, and the first limit block and the second limit block Both the second limiting blocks are fixed to the main frame, the left threshold clamping mechanism and the right threshold clamping mechanism are both provided with stoppers, and the stoppers are located between the first limiting block and the right threshold clamping mechanism. Between the second limit block, used for blocking cooperation with the first limit block or the second limit block.

Preferably, the base includes a base plate, a first guide rail, a second guide rail, and a second driving cylinder, the first guide rail and the second guide rail are arranged at a distance from each other on the front side and the rear side of the base plate, and the first Two drive cylinders are fixed on the base plate, and the second drive cylinder is arranged between the first guide rail and the second guide rail, and the gripper clamping mechanism is slidably fitted on the first guide rail and the second guide rail. On the second guide rail, the output end of the second driving cylinder is fixed on the gripper clamping mechanism.

Preferably, the gripper clamping mechanism includes a sliding seat, a support frame, a third driving cylinder and a pressing block, the sliding seat is slidably mounted on the base, and the bottom of the support frame is fixed on the sliding seat , the third driving cylinder is installed on one side of the support frame, the pressure block is arranged at intervals above the top of the support frame, the pressure block and the top of the support frame form the clamping part, the The output end of the third driving cylinder is connected to the pressing block, and the third driving cylinder drives the pressing block to rotate, so that the pressing block is away from the top of the support frame or presses the main frame on the the top of the support frame.

Preferably, the handle clamping mechanism is further provided with a first B-direction clamping mechanism and a second B-direction clamping mechanism at intervals, the first B-direction clamping mechanism is clamped on the left door sill clamping mechanism or the front side of the right threshold clamping mechanism; the second B-direction clamping mechanism is clamped on the rear side of the left threshold clamping mechanism or the right threshold clamping mechanism; the first B-direction clamp Both the clamping mechanism and the second B-direction clamping mechanism include a fourth drive cylinder, a movable block, a fixed block, and a support arm, one end of the support arm is fixed on one side of the support frame, and the fixed block is vertically fixed on the other end of the support arm, the movable block is arranged at intervals on one side of the fixed block, the fourth drive cylinder is installed on the support frame, the output end of the fourth drive cylinder is connected to the The movable block is connected by transmission, and the fourth driving cylinder drives the movable block to rotate, so that the movable block is away from the fixed block or close to the fixed block and forms a clamping position with the fixed block.

Preferably, the vehicle door sill installation device further includes a door sill preset platform, the door sill preset platform includes a platform bottom plate and at least one set of pillar assemblies arranged on the platform bottom plate, and the pillar assemblies include first A column group and a second column group, the first column group is used to support one of the left threshold and the right threshold, and the second column group is used to support one of the left threshold and the right threshold another;

Both the first upright column group and the second upright column group include two upright columns arranged at intervals, and the two upright columns are each provided with a supporting part for supporting the left threshold or the right threshold.

Another aspect of the present invention is to provide a vehicle door sill installation method, comprising the following steps:

Step S1, placing the left threshold and the right threshold at the first setting position, and placing the front floor at the second setting position;

Step S2, slide the left threshold clamping mechanism and the right threshold clamping mechanism of the handle mechanism, so that the distance between the left threshold clamping mechanism and the right threshold clamping mechanism matches the distance between the left threshold and the right threshold ;The left threshold is clamped by the left threshold clamping mechanism, and at the same time, the right threshold is clamped by the right threshold clamping mechanism;

Step S3, slide the left threshold clamping mechanism and the right threshold clamping mechanism so that the distance between the left threshold clamping mechanism and the right threshold clamping mechanism is greater than the width of the front floor, and the front floor clamping mechanism of the gripper mechanism clamps Hold the front floor;

Step S4, move the handle mechanism to the top of the installation position of the floor assembly, clamp the left handle docking mechanism on the left side of the handle mechanism, and clamp the right handle docking mechanism on the right side of the handle mechanism, so as to Clamp the gripper mechanism;

Step S5, sliding the left threshold clamping mechanism and the right threshold clamping mechanism, so that the left threshold is spliced with the left side of the front floor, and the right threshold is spliced with the right side of the front floor;

Step S6, welding and fixing the left threshold to the left side of the front floor, and welding and fixing the right threshold to the right side of the front floor.

Preferably, after the step S5 and before the step S6, it also includes:

Clamp the first B-direction clamping mechanism and the second B-direction clamping mechanism of the left gripper docking mechanism on the front side and the rear side of the left threshold clamping mechanism respectively;

The first B-direction clamping mechanism and the second B-direction clamping mechanism of the right gripper docking structure are respectively clamped on the front side and the rear side of the right threshold clamping mechanism.

Compared with the prior art, a vehicle door sill installation device and method according to the embodiment of the present invention has the following beneficial effects:

The vehicle door sill installation device and method according to the embodiment of the present invention use the left door sill clamping mechanism for clamping the left door sill, the right door sill clamping mechanism for clamping the right door sill, and the front floor clamping mechanism for clamping the front floor The mechanism is integrated and set in the same gripper mechanism, which grabs the left threshold and the right threshold at the same time, and then grabs the front floor, and then places the left threshold, front floor and right threshold in the floor assembly through the gripper mechanism , Fix the left door sill to the left side of the front floor, and fix the right door sill to the right side of the front floor to complete the installation of the vehicle door sill. In the process of installing the vehicle door sill, the same gripper mechanism is used to complete the grasping, positioning and installation of each component, and there is no need to transfer and transfer the left door sill, right door sill and front floor, thereby reducing equipment usage, reducing operating procedures, and improving The utilization rate of the automatic production line.

Description of drawings

Fig. 1 is a schematic structural view of a vehicle door sill installation device according to an embodiment of the present invention;

Fig. 2 is a schematic structural view of a gripper mechanism in an embodiment of the present invention;

Fig. 3 is a schematic structural view of the left threshold clamping mechanism in Fig. 2;

Fig. 4 is a structural schematic diagram of the docking mechanism of the left gripper in the embodiment of the present invention;

Fig. 5 is a schematic structural view of the threshold preset platform in the embodiment of the present invention;

In the figure, 100, grip mechanism; 110, main frame; 111, first limit block; 112, second limit block; 120, first drive mechanism; 130, second drive mechanism; 140, left threshold clamping Mechanism; 141, support frame; 1411, first positioning pin; 1412, second positioning pin; 1413, stop block; 1414, third limit block; 142, first driving cylinder; 143, fixed part; 144, movable Department; 150, right threshold clamping mechanism; 160, cancellation cylinder; 170, change gun plate;

200, left gripper docking mechanism; 210, base; 211, bottom plate; 212, first guide rail; 213, second guide rail; 214, second drive cylinder; 220, gripper clamping mechanism; 221, sliding seat; 222, Support frame; 223, the third driving cylinder; 2231, the first fixed plate; 2232, the first connecting rod; 2233, the first rotating shaft; 224, the briquetting block; 225, the fourth driving cylinder; 2251, the second fixed plate; , the second connecting rod; 2253, the second rotating shaft; 226, the movable block; 227, the fixed block; 228, the support arm;

300. Right gripper docking mechanism;

400, threshold preset platform; 410, platform bottom plate; 420, first column; 430, second column; 440, third column; 450, fourth column;

510, the first left threshold; 520, the second left threshold; 530, the third left threshold; 540, the fourth left threshold; 550, the first right threshold; 560, the second right threshold; 570, the third right threshold; 580 , the fourth right threshold.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom" etc. is based on the orientation or positional relationship shown in the accompanying drawings, "left" , "right" in the length direction of the main frame, "front" and "back" in the width direction of the main frame are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, construction and operation in a particular orientation are not to be construed as limitations of the invention.

As shown in Figures 1 to 4, a vehicle door sill installation device according to an embodiment of the present invention includes a handle mechanism 100, a left handle docking mechanism 200 and a right handle docking mechanism 300 arranged at relative intervals, wherein the handle mechanism 100 is used for grabbing and transporting the left sill, front floor and right sill as well as merging and splicing positioning of the left sill and right sill. The gripper mechanism 100 includes a main frame 110, a first driving mechanism 120 and a second driving mechanism 130. The left side of the main frame 110 slides left and right with a left threshold clamping mechanism 140 for clamping the left threshold, and the right side of the main frame 110 slides left and right with a right threshold clamping mechanism 150 for clamping the right threshold. For the front floor clamping mechanism clamping the front floor, the first driving mechanism 120 and the second driving mechanism 130 are installed on the main frame 110, and the output end of the first driving mechanism 120 is connected with the transmission of the left threshold clamping mechanism 140, so as to Drive the left sill clamping mechanism 140 to slide along the main frame 110, and the output end of the second driving mechanism 130 is connected to the right sill clamping mechanism 150 to drive the right sill clamping mechanism 150 to slide along the main frame 110, thereby adjusting the left sill clamp The position between the holding mechanism 140 and the right sill holding mechanism 150, so that the distance between the left sill holding mechanism 140 and the right sill holding mechanism 150 is adapted to the distance between the left sill and the right sill, which is convenient for the left sill The clamping mechanism 140 and the right threshold clamping mechanism 150 clamp the left threshold and the right threshold at the same time; and it is convenient to connect the clamped left threshold to the left side of the front floor, and connect the clamped right threshold to the right side of the front floor. side.

The structure of the left gripper docking mechanism 200 is the same as that of the right gripper docking mechanism 300 , and the structure of the left gripper docking mechanism 200 is taken as an example for illustration. The left gripper docking mechanism 200 includes a base 210 and a gripper clamping mechanism 220 slidingly arranged on the base 210 left and right. The gripper clamping mechanism 220 is provided with a plurality of clamping parts, and the multiple clamping parts are detachably clamped respectively. On the left side of the main frame 110 , the left side of the handle mechanism 100 is clamped and positioned. Correspondingly, the clamping portion of the right gripper docking mechanism 300 is detachably clamped on the right side of the main frame 110 to clamp and position the right side of the gripper mechanism 100 . The positioning and clamping effect on the gripper mechanism 100 is realized by the left gripper docking mechanism 200 and the right gripper docking mechanism 300 , which can improve the positioning accuracy of the left threshold and the right threshold.

In the present invention, the left sill clamping mechanism 140 for clamping the left sill, the right sill clamping mechanism 150 for clamping the right sill, and the front floor clamping mechanism for clamping the front floor are integrated in the same gripper In the mechanism 100, the left threshold and the right threshold are grasped at the same time, and then the front floor is grasped, and then the left threshold, the front floor and the right threshold are placed in the floor assembly through the gripper mechanism 100, and the left threshold is fixed on the On the left side of the front floor, fix the right door sill to the right side of the front floor to complete the installation of the vehicle door sill. In the process of installing the vehicle threshold, the same gripper mechanism 100 is used to complete the grasping, positioning and installation of various components, and there is no need to transfer and transfer the left threshold, the right threshold and the front floor, thereby reducing the amount of equipment used and the operation process. Improve the utilization rate of automatic production lines. Moreover, the present invention places the left sill, front floor and right sill directly in the corresponding positions of the floor assembly, and the same welding station can be used to weld the left sill, front floor and right sill without setting the left sill and the right sill. The dedicated welding station saves the space occupied by the welding station and improves the efficiency of welding operations.

It should be noted that, in the present invention, after the gripper mechanism 100 installs the left sill, the right sill and the front floor, the front floor, the front and the rear floor are positioned and clamped by the floor positioning fixture, so that the front floor can be easily adjusted. Welding and fixing, and welding and fixing the left and right thresholds. After the floor assembly is welded, the welded parts are transported to the next process through the reciprocating bar conveying mechanism. For the structures of the floor positioning fixture and the reciprocating bar carrying mechanism, the present invention does not repeat them in detail.

In this embodiment, both the first driving mechanism 120 and the second driving mechanism 130 can be driving cylinders, specifically rod-type cylinders, to provide power. The driving cylinder is fixedly installed on the main frame 110, and the output end of the telescopic rod of the driving cylinder is fixed to the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150, so as to drive the left threshold clamping mechanism 140 or the right threshold clamping mechanism through the telescopic driving cylinder. The movement of the holding mechanism 150.

In this embodiment, as shown in FIG. 2 , the main frame 110 is square, and the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 are both arranged below the main frame 110 , and the upper side of the middle part of the main frame 110 is also provided with a The gun-changing disc 170 connected to the robot is different from the positioning holes and positioning surfaces of the thresholds of different vehicles. It only needs to replace the gripper mechanism 100 through the gun-changing disc 170, while the left gripper docking mechanism 200 and the right gripper docking mechanism 300 can be used in common, so that the use of equipment can be reduced and the cost of equipment can be reduced.

In this embodiment, the left sill clamping mechanism 140 and the right sill clamping mechanism 150 are arranged on the main frame 110 at intervals, and the left sill clamping mechanism 140 and the right sill clamping mechanism 150 have the same structure. Only the structure of the left door sill clamping mechanism 140 is taken as an example for illustration.

As shown in Figure 3, the left threshold clamping mechanism 140 includes a support frame 141, and a first threshold clamp assembly and a second threshold clamp assembly arranged symmetrically up and down on the support frame 141, wherein the support frame 141 and the main frame 110 Sliding connection, to realize the sliding of the left threshold clamping mechanism 140 along the main frame 110, the top of the support frame 141 can be provided with one of the guide rail and the slide block, and the other one of the guide rail and the slide block can be set on the main frame 110, through the guide rail and The cooperation of the slider realizes the sliding connection; the first sill clamping component is clamped on the upper side of the left sill, the second sill clamping component is clamped on the lower side of the left sill, through the first sill clamping component and the second sill clamp The holding assembly clamps the left door sill up and down. Correspondingly, the first sill clamping assembly and the second sill clamping assembly of the right sill clamping mechanism 150 clamp and position the right sill up and down. It should be pointed out that the output ends of the first driving mechanism 120 and the second driving mechanism 130 are in transmission connection with the support frame 141 , and the movement of the support frame 141 drives the movement of the first sill clamping assembly and the second sill clamping assembly.

In this embodiment, the structure of the first sill clamping component and the second sill clamping component are the same, and only the first sill clamping component is used as an example for illustration. The first threshold clamping assembly includes a first drive cylinder 142, a fixed part 143 and a movable part 144. The fixed part 143 is fixed on the support frame 141, and the output end of the first drive cylinder 142 is in transmission connection with the movable part 144. The first drive cylinder 142 drives the movable part 144 to rotate, so that the movable part 144 approaches or moves away from the fixed part 143 . When the movable part 144 is away from the fixed part 143 , the space between the movable part 144 and the fixed part 143 can be entered by the left door sill or the right door sill. When the fixed part 143 abuts against the edge of the left sill, the movable part 144 rotates close to the fixed part 143, and the movable part 144 abuts against the upper side of the left sill, clamping the edge of the left sill between the movable part 144 and the fixed part 143. The movable part 144 of the second sill clamping assembly can be pressed against the lower side of the left sill, so that the two movable parts 144 clamp the left sill up and down. Slippage during left sill clamping. In this embodiment, the first driving cylinder 142 is an integrated cylinder, and clamps the threshold member in the B direction. It should be pointed out that, in the present invention, B is in the direction of the length of the main frame 110 , T is in the direction of the width of the main frame 110 , and H is in the direction of the height of the main frame 110 . In this embodiment, one side of the movable part 144 is in contact with the fixed part 143 , and the other side of the movable part 144 rotates around the output shaft of the first driving cylinder 142 .

In this embodiment, in order to clamp stably, there are two first threshold clamping assemblies and two second threshold clamping assemblies, the two first threshold clamping assemblies are located on the upper side of the support frame 141, and the two second threshold clamping assemblies The clamping assembly is located on the underside of the support frame 141 .

In this embodiment, as shown in FIG. 2 , first positioning pins 1411 and second positioning pins 1412 are arranged at intervals on the supporting frame 141 , and the first positioning pins 1411 and the second positioning pins 1412 are arranged along the length direction of the main frame 110 respectively. In an extended arrangement, the distance between the first positioning pin 1411 and the second positioning pin 1412 is adapted to the spacing of the positioning holes on the left or right threshold. Taking the left threshold clamping mechanism 140 as an example, when the left threshold clamping mechanism 140 clamps the left threshold, the first positioning pin 1411 and the second positioning pin 1412 are respectively inserted into the corresponding positioning holes of the left threshold, through the first positioning The pin 1411 and the second positioning pin 1412 perform T-direction and H-direction positioning on the left door sill. The positioning pins provided on the support frame 141 of the right threshold clamping mechanism 150 are used in the same way as the positioning pins of the left threshold clamping mechanism 140 . In the length direction of the support frame 141, the first positioning pin 1411 and the second positioning pin 1412 are located between the two first threshold clamping assemblies; in the height direction of the support frame 141, the first positioning pin 1411 and the second positioning pin The pin 1412 is located between the first rocker clamp assembly and the second rocker clamp assembly. Both the first positioning pin 1411 and the second positioning pin 1412 can be fixed on the supporting frame 141 through an L-shaped rod.

In this embodiment, a limit mechanism is provided on the left and right sides of the main frame 110, and the limit mechanism includes a first limit block 111 and a second limit block 112 arranged opposite to each other on the left and right sides, and the first limit block 111 and the second limit block 112 The second limit block 112 is fixed with the main frame 110, and the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 are all provided with a stop block 1413, and the stop block 1413 is located between the first limit block 111 and the second limit block. Between the blocks 112, it is used for blocking cooperation with the first limit block 111 or the second limit block 112. For example, when the left sill clamping mechanism 140 slides left and right, the stop block 1413 slides left and right synchronously, and when the stop block 1413 moves to the left to stop and cooperate with the first limit block 111, the first limit block 111 limits The left position of the left threshold clamping mechanism 140 is defined; when the stop block 1413 moves to the right to be engaged with the second limit block 112, the second limit block 112 limits the rightward movement of the left threshold clamp mechanism 140 position, thereby limiting the movement range of the left door sill clamping mechanism 140 . In this embodiment, there are two stoppers 1413 , the two stoppers 1413 are arranged at intervals along the length direction of the support frame 141 , and the two stoppers 1413 are both arranged on the upper side of the support frame 141 . Correspondingly, there are two first limiting blocks 111 and two second limiting blocks 112 respectively.

As shown in FIG. 2 , a plurality of detent cylinders 160 are arranged in the middle of the main frame 110 to position and clamp the front floor panel. In this embodiment, there are three cancellation cylinders 160, and the three purchase and sale cylinders are arranged in a triangle.

In this embodiment, as shown in FIG. 4 , the base 210 includes a base plate 211, a first guide rail 212, a second guide rail 213, and a second driving cylinder 214, and the first guide rail 212 and the second guide rail 213 are arranged on the base plate 211 at intervals. The front and rear sides of the front and rear sides, the second driving cylinder 214 is fixed on the bottom plate 211, and the second driving cylinder 214 is arranged between the first guide rail 212 and the second guide rail 213, and the gripper clamping mechanism 220 is slidably assembled on the first guide rail 212 and the second guide rail 213 , the output end of the second driving cylinder 214 is fixed on the gripper clamping mechanism 220 , specifically on the sliding seat 221 of the gripper clamping mechanism 220 . The second driving cylinder 214 drives the gripper clamping mechanism 220 to slide along the first guide rail 212 and the second guide rail 213 to adjust the position of the gripper clamping mechanism 220, thereby facilitating the gripper clamping mechanism 220 to position and clamp the main frame 110 .

In this embodiment, as shown in FIG. 4, the gripper clamping mechanism 220 includes a sliding seat 221, a support frame 222, a third driving cylinder 223, and a pressure block 224. The sliding seat 221 is slidably installed on the base 210. The specific installation On the first guide rail 212 and the second guide rail 213, a slide block can be set at the bottom of the sliding seat 221 to realize sliding connection with the guide rail; the support frame 222 is vertically fixed on the sliding seat 221, and the bottom of the support frame 222 is fixed on the sliding seat 221, the third drive cylinder 223 is installed on one side of the support frame 222, and the pressure block 224 is arranged at intervals above the top of the support frame 222. The output end is in transmission connection with the pressing block 224 , and the third driving cylinder 223 drives the pressing block 224 to rotate, so that the pressing block 224 is away from the top of the supporting frame 222 or the main frame 110 is pressed onto the top of the supporting frame 222 . When the briquetting block 224 was away from the top of the support frame 222, a clamping space was reserved on the top of the support frame 222, so that the support frame 222 was moved to the bottom of the main frame 110; The frame 110 is pressed and clamped between the pressing block 224 and the top of the supporting frame 222, the main frame 110 can be supported by the supporting frame 222, and the pressing force is provided to the pressing block 224 through the third driving cylinder 223, and the main frame is clamped and fixed. 110. In this embodiment, the first fixing plate 2231 is fixed on the third driving cylinder 223, and the output end of the telescopic rod of the third driving cylinder 223 is rotatably connected to the first connecting rod 2232, and the middle part of the first connecting rod 2232 is connected with the first fixed plate. The plate 2231 is connected by a first rotating shaft 2233 , one end of the first connecting rod 2232 is rotatably connected to the telescopic rod, and the other end of the first connecting rod 2232 is fixed to the pressure block 224 . When the telescopic rod stretches, the first connecting rod 2232 rotates around the first rotating shaft 2233 to drive the pressing block 224 to rotate.

In this embodiment, the gripper clamping mechanisms 220 of the left gripper docking mechanism 200 and the right gripper docking mechanism 300 are the same. Each gripper clamping mechanism 220 may include a plurality of third driving cylinders 223 and corresponding pressing blocks 224 . In this embodiment, the gripper clamping mechanism 220 of the left gripper docking mechanism 200 is taken as an example for illustration. The handle clamping mechanism 220 is provided with two third driving cylinders 223, and each third driving cylinder 223 is connected with a pressing block 224, and the two pressing blocks 224 correspond to the two corners on the left side of the main frame 110 respectively. location. The two third driving cylinders 223 respectively drive the corresponding pressing blocks 224 to rotate, so that the pressing blocks 224 are pressed against corresponding corner positions of the main frame 110 . According to different positioning requirements for the main frame 110, the top of the support frame 222 can be vertically provided with positioning pins, and the bottom of the main frame 110 is provided with corresponding positioning round holes, and the pressing block 224 clamps the main frame 110 on the top of the support frame 222 At this time, the positioning pins of the support frame 222 are inserted into the positioning circular holes to realize positioning in the T direction, B direction and H direction. It should be pointed out that the top of the support frame 222 may not be provided with positioning pins, and the top of the support frame 222 is fitted together with the bottom plane of the main frame 110 to realize the positioning in the H direction. The bottom of the frame 110 is provided with corresponding diamond-shaped positioning holes to realize T-direction and H-direction positioning. It should be pointed out that the arrangement of the top of the support frame 222 of the gripper clamping mechanism 220 of the left gripper docking mechanism 200 can be compared with that of the top of the brace 222 of the gripper clamping mechanism 220 of the right gripper docking mechanism 300. The settings are different. For example, in this embodiment, the left gripper docking mechanism 200 and the right gripper docking mechanism 300 are respectively provided with two third drive cylinders 223 and two pressure blocks 224, which can be clamped at the four corners of the main frame 110 respectively. . Wherein, positioning pins are provided on the top of the front side of the support frame 222 of the left gripper docking mechanism 200, and positioning round holes are provided at the corresponding corners of the corresponding main frame 110 to realize T-direction, B-direction and H-direction positioning; the left gripper docking mechanism The rear top position of the support frame 222 of 200 is a plane, and the corresponding corner position of the corresponding main frame 110 is a plane to realize H-direction positioning; The corresponding corner position of the main frame 110 is a plane, realizing H-direction positioning; the rear top position of the support frame 222 of the right grip docking mechanism 300 is provided with a diamond-shaped column, and the corresponding corner position of the corresponding main frame 110 is provided with a diamond-shaped positioning hole , to achieve T-direction and H-direction positioning.

Further, the handle clamping mechanism 220 is also provided with a first B-direction clamping mechanism and a second B-direction clamping mechanism at intervals. The first B-direction clamping mechanism clamps on the left threshold clamping mechanism 140 or the right The front side of the threshold clamping mechanism 150; the second B-direction clamping mechanism is clamped on the rear side of the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150, so as to align the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 performs B-direction positioning to improve the accuracy and stability of the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 . The first B-direction clamping mechanism and the second B-direction clamping mechanism have the same structure, and only the first B-direction clamping mechanism is used as an example for illustration. The first B-direction clamping mechanism includes a fourth drive cylinder 225, a movable block 226, a fixed block 227, and a support arm 228. One end of the support arm 228 is fixed on one side of the support frame 222, and the fixed block 227 is vertically fixed on the support arm 228. The other end of the movable block 226 is arranged at intervals on one side of the fixed block 227, the fourth driving cylinder 225 is installed on the support frame 222, the output end of the fourth driving cylinder 225 is connected with the movable block 226, and the fourth driving cylinder 225 drives The movable block 226 rotates so that the movable block 226 is away from the fixed block 227 or close to the fixed block 227 and forms a clamping position with the fixed block 227, and the clamping position is used to clamp the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150. Further, the third limiting block 1414 is vertically arranged on the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, and the clamping position formed by the movable block 226 and the fixed block 227 is clamped on the third limiting block 1414. superior. In this embodiment, the third limiting block 1414 is disposed on the lower side of the support frame 141 .

Further, in this embodiment, the fourth driving cylinder 225 is an integrated cylinder, one side of the fourth driving cylinder 225 is vertically fixed with a second fixing plate 2251 , and the output end of the telescopic rod of the fourth driving cylinder 225 is connected with a second Two connecting rods 2252, the second connecting rod 2252 is L-shaped, the corner position of the second connecting rod 2252 is connected with the second fixed plate 2251 through the second rotating shaft 2253, one end of the second connecting rod 2252 is connected to the telescopic rod by rotation, the second connecting rod 2252 The other end of the rod 2252 fixes the movable block 226 . When the telescopic rod stretches, the second connecting rod 2252 rotates around the second rotating shaft 2253 to drive the movable block 226 to rotate.

In this embodiment, the vehicle door sill installation device further includes a door sill preset platform 400. As shown in FIG. The structures of the pillar assemblies are all the same, and one set of pillar assemblies is taken as an example for illustration. The pillar assemblies include first pillars 420 and second pillars 430 arranged at intervals, and the first pillars 420 are used to support the middle of the left threshold and the right threshold. One of the second columns 430 is used to support the other of the left threshold and the right threshold, and the first column 420 and the second column 430 are arranged at intervals, so that the left threshold and the right threshold are arranged at intervals, which is the handle mechanism 100 The activity space is reserved in the interval, so that the left threshold and the right threshold can be clamped simultaneously by the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150; the structures of the first column 420 and the second column 430 are the same, and the first column The 420 group and the second column 430 group all include two columns arranged at intervals. For convenience of description, the two columns of the first column 420 group are represented by the first column 420 and the second column 430 respectively, and the two columns of the second column 430 group The two uprights are respectively represented by a third upright 440 and a fourth upright 450 . The first column 420 group supports the left threshold, and the second column 430 group supports the right threshold for illustration. The first column 420 group includes the first column 420 and the second column 430 arranged at intervals. The first column 420 and the second column 430 are both Vertically fixed on the platform floor 410, the first column 420 and the second column 430 are provided with support parts for supporting the left threshold, and the two ends of the left threshold are respectively placed on the support parts of the first column 420 and the second column 430 Above; the second column 430 group includes a third column 440 and a fourth column 450 arranged at intervals, the third column 440 and the fourth column 450 are vertically fixed on the platform floor 410, the third column 440 and the fourth column 450 Each is provided with a support portion for supporting the right threshold, and the two ends of the right threshold are respectively placed on the support portions of the third column 440 and the fourth column 450 . It should be noted that the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 clamp the middle area of the threshold.

The first column 420 and the second column 430 can be provided with a plurality of supporting parts at intervals up and down, and the supporting parts on the first column 420 and the supporting parts on the second column 430 are in one-to-one correspondence, so that the first column 420 group can be up and down. A plurality of left thresholds are arranged at intervals; correspondingly, a plurality of supporting parts can be arranged at intervals up and down on the third column 440 and the fourth column 450, and the supporting parts on the third column 440 correspond to the supporting parts on the fourth column 450 , so that a plurality of right thresholds can be arranged at intervals up and down on the second column 430 group. It should be pointed out that, in order to clamp the left threshold and the right threshold at the same time, the left threshold placed by the first column 420 and the right threshold placed by the second column 430 are located on the same level. When the first column 420 group is arranged with multiple left thresholds, the left threshold of the first column 420 group is arranged in one-to-one correspondence with the right threshold of the second column 430 group.

In this embodiment, the support part includes a support plate and two support risers arranged at intervals on the support plate, the support plate and the two support risers are arranged in a U-shaped groove, and the end of the left threshold or the right threshold is placed on the U-shape. In the shaped groove, the support plate supports the left threshold or the right threshold, and the two support vertical plates limit the left threshold or the right threshold.

As shown in Figure 5, two sets of column assemblies can be arranged on the platform base 410, the first columns 420 of the two sets of column assemblies are located on the same side of the platform base 410, and each of the first column 420 groups is placed with two left thresholds up and down. Each second column 430 group is placed with two right thresholds up and down, and the left threshold on the first column 420 group on the leftmost side of the platform 410 is represented by the first left threshold 510 and the second left threshold 520 respectively from top to bottom. , the left threshold on the first column 420 group in the middle of the platform floor 410 is respectively represented by the third left threshold 530 and the fourth left threshold 540 from top to bottom, and the right threshold on the second column 430 group in the middle of the platform floor 410 The first right threshold 550 and the second right threshold 560 are respectively represented from top to bottom, and the right threshold located on the rightmost side of the platform floor 410 is represented by the third right threshold 570 and the fourth right threshold 580 from top to bottom. When the gripper mechanism 100 grabs the threshold, it first grabs the left threshold and the right threshold of the same group of column components on the upper layer in sequence, and then grabs the left threshold and the right threshold of the same group of column components on the lower layer in sequence, for example, the grabbing sequence For: the first left threshold 510 and the first right threshold 550, the third left threshold 530 and the third right threshold 570, the second left threshold 520 and the second right threshold 560, the fourth left threshold 540 and the fourth right threshold 580, It is convenient to adjust the height position of the handle mechanism 100 .

The present invention also provides a vehicle door sill installation method, using the above-mentioned vehicle door sill installation device to install the vehicle door sill, wherein the vehicle door sill installation method includes the following steps:

Step S1, placing the left threshold and the right threshold at the first setting position, and placing the front floor at the second setting position;

Step S2, slide the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 of the handle mechanism 100, so that the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 is equal to the distance between the left threshold and the right threshold The distance is matched; the left threshold is clamped by the left threshold clamping mechanism 140, and at the same time, the right threshold is clamped by the right threshold clamping mechanism 150;

Step S3, slide the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 so that the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 is greater than the width of the front floor, and pass the front of the handle mechanism 100 The floor clamping mechanism clamps the front floor;

Step S4, move the handle mechanism 100 above the installation position of the floor assembly, clamp the left handle docking mechanism 200 on the left side of the handle mechanism 100, and clamp the right handle docking mechanism 300 on the handle mechanism 100 to the right side of the gripper mechanism 100; in order to grip the gripper mechanism 100 more accurately, before the gripper mechanism 100 is in place, first connect the left gripper docking mechanism 200 and the right gripper docking mechanism 300 move in place;

Step S5, sliding the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, so that the left threshold is spliced with the left side of the front floor, and the right threshold is spliced with the right side of the front floor;

Step S6, welding and fixing the left threshold to the left side of the front floor, and welding and fixing the right threshold to the right side of the front floor.

In the process of installing the threshold of the vehicle, the present invention utilizes the same gripper mechanism 100 to complete the grasping, positioning and installation of each component, and realizes one-time clamping, assembly and welding of the left threshold, the front floor and the right threshold without the need for left The door sill, right door sill and front floor are handed over and transferred, thereby reducing equipment usage, reducing operating procedures, and improving the utilization rate of the automatic production line.

In this embodiment, in step S1, the first set position is the set position on the sill preset platform 400, specifically on the support portion of the pillar assembly. The second setting is the loading trolley of the front floor.

In this embodiment, step S2 includes: sliding the left threshold clamping mechanism 140 to the left, sliding the right threshold clamping mechanism 150 to the right, increasing the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, which is convenient Position and clamp the left threshold and the right threshold; move the handle mechanism 100 to the top of the threshold preset platform 400, adjust the vertical position of the handle mechanism 100, so that the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 The vertical position of the left sill and the right sill match; slide the left sill clamping mechanism 140 to the right, slide the right sill clamping mechanism 150 to the left, and reduce the left sill clamping mechanism 140 and the right sill clamping mechanism. The distance between the holding mechanism 150 makes the distance between the left threshold holding mechanism 140 and the right threshold holding mechanism 150 match the distance between the left threshold and the right threshold, so that the left threshold and the right threshold can be clamped conveniently at the same time.

In this embodiment, step S3 includes: sliding the left threshold clamping mechanism 140 to the left, sliding the right threshold clamping mechanism 150 to the right, increasing the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, which is convenient Move the handle mechanism 100 out of the threshold preset platform 400; move the handle mechanism 100 to the top of the front floor, adjust the vertical position of the handle mechanism 100, so that the front floor clamping mechanism can clamp the front floor conveniently.

In this embodiment, in step S4 , the left gripper docking mechanism 200 is specifically clamped on the left side of the main frame 110 ; the right gripper docking mechanism 300 is specifically clamped on the right side of the main frame 110 .

In this embodiment, after the step S5 and before the step S6, it also includes:

Clamp the first B-direction clamping mechanism and the second B-direction clamping mechanism of the left gripper docking mechanism 200 on the front side and the rear side of the left threshold clamping mechanism 140 respectively, specifically on the left threshold clamping mechanism 140 on the third limit block 1414 of the left door sill clamping mechanism 140 to position and clamp the left threshold clamping mechanism 140 to improve the accuracy and stability of the left threshold clamping mechanism 140; clamp the first B direction of the right gripper docking structure mechanism and the second B-direction clamping mechanism are respectively clamped on the front side and rear side of the right threshold clamping mechanism 150, specifically clamped on the third limit block 1414 of the right threshold clamping mechanism 150, so as to clamp the right threshold The clamping mechanism 150 performs B-direction positioning and clamping to improve the accuracy and stability of the right threshold clamping mechanism 150.

It should be pointed out that, in the present invention, in step S6, when the left door sill and the right door sill are welded, the front floor is clamped and fixed by the floor clamping tool.

It should be noted that other specific implementations of the vehicle door sill installation method of the present invention are substantially the same as other specific implementations of the above-mentioned vehicle door sill installation device, and will not be repeated here.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and replacements can also be made, these improvements and replacements It should also be regarded as the protection scope of the present invention.

Claims (10)

1. A vehicle rocker mounting apparatus, comprising:

the gripper mechanism comprises a main frame, a first driving mechanism and a second driving mechanism, a left doorsill clamping mechanism used for clamping a left doorsill is arranged on the left side of the main frame in a left-right sliding mode, a right doorsill clamping mechanism used for clamping a right doorsill is arranged on the right side of the main frame in a left-right sliding mode, a front floor clamping mechanism used for clamping a front floor is arranged in the middle of the main frame, the first driving mechanism and the second driving mechanism are both installed on the main frame, the output end of the first driving mechanism is in transmission connection with the left doorsill clamping mechanism, and the output end of the second driving mechanism is in transmission connection with the right doorsill clamping mechanism;

left side tongs docking mechanism and right side tongs docking mechanism that relative interval arranged, left side tongs docking mechanism with right side tongs docking mechanism all includes that base and horizontal slip set up tongs fixture on the base, tongs fixture is provided with a plurality of clamping parts, and is a plurality of the clamping part is respectively detachably centre gripping in the left side or the right side of main frame.

2. The vehicle rocker mounting apparatus of claim 1, wherein the left rocker clamping mechanism and the right rocker clamping mechanism each include:

a support frame slidably connected with the main frame;

the upper and lower symmetry sets up first threshold centre gripping subassembly, second threshold centre gripping subassembly on the braced frame, first threshold centre gripping subassembly centre gripping is in the upside of left side threshold or right side threshold, second threshold centre gripping subassembly centre gripping is in the downside of left side threshold or right side threshold, first threshold centre gripping subassembly with second threshold centre gripping subassembly all includes first actuating cylinder, fixed part and the movable part of driving, the fixed part is fixed braced frame is last, first actuating cylinder's output with the movable part transmission is connected, first actuating cylinder drive the movable part rotates, makes the movable part is close to or keeps away from the fixed part.

3. The vehicle door sill mounting apparatus of claim 2, wherein a first positioning pin and a second positioning pin are further provided at intervals on the support frame, the first positioning pin and the second positioning pin extend along the length direction of the main frame, respectively, and the distance between the first positioning pin and the second positioning pin is adapted to the distance between the positioning holes on the left door sill or the right door sill.

4. The vehicle doorsill mounting device according to claim 1, wherein a limiting mechanism is respectively disposed on each of the left and right sides of the main frame, the limiting mechanism includes a first limiting block and a second limiting block which are disposed at a left and right relative interval, the first limiting block and the second limiting block are both fixed to the main frame, the left doorsill clamping mechanism and the right doorsill clamping mechanism are both provided with a stop block, and the stop block is located between the first limiting block and the second limiting block and is used for being in stop fit with the first limiting block or the second limiting block.

5. The vehicle door sill mounting apparatus of claim 1, wherein the base includes a bottom plate, a first rail, a second rail, and a second actuating cylinder, the first rail and the second rail being spaced apart from each other relative to the front and rear sides of the bottom plate, the second actuating cylinder being fixed to the bottom plate, the second actuating cylinder being disposed between the first rail and the second rail, the finger clamping mechanism being slidably mounted to the first rail and the second rail, and an output end of the second actuating cylinder being fixed to the finger clamping mechanism.

6. The vehicle door sill mounting device of claim 1 or 5, wherein the gripper clamping mechanism comprises a sliding seat, a supporting frame, a third driving cylinder and a pressing block, the sliding seat is slidably mounted on the base, the bottom of the supporting frame is fixed on the sliding seat, the third driving cylinder is mounted on one side of the supporting frame, the pressing block is arranged above the top of the supporting frame at intervals, the pressing block and the top of the supporting frame form the clamping portion, the output end of the third driving cylinder is in transmission connection with the pressing block, and the third driving cylinder drives the pressing block to rotate so that the pressing block is far away from the top of the supporting frame or the main frame is pressed on the top of the supporting frame.

7. The vehicle sill mounting apparatus of claim 6, wherein the grip clamp further includes a first B-direction clamp mechanism and a second B-direction clamp mechanism spaced apart from each other in the front-to-back direction, the first B-direction clamp mechanism being clamped to the front side of the left sill clamp mechanism or the right sill clamp mechanism; the second B-direction clamping mechanism is clamped at the rear side of the left doorsill clamping mechanism or the right doorsill clamping mechanism; first B is to clamping mechanism with second B all includes fourth drive cylinder, movable block, fixed block, support arm to clamping mechanism, the one end of support arm is fixed one side of support frame, the fixed block is vertical to be fixed the other end of support arm, the movable block interval set up in one side of fixed block, fourth drive cylinder installs on the support frame, fourth drive cylinder's output with the movable block transmission is connected, fourth drive cylinder drives the movable block rotates, so that the movable block is kept away from the fixed block or is close to the fixed block and with the fixed block constitutes the centre gripping position.

8. The vehicle door sill mounting apparatus of claim 1, further comprising a door sill pre-positioning table including a sill deck and at least one set of pillar assemblies disposed on the sill deck, the pillar assemblies including first and second sets of pillars arranged in spaced relation, the first set of pillars being for supporting one of the left and right door sills and the second set of pillars being for supporting the other of the left and right door sills;

the first stand column group with the second stand column group all includes two stands of interval arrangement, two all be provided with on the stand and be used for supporting the supporting part of left side threshold or right side threshold.

9. A vehicle door sill mounting method comprising the steps of:

step S1, placing a left doorsill and a right doorsill at a first set position, and placing a front floor at a second set position;

s2, sliding a left threshold clamping mechanism and a right threshold clamping mechanism of the gripper mechanism to enable the distance between the left threshold clamping mechanism and the right threshold clamping mechanism to be matched with the distance between the left threshold and the right threshold; clamping the left doorsill by the left doorsill clamping mechanism, and clamping the right doorsill by the right doorsill clamping mechanism;

s3, sliding the left threshold clamping mechanism and the right threshold clamping mechanism to enable the distance between the left threshold clamping mechanism and the right threshold clamping mechanism to be larger than the width of the front floor, and clamping the front floor through a front floor clamping mechanism of the gripper mechanism;

s4, moving the gripper mechanism to the position above the installation position of the floor assembly, clamping the left gripper docking mechanism on the left side of the gripper mechanism, and clamping the right gripper docking mechanism on the right side of the gripper mechanism to clamp the gripper mechanism;

s5, sliding the left threshold clamping mechanism and the right threshold clamping mechanism to enable the left threshold to be spliced with the left side of the front floor and enable the right threshold to be spliced with the right side of the front floor;

and S6, welding and fixing the left doorsill and the left side of the front floor, and welding and fixing the right doorsill and the right side of the front floor.

10. The vehicle sill mounting method of claim 9, further comprising after step S5 and before step S6:

respectively clamping a first B-direction clamping mechanism and a second B-direction clamping mechanism of the left gripper butt joint mechanism on the front side and the rear side of the left doorsill clamping mechanism;

and respectively clamping the first B-direction clamping mechanism and the second B-direction clamping mechanism of the right grab hand butt joint structure on the front side and the rear side of the right doorsill clamping mechanism.

Images