CN114524036B

CN114524036B - Vehicle doorsill installation device and method

Info

Publication number: CN114524036B
Application number: CN202210200561.0A
Authority: CN
Inventors: 李晋彪; 刘怀玉; 穆鹏越
Original assignee: GAC Honda Automobile Co Ltd
Current assignee: GAC Honda Automobile Co Ltd
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2022-11-18
Anticipated expiration: 2042-03-01
Also published as: CN114524036A

Abstract

The invention relates to the technical field of vehicle doorsill installation, and discloses a vehicle doorsill installation device and a method, wherein the device comprises a gripper mechanism, the gripper mechanism comprises a main frame, a first driving mechanism and a second driving mechanism, a left doorsill clamping mechanism is arranged on the left side of the main frame in a sliding manner, a right doorsill clamping mechanism is arranged on the right side of the main frame in a sliding manner, a front floor clamping mechanism is arranged in the middle of 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 tongs docking mechanism all include base and tongs fixture, and tongs fixture is provided with a plurality of clamping parts, and a plurality of clamping parts are respectively detachably centre gripping on the left side or the right side of main frame. The invention utilizes the same gripper mechanism to complete the grabbing and positioning installation of each component without the need of transferring each component, thereby reducing the equipment usage amount, reducing the operation procedures and improving the utilization rate of the automatic production line.

Description

Vehicle doorsill installation device and method

Technical Field

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

Background

At present, in the installation process of the vehicle door sill, a car head, a front floor and a rear floor are generally installed firstly, and after a floor assembly is formed by welding, the floor assembly is conveyed to the next procedure, then the vehicle door sill is installed, and the vehicle door sill is welded to two sides of the front floor on the floor assembly. When the vehicle doorsill is installed, the left doorsill and the right doorsill are fed and conveyed through the doorsill conveyor, the left doorsill and the right doorsill are grabbed and positioned through the left grabbing mechanism, the right doorsill is placed on the storage table by the left grabbing mechanism, the right doorsill is grabbed and positioned by the right grabbing mechanism, the left doorsill is handed to the left doorsill installation mechanism through the left grabbing mechanism, the right doorsill is handed to the right doorsill installation mechanism through the right grabbing mechanism, the left doorsill is located and installed through the left doorsill installation mechanism and the right doorsill installation mechanism, and the left doorsill and the right doorsill are installed on two sides of a front floor on a floor assembly. According to the installation mode, the left doorsill and the right doorsill are respectively grabbed and installed, the left doorsill and the right doorsill are arranged on the same side, the right doorsill needs the left grabbing mechanism to be placed on the storage table firstly, then the right grabbing mechanism grabs the left doorsill, equipment is increased, the number of processes is increased, and the utilization rate of an automatic production line is reduced.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a device and a method for installing a vehicle door sill, so as to solve the problems that when an existing vehicle door sill is installed, a left door sill and a right door sill are respectively grabbed and installed, and the right door sill needs to be placed on a storage table by a left grabbing mechanism first and then grabbed by a right grabbing mechanism, which increases the number of devices, increases the number of processes, and reduces the utilization rate of an automatic production line.

In order to achieve the purpose, the invention adopts the following technical scheme:

one aspect of the present invention provides 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.

Preferably, the left threshold clamping mechanism and the right threshold 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.

Preferably, the supporting frame is further provided with a first positioning pin and a second positioning pin at intervals, the first positioning pin and the second positioning pin are respectively arranged in an extending manner along the length direction of the main frame, and the distance between the first positioning pin and the second positioning pin is matched with the distance between the positioning holes in the left doorsill or the right doorsill.

Preferably, the left side and the right side of the main frame are respectively provided with a limiting mechanism, each limiting mechanism comprises a first limiting block and a second limiting block which are arranged at a left-right relative interval, the first limiting blocks and the second limiting blocks are both fixed with the main frame, the left doorsill clamping mechanism and the right doorsill clamping mechanism are both provided with a stop block, and the stop blocks are located between the first limiting blocks and the second limiting blocks and used for being in stop fit with the first limiting blocks or the second limiting blocks.

Preferably, the base includes bottom plate, first guide rail, second and drives actuating cylinder, first guide rail, the relative interval of second guide rail set up in the front side and the rear side of bottom plate, the second drives actuating cylinder and fixes on the bottom plate, just the second drives actuating cylinder set up in between first guide rail and the second guide rail, tongs fixture sliding assembly is in on first guide rail and the second guide rail, the output that the second drove actuating cylinder is fixed on tongs fixture.

Preferably, tongs fixture includes that sliding seat, support frame, third drive actuating cylinder and briquetting, sliding seat slidable mounting is in on the base, the bottom of support frame is fixed on the sliding seat, and the third drives actuating cylinder and installs one side of support frame, the briquetting interval set up in the top of support frame top, the briquetting with the top of support frame constitutes the clamping part, the third drive actuating cylinder the output with the briquetting transmission is connected, the third drives actuating cylinder drive the briquetting rotates, so that the briquetting is kept away from the top of support frame or will the main frame pressfitting is in the top of support frame.

Preferably, the gripper clamping mechanism is further provided with a first B-direction clamping mechanism and a second B-direction clamping mechanism at intervals in the front-back direction, and the first B-direction clamping mechanism is clamped at the front side of the left doorsill clamping mechanism or the right doorsill clamping 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 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.

Preferably, the vehicle door sill mounting device further comprises a door sill presetting table, wherein the door sill presetting table comprises a table bottom plate and at least one group of upright post assemblies arranged on the table bottom plate, each upright post assembly comprises a first upright post group and a second upright post group which are arranged at intervals, the first upright post group is used for supporting one of the left door sill and the right door sill, and the second upright post group is used for supporting the other one of the left door sill and the right door sill;

the first vertical column group and the second vertical column group respectively comprise two vertical columns which are arranged at intervals, and the two vertical columns are provided with supporting parts for supporting the left doorsill or the right doorsill.

Another aspect of the present invention provides a vehicle door sill mounting method including 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 grabbing 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.

Preferably, after the step S5 and before the step S6, the method further includes:

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

Compared with the prior art, the vehicle doorsill installation device and the vehicle doorsill installation method provided by the embodiment of the invention have the beneficial effects that:

the vehicle doorsill installation device and the vehicle doorsill installation method provided by the embodiment of the invention are characterized in that a left doorsill clamping mechanism for clamping a left doorsill, a right doorsill clamping mechanism for clamping a right doorsill and a front floor clamping mechanism for clamping a front floor are integrated in the same gripper mechanism, the left doorsill and the right doorsill are simultaneously grabbed, then the front floor is grabbed, the left doorsill, the front floor and the right doorsill are placed in a floor assembly through the gripper mechanism, the left doorsill is fixed on the left side of the front floor, and the right doorsill is fixed on the right side of the front floor, so that the vehicle doorsill can be installed. In the process of installing the vehicle doorsill, the grabbing and positioning installation of all components are completed by using the same grabbing mechanism, and the left doorsill, the right doorsill and the front floor do not need to be jointed and transported, so that the use amount of equipment is reduced, the operation process is reduced, and the utilization rate of an automatic production line is improved.

Drawings

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

FIG. 2 is a schematic structural diagram of a gripper mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic view of the left threshold clamping mechanism of FIG. 2;

FIG. 4 is a schematic structural diagram of a left hand grip docking mechanism in an embodiment of the present invention;

FIG. 5 is a schematic view of a sill preset in an embodiment of the present invention;

in the figure, 100, a gripper mechanism; 110. a main frame; 111. a first stopper; 112. a second limiting block; 120. a first drive mechanism; 130. a second drive mechanism; 140. a left threshold clamping mechanism; 141. a support frame; 1411. a first positioning pin; 1412. a second positioning pin; 1413. a stopper block; 1414. a third limiting block; 142. a first driving cylinder; 143. a fixed part; 144. a movable portion; 150. a right threshold clamping mechanism; 160. a hooking cylinder; 170. changing a gun plate;

200. a left gripper docking mechanism; 210. a base; 211. a base plate; 212. a first guide rail; 213. a second guide rail; 214. a second driving cylinder; 220. a gripper clamping mechanism; 221. a sliding seat; 222. a support frame; 223. a third driving cylinder; 2231. a first fixing plate; 2232. a first link; 2233. a first rotating shaft; 224. briquetting; 225. a fourth drive cylinder; 2251. a second fixing plate; 2252. a second link; 2253. a second rotating shaft; 226. a movable block; 227. a fixed block; 228. a support arm;

300. a right hand grip docking mechanism;

400. a threshold presetting table; 410. a table bottom plate; 420. a first upright post; 430. a second upright post; 440. a third column; 450. a fourth column;

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

Detailed Description

The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, "left", "right" indicates the length direction of the main frame, "front", "back" indicates the width direction of the main frame, and is only for convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and is not to be construed as limiting the present invention.

As shown in fig. 1 to 4, a vehicle door sill installation apparatus according to an embodiment of the present invention includes a hand grip mechanism 100, and a left hand grip docking mechanism 200 and a right hand grip docking mechanism 300 which are arranged at an interval, wherein the hand grip mechanism 100 is used for gripping and transporting a left door sill, a front floor, and a right door sill, and for merging, splicing and positioning the left door sill and the right door sill, the hand grip mechanism 100 includes a main frame 110, a first driving mechanism 120, and a second driving mechanism 130, a left door sill gripping mechanism 140 for gripping the left door sill is provided on the left side of the main frame 110 in a left-right sliding manner, a right door sill gripping mechanism 150 for gripping the right door sill is provided on the right side of the main frame 110 in a left-right sliding manner, a front floor gripping mechanism for gripping the front floor is provided in the middle of the main frame 110, the first driving mechanism 120 and the second driving mechanism 130 are both installed on the main frame 110, an output end of the first driving mechanism 120 is in transmission connection with the left door sill gripping mechanism 140 to drive the left door sill gripping mechanism 140 to slide along the main frame 110, an output end of the second driving mechanism 130 is in transmission connection with the right door sill gripping mechanism 150 to adjust a sliding direction along the left door sill gripping mechanism 150, thereby facilitating a distance between the left door sill gripping mechanism 150 and the left door sill gripping mechanism 140, the right door sill gripping mechanism 150, the left door sill gripping mechanism 140, and the right door sill gripping mechanism 150, and the gripping mechanism 140, and the left door sill gripping mechanism 150, and the gripping mechanism 150 at the same time; and conveniently dock the left threshold of getting with the left side on preceding floor, dock the right side on preceding floor with the right threshold of getting.

The left hand docking mechanism 200 and the right hand docking mechanism 300 have the same structure, and the structure of the left hand docking mechanism 200 will be described as an example. The left gripper docking mechanism 200 comprises a base 210 and a gripper clamping mechanism 220 which is arranged on the base 210 in a left-right sliding manner, wherein the gripper clamping mechanism 220 is provided with a plurality of clamping portions which are respectively detachably clamped on the left side of the main frame 110 so as to clamp and position the left side of the gripper mechanism 100. Accordingly, the grip portion of the right hand grip docking mechanism 300 is detachably gripped at the right side of the main frame 110 to grip and position the right side of the hand grip mechanism 100. The positioning and clamping effects on the gripper mechanism 100 are realized through the left gripper docking mechanism 200 and the right gripper docking mechanism 300, and the positioning accuracy on the left doorsill and the right doorsill can be improved.

The left doorsill clamping mechanism 140 used for clamping a left doorsill, the right doorsill clamping mechanism 150 used for clamping a right doorsill and the front floor clamping mechanism used for clamping a front floor are integrated in the same gripper mechanism 100, the left doorsill and the right doorsill are simultaneously grabbed, then the front floor is grabbed, the left doorsill, the front floor and the right doorsill are placed in a floor assembly through the gripper mechanism 100, the left doorsill is fixed on the left side of the front floor, and the right doorsill is fixed on the right side of the front floor, so that the vehicle doorsill can be installed. In the process of installing the vehicle doorsill, the same gripper mechanism 100 is used for grabbing and positioning and installing all components, and the left doorsill, the right doorsill and the front floor do not need to be handed over and transported, so that the use amount of equipment is reduced, the operation process is reduced, and the utilization rate of an automatic production line is improved. In addition, the left threshold, the front floor and the right threshold are directly placed in corresponding positions of the floor assembly, the left threshold, the front floor and the right threshold can be welded by using the same welding station, a special welding station is not required to be arranged for the left threshold and the right threshold, the occupied space of the welding station is saved, and the welding operation efficiency is improved.

In the invention, after the left threshold, the right threshold and the front floor are loaded by the gripper mechanism 100, the front floor, the vehicle head and the rear floor are positioned and clamped by the floor positioning clamp, so that the front floor can be conveniently welded and fixed, and the left threshold and the right threshold can be conveniently welded and fixed. After the floor assembly is welded, the welded part is conveyed to the next procedure through the reciprocating bar conveying mechanism. The structure of the floor positioning jig and the reciprocating bar carrying mechanism will not be described in detail.

In this embodiment, the first driving mechanism 120 and the second driving mechanism 130 can be driving cylinders, specifically, pull rod type cylinders, to provide power. The driving cylinder is fixedly installed on the main frame 110, and an output end of a telescopic rod of the driving cylinder is fixed with the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150, so that the driving cylinder can stretch to drive the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150 to move.

In this embodiment, as shown in fig. 2, the main frame 110 is square, the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 are both disposed below the main frame 110, the gun changing plate 170 for connecting with a robot is further disposed on the upper side of the middle portion of the main frame 110, and the gripper mechanism 100 only needs to be changed by changing the gun changing plate 170 according to the difference of the positioning holes and the positioning surfaces of different vehicle thresholds, and 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 equipment cost can be reduced.

In this embodiment, the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 are arranged on the main frame 110 at an interval, and the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 have the same structure. The description will be given only by taking the structure of the left rocker clamping mechanism 140 as an example.

As shown in fig. 3, the left threshold clamping mechanism 140 includes a supporting frame 141, and a first threshold clamping assembly and a second threshold clamping assembly that are disposed on the supporting frame 141 in an up-down symmetrical manner, wherein the supporting frame 141 is slidably connected to the main frame 110 to enable the left threshold clamping mechanism 140 to slide along the main frame 110, one of a guide rail and a slider can be disposed at the top of the supporting frame 141, and the other of the guide rail and the slider is disposed on the main frame 110 to enable the sliding connection through the cooperation of the guide rail and the slider; the first threshold clamping assembly is clamped on the upper side of the left threshold, the second threshold clamping assembly is clamped on the lower side of the left threshold, and the left threshold is clamped up and down through the first threshold clamping assembly and the second threshold clamping assembly. Accordingly, the first threshold clamping assembly and the second threshold clamping assembly of the right threshold clamping mechanism 150 clamp and position the right threshold up and down. It should be noted that the output ends of the first driving mechanism 120 and the second driving mechanism 130 are in transmission connection with the supporting frame 141, and the first threshold clamping assembly and the second threshold clamping assembly are driven to move by the movement of the supporting frame 141.

In this embodiment, the first threshold clamping assembly and the second threshold clamping assembly have the same structure, and only the first threshold clamping assembly is taken as an example for description. The first threshold clamping assembly comprises a first driving cylinder 142, a fixing part 143 and a movable part 144, the fixing part 143 is fixed on the supporting frame 141, the output end of the first driving cylinder 142 is in transmission connection with the movable part 144, and the first driving cylinder 142 drives the movable part 144 to rotate, so that the movable part 144 is close to or far away from the fixing part 143. When the movable portion 144 is far away from the fixed portion 143, the space between the movable portion 144 and the fixed portion 143 is accessible for the left or right door sill. When the fixing portion 143 abuts against the edge of the left rocker, the movable portion 144 rotates to be close to the fixing portion 143, and the movable portion 144 abuts against the upper side surface of the left rocker, so that the edge of the left rocker is clamped between the movable portion 144 and the fixing portion 143. The movable portion 144 of the second threshold clamping assembly can abut against the lower side surface of the left threshold, so that the left threshold is clamped up and down by the two movable portions 144, and meanwhile, the two fixing portions 143 abut against the upper edge and the lower edge of the left threshold respectively to avoid sliding in the process of clamping the left threshold. In this embodiment, the first driving cylinder 142 is an integrated cylinder for clamping the threshold member in the direction B. Note that, in the present invention, the direction B is the length direction of the main frame 110, the direction T is the width direction of the main frame 110, and the direction H is the height direction of the main frame 110. In this embodiment, one side of the movable portion 144 is abutted to the fixed portion 143, and the other side of the movable portion 144 rotates around the output rotation shaft of the first driving cylinder 142.

In this embodiment, for stable clamping, two first threshold clamping assemblies and two second threshold clamping assemblies are respectively disposed, the two first threshold clamping assemblies are located on the upper side of the supporting frame 141, and the two second threshold clamping assemblies are located on the lower side of the supporting frame 141.

In this embodiment, as shown in fig. 2, the supporting frame 141 is further provided with a first positioning pin 1411 and a second positioning pin 1412 at intervals, the first positioning pin 1411 and the second positioning pin 1412 are respectively arranged to extend along the length direction of the main frame 110, and a distance between the first positioning pin 1411 and the second positioning pin 1412 is adapted to a distance between the positioning holes on the left sill or the right sill. Taking the left doorsill clamping mechanism 140 as an example, when the left doorsill is clamped by the left doorsill clamping mechanism 140, the first positioning pin 1411 and the second positioning pin 1412 are respectively inserted into corresponding positioning holes of the left doorsill, and the left doorsill is positioned in the T direction and the H direction by the first positioning pin 1411 and the second positioning pin 1412. The positioning pins provided on the support frame 141 of the right sill clamp 150 are used in the same manner as the positioning pins of the left sill clamp 140. In the length direction of the support frame 141, the first positioning pin 1411 and the second positioning pin 1412 are positioned 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 1412 are located between the first threshold clamp assembly and the second threshold clamp assembly. Both the first and

second positioning pins

1411 and 1412 may be fixed to the support frame 141 by L-shaped rods.

In this embodiment, the left side and the right side of the main frame 110 are respectively provided with a limiting mechanism, the limiting mechanism includes a first limiting block 111 and a second limiting block 112 which are arranged at a left-right relative interval, the first limiting block 111 and the second limiting block 112 are both fixed with the main frame 110, the left doorsill clamping mechanism 140 and the right doorsill clamping mechanism 150 are both provided with a stop block 1413, and the stop block 1413 is located between the first limiting block 111 and the second limiting block 112 and is used for being in stop fit with the first limiting block 111 or the second limiting block 112. For example, when the left doorsill clamping mechanism 140 slides left and right, the stop 1413 slides left and right simultaneously, and when the stop 1413 moves left to be in stop fit with the first stop block 111, the first stop block 111 defines the left movement position of the left doorsill clamping mechanism 140; when the stop block 1413 moves rightward to stop and engage with the second stopper 112, the second stopper 112 limits the rightward position of the left doorsill clamping mechanism 140, thereby limiting the moving range of the left doorsill clamping mechanism 140. In this embodiment, there are two stop blocks 1413, two stop blocks 1413 are disposed at intervals along the length direction of the supporting frame 141, and both stop blocks 1413 are disposed on the upper side of the supporting frame 141. Accordingly, two first stoppers 111 and two second stoppers 112 are provided.

As shown in fig. 2, a plurality of hooking cylinders 160 are provided in the middle of the main frame 110 to position and clamp the front floor panels. In this embodiment, three pin purchasing cylinders 160 are arranged in a triangular arrangement.

In this embodiment, as shown in fig. 4, the base 210 includes a bottom plate 211, a first guide rail 212, a second guide rail 213, and a second driving cylinder 214, the first guide rail 212 and the second guide rail 213 are disposed at a front side and a rear side of the bottom plate 211 at an interval, the second driving cylinder 214 is fixed on the bottom plate 211, the second driving cylinder 214 is disposed between the first guide rail 212 and the second guide rail 213, the gripper clamping mechanism 220 is slidably mounted on the first guide rail 212 and the second guide rail 213, and an output end of the second driving cylinder 214 is fixed on the gripper clamping mechanism 220, specifically, on a 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, and the position of the gripper clamping mechanism 220 is adjusted, so that the gripper clamping mechanism 220 can conveniently 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 supporting frame 222, a third driving cylinder 223 and a pressing block 224, the sliding seat 221 is slidably mounted on the base 210, specifically on the first guide rail 212 and the second guide rail 213, and a sliding block may be disposed at the bottom of the sliding seat 221 to achieve sliding connection with the guide rails; the support frame 222 is vertically fixed on the sliding seat 221, the bottom of the support frame 222 is fixed on the sliding seat 221, the third driving cylinder 223 is installed on one side of the support frame 222, the pressing blocks 224 are arranged above the top of the support frame 222 at intervals, the pressing blocks 224 and the top of the support frame 222 form a clamping portion, the output end of the third driving cylinder 223 is in transmission connection with the pressing blocks 224, and the third driving cylinder 223 drives the pressing blocks 224 to rotate, so that the pressing blocks 224 are far away from the top of the support frame 222 or the main frame 110 is pressed on the top of the support frame 222. When the pressing block 224 is far away from the top of the supporting frame 222, a clamping space is reserved at the top of the supporting frame 222, so that the supporting frame 222 can be conveniently moved to the lower part of the main frame 110; the pressing block 224 rotates to be close to the top of the supporting frame 222, the main frame 110 can be pressed and clamped between the pressing block 224 and the top of the supporting frame 222, the main frame 110 can be supported through the supporting frame 222, and the pressing force is provided for the pressing block 224 through the third driving cylinder 223 to clamp and fix the main frame 110. In this embodiment, a first fixing plate 2231 is fixed on the third driving cylinder 223, the output end of the telescopic rod of the third driving cylinder 223 is rotatably connected with a first link 2232, the middle part of the first link 2232 is connected with the first fixing plate 2231 through a first rotating shaft 2233, one end of the first link 2232 is rotatably connected with the telescopic rod, and a pressing block 224 is fixed at the other end of the first link 2232. When the telescopic rod is extended, the first link 2232 rotates around the first pivot 2233, which drives 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 of the gripper clamping mechanisms 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 will be described as an example. The gripper clamping mechanism 220 is provided with two third driving cylinders 223, each third driving cylinder 223 is in transmission connection with a pressing block 224, and the two pressing blocks 224 respectively correspond to two corner positions on the left side of the main frame 110. The two third driving cylinders 223 respectively drive the corresponding pressing blocks 224 to rotate, so that the pressing blocks 224 are pressed at the corresponding corner positions of the main frame 110. According to the different positioning demands on the main frame 110, the top of the support frame 222 can be vertically provided with a positioning pin, the bottom of the main frame 110 is provided with a corresponding positioning round hole, and when the pressing block 224 clamps the main frame 110 on the top of the support frame 222, the positioning pin of the support frame 222 is inserted into the positioning round hole, so that the T-direction, the B-direction and the H-direction positioning are realized. It should be noted that the top of the supporting frame 222 may not be provided with a positioning pin, and the top of the supporting frame 222 is attached to the bottom plane of the main frame 110 to realize positioning in the H direction, or the top of the supporting frame 222 is provided with a diamond-shaped column, and the bottom of the main frame 110 is provided with a corresponding diamond-shaped positioning hole to realize positioning in the T direction and the H direction. It should be noted that the top of the support frame 222 of the gripper unit 220 of the left gripper interface 200 may be disposed in a different manner than the top of the support frame 222 of the gripper unit 220 of the right gripper interface 300. For example, in the present embodiment, the left gripper docking mechanism 200 and the right gripper docking mechanism 300 are respectively provided with two third driving cylinders 223 and two pressing blocks 224, which can be respectively clamped at four corner positions of the main frame 110. Wherein, a positioning pin is arranged at the top of the front side of the supporting frame 222 of the left gripper docking mechanism 200, and a positioning round hole is arranged at the corresponding corner position of the main frame 110, so as to realize positioning in the T direction, the B direction and the H direction; the top position of the rear side of the supporting frame 222 of the left gripper docking mechanism 200 is a plane, and the corresponding corner position of the corresponding main frame 110 is a plane, so that H-direction positioning is realized; the top position of the front side of the supporting frame 222 of the right hand-grasping docking mechanism 300 is set to be a plane, and the corresponding corner position of the corresponding main frame 110 is a plane, so that H-direction positioning is realized; the top of the rear side of the supporting frame 222 of the right hand-grasping docking mechanism 300 is provided with a diamond-shaped column, and the corresponding corner of the main frame 110 is provided with a diamond-shaped positioning hole, so as to realize positioning in the T direction and the H direction.

Further, the gripper clamping mechanism 220 is further provided with a first B-direction clamping mechanism and a second B-direction clamping mechanism at intervals in the front-back direction, and the first B-direction clamping mechanism is clamped at the front side of the left doorsill clamping mechanism 140 or the right doorsill clamping mechanism 150; the second B-direction clamping mechanism is clamped at the rear side of the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150 so as to perform B-direction positioning on the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, and the accuracy and the stability of the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 are improved. The first B-direction clamp mechanism and the second B-direction clamp mechanism have the same configuration, and only the first B-direction clamp mechanism will be described as an example. The first B-direction clamping mechanism comprises a fourth driving cylinder 225, a movable block 226, a fixed block 227 and a supporting arm 228, one end of the supporting arm 228 is fixed on one side of the supporting frame 222, the fixed block 227 is vertically fixed on the other end of the supporting arm 228, the movable block 226 is arranged on one side of the fixed block 227 at intervals, the fourth driving cylinder 225 is installed on the supporting frame 222, the output end of the fourth driving cylinder 225 is in transmission connection with the movable block 226, the fourth driving cylinder 225 drives the movable block 226 to rotate, so that the movable block 226 is far 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 for clamping the left threshold clamping mechanism 140 or the right threshold clamping mechanism 150. Further, a third limiting block 1414 is vertically arranged on each of the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, and a clamping position formed by the movable block 226 and the fixed block 227 is clamped on the third limiting block 1414. In this embodiment, the third stopper 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, a second fixing plate 2251 is vertically fixed to one side of the fourth driving cylinder 225, an output end of an expansion link of the fourth driving cylinder 225 is connected to a second connecting rod 2252, the second connecting rod 2252 is L-shaped, a corner position of the second connecting rod 2252 is connected to the second fixing plate 2251 through a second rotating shaft 2253, one end of the second connecting rod 2252 is rotatably connected to the expansion link, and the other end of the second connecting rod 2252 fixes the movable block 226. When the telescopic rod is extended, the second link 2252 rotates around the second shaft 2253 to rotate the movable block 226.

In this embodiment, the vehicle door sill installation apparatus further includes a door sill presetting table 400, as shown in fig. 5, the door sill presetting table 400 includes a platform bottom plate 410 and at least one set of pillar assemblies disposed on the platform bottom plate 410, the structures of each set of pillar assemblies are the same, and the description is given by taking one of the sets of pillar assemblies as an example, the pillar assemblies include a first pillar 420 set and a second pillar 430 set which are arranged at intervals, the first pillar 420 set is used for supporting one of a left door sill and a right door sill, the second pillar 430 set is used for supporting the other of the left door sill and the right door sill, the first pillar 420 set and the second pillar 430 set are arranged at intervals, so that the left door sill and the right door sill are arranged at intervals, a movable space is reserved for an interval of the grab handle mechanism 100, and the left door sill and the right door sill can be clamped simultaneously by the left door sill clamping mechanism 140 and the right door sill clamping mechanism 150; the first upright 420 group and the second upright 430 group have the same structure, and each of the first upright 420 group and the second upright 430 group includes two uprights arranged at intervals, for convenience of description, the two uprights of the first upright 420 group are respectively represented by a first upright 420 and a second upright 430, and the two uprights of the second upright 430 group are respectively represented by a third upright 440 and a fourth upright 450. Explaining that the first upright post 420 group supports the left doorsill, the second upright post 430 group supports the right doorsill, the first upright post 420 group comprises a first upright post 420 and a second upright post 430 which are arranged at intervals, the first upright post 420 and the second upright post 430 are both vertically fixed on the platform bottom plate 410, the first upright post 420 and the second upright post 430 are both provided with supporting parts for supporting the left doorsill, and two ends of the left doorsill are respectively placed on the supporting parts of the first upright post 420 and the second upright post 430; the second upright column 430 group comprises a third upright column 440 and a fourth upright column 450 which are arranged at intervals, the third upright column 440 and the fourth upright column 450 are both vertically fixed on the platform bottom plate 410, supporting parts for supporting the right doorsill are arranged on the third upright column 440 and the fourth upright column 450, and two ends of the right doorsill are respectively placed on the supporting parts of the third upright column 440 and the fourth upright column 450. It is noted that the left and right

threshold clamping mechanisms

140 and 150 clamp the middle region of the threshold.

A plurality of supporting parts can be arranged on the first upright post 420 and the second upright post 430 at intervals up and down, and the supporting parts on the first upright post 420 and the supporting parts on the second upright post 430 are in one-to-one correspondence, so that a plurality of left doorsills can be arranged on the first upright post 420 group at intervals up and down; correspondingly, a plurality of supporting portions can be arranged on the third upright column 440 and the fourth upright column 450 at intervals up and down, and the supporting portions on the third upright column 440 and the supporting portions on the fourth upright column 450 are in one-to-one correspondence, so that a plurality of right side sills can be arranged on the second upright column 430 group at intervals up and down. It should be noted that, in order to facilitate the simultaneous clamping of the left and right door sills, the left door sill placed on the first vertical column 420 group and the right door sill placed on the second vertical column 430 group are located on the same horizontal plane. When the first upright post 420 group is provided with a plurality of left door sills, the left door sills of the first upright post 420 group and the right door sills of the second upright post 430 group are arranged in a one-to-one correspondence manner.

In this embodiment, the supporting portion includes a supporting plate and two supporting vertical plates arranged on the supporting plate at intervals, the supporting plate and the two supporting vertical plates are arranged to be in a U-shaped groove shape, the end portion of the left doorsill or the right doorsill is placed in the U-shaped groove, the supporting plate supports the left doorsill or the right doorsill, and the two supporting vertical plates limit the left doorsill or the right doorsill.

As shown in fig. 5, two sets of pillar assemblies may be disposed on the platform floor 410, the first pillar 420 sets of the two sets of pillar assemblies are located on the same side of the platform floor 410, two left thresholds are disposed on each first pillar 420 set from top to bottom, two right thresholds are disposed on each second pillar 430 set from top to bottom, the left thresholds on the first pillar 420 set located at the leftmost side of the platform floor 410 are respectively represented by a first left threshold 510 and a second left threshold 520 from top to bottom, the left thresholds on the first pillar 420 set located at the middle of the platform floor 410 are respectively represented by a third left threshold 530 and a fourth left threshold 540 from top to bottom, the right thresholds on the second pillar 430 set located at the middle of the platform floor 410 are respectively represented by a first right threshold 550 and a second right threshold 560 from top to bottom, and the right thresholds on the rightmost side of the platform floor 410 are respectively represented by a third right threshold 570 and a fourth right threshold 580 from top to bottom. When tongs mechanism 100 snatchs the threshold, snatch the left threshold and the right threshold of the same assemblage post subassembly on upper strata earlier in proper order, snatch the left threshold and the right threshold of the same assemblage post subassembly on lower floor in proper order again, for example, snatch the order and be: first left and

right side sills

510 and 550, third left and

right side sills

530 and 570, second left and

right side sills

520 and 560, and fourth left and

right side sills

540 and 580, in order to facilitate adjustment of the height position of gripper mechanism 100.

The invention also provides a vehicle doorsill installation method, which is used for installing the vehicle doorsill by using the vehicle doorsill installation device, wherein the vehicle doorsill installation method comprises the following steps:

the method comprises the following steps that S1, a left doorsill and a right doorsill are placed at a first set position, and a front floor is placed at a second set position;

step S2, sliding the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 of the gripper mechanism 100 to enable the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 to be matched with the distance between the left threshold and the right threshold; the left doorsill is clamped by the left doorsill clamping mechanism 140, and meanwhile, the right doorsill is clamped by the right doorsill clamping mechanism 150;

step S3, sliding the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 to enable the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 to be larger than the width of the front floor, and clamping the front floor through the front floor clamping mechanism of the gripper mechanism 100;

step S4, moving the gripper mechanism 100 to the position above the installation position of the floor assembly, clamping the left gripper docking mechanism 200 on the left side of the gripper mechanism 100, and clamping the right gripper docking mechanism 300 on the right side of the gripper mechanism 100 so as to clamp the gripper mechanism 100; in order to clamp the gripper mechanism 100 more accurately, before the gripper mechanism 100 is in place, the left gripper docking mechanism 200 and the right gripper docking mechanism 300 are moved in place;

step S5, sliding the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 to splice the left threshold and the right threshold with the left side of the front floor and the right threshold and the right side of the front floor;

In the process of installing the vehicle doorsill, the same gripper mechanism 100 is used for finishing the grabbing and positioning installation of all components, so that the left doorsill, the front floor and the right doorsill can be clamped, spliced and welded at one time, and the left doorsill, the right doorsill and the front floor do not need to be jointed and transferred, so that the use amount of equipment is reduced, the operation process is reduced, and the utilization rate of an automatic production line is improved.

In this embodiment, in step S1, the first setting position is a setting position on the threshold presetting table 400, specifically, on the supporting portion of the pillar assembly. The second is an upper trolley of the front floor.

In this embodiment, step S2 includes: the left threshold clamping mechanism 140 slides leftwards, the right threshold clamping mechanism 150 slides rightwards, the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 is increased, and the left threshold and the right threshold are conveniently positioned and clamped; moving the gripper mechanism 100 to the position above the threshold pre-placing table 400, and adjusting the vertical position of the gripper mechanism 100 to enable the vertical positions of the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 to be matched with the positions of the left threshold and the right threshold; the left threshold clamping mechanism 140 slides rightwards, the right threshold clamping mechanism 150 slides leftwards, and the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 is reduced, so that the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150 is matched with the distance between the left threshold and the right threshold, and the left threshold and the right threshold can be clamped conveniently and simultaneously.

In this embodiment, step S3 includes: sliding the left threshold clamping mechanism 140 leftward, sliding the right threshold clamping mechanism 150 rightward, increasing the distance between the left threshold clamping mechanism 140 and the right threshold clamping mechanism 150, and conveniently moving the gripper mechanism 100 out of the threshold pre-placing table 400; the gripper mechanism 100 is moved to the upper side of the front floor, and the vertical position of the gripper mechanism 100 is adjusted, so that the front floor can be conveniently clamped by the front floor clamping mechanism.

In this embodiment, in step S4, the left gripper docking mechanism 200 is specifically clamped at the left side of the main frame 110; the right hand 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, the method further includes:

the first B-direction clamping mechanism and the second B-direction clamping mechanism of the left hand grab docking mechanism 200 are respectively clamped on the front side and the rear side of the left doorsill clamping mechanism 140, and are particularly clamped on a third limiting block 1414 of the left doorsill clamping mechanism 140, so that B-direction positioning and clamping are carried out on the left doorsill clamping mechanism 140, and the precision and the stability of the left doorsill clamping mechanism 140 are improved; the first B-direction clamping mechanism and the second B-direction clamping mechanism of the right grab hand butt joint structure are clamped on the front side and the rear side of the right doorsill clamping mechanism 150 respectively, and are specifically clamped on the third limiting block 1414 of the right doorsill clamping mechanism 150, so that B-direction positioning and clamping are carried out on the right doorsill clamping mechanism 150, and the precision and the stability of the right doorsill clamping mechanism 150 are improved.

In the present invention, in step S6, when the left rocker and the right rocker are welded, the front floor is clamped and fixed by the floor clamping tool.

It should be noted that other embodiments of the vehicle rocker mounting method of the present invention are substantially the same as the other embodiments of the vehicle rocker mounting device described above, and are not described in detail herein.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A vehicle rocker mounting apparatus, comprising:

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;

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:

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;

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

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.