CN115816006B - A flexible vehicle body assembly system - Google Patents
A flexible vehicle body assembly systemInfo
- Publication number
- CN115816006B CN115816006B CN202211526703.9A CN202211526703A CN115816006B CN 115816006 B CN115816006 B CN 115816006B CN 202211526703 A CN202211526703 A CN 202211526703A CN 115816006 B CN115816006 B CN 115816006B
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- gripper
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- vehicle body
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Abstract
本发明公开了一种柔性车身总拼系统，包括底部定位机构、定位框架、定位抓手、外部行走轴及机械手；所述定位框架用于为顶盖前横梁和后围上横梁提供精确定位和夹紧；所述定位抓手用于对所述左/右侧围进行精确的定位夹紧以及对所述后围上横梁及所述顶盖前横梁进行定位夹紧；所述外部行走轴布置于所述底部定位机构的两侧，并用于驱动所述机械手移动；所述机械手用于抓取焊枪进行车身焊接。本发明的有益效果是：对于特定的车型的总拼来说，只需要设计特定的定位抓手即可，底部定位机构、定位框架、外部行走轴及机械手可以通用，具有设备利用率高，车型可扩展性强，投资规模小等优势，适合于多品种小批量车型的柔性化生产。
The present invention discloses a flexible vehicle body assembly system, comprising a bottom positioning mechanism, a positioning frame, a positioning gripper, an external running shaft, and a manipulator; the positioning frame is used to provide precise positioning and clamping for the front crossbeam of the roof and the upper crossbeam of the rear enclosure; the positioning gripper is used to precisely position and clamp the left/right side enclosures and to position and clamp the upper crossbeam of the rear enclosure and the front crossbeam of the roof; the external running shaft is arranged on both sides of the bottom positioning mechanism and is used to drive the manipulator to move; the manipulator is used to grab the welding gun for vehicle body welding. The beneficial effects of the present invention are: for the assembly of a specific vehicle model, only a specific positioning gripper needs to be designed, and the bottom positioning mechanism, positioning frame, external running shaft, and manipulator can be universal, with the advantages of high equipment utilization, strong vehicle model scalability, small investment scale, etc., and is suitable for the flexible production of multiple varieties and small batches of vehicle models.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a flexible automobile body assembly system.
Background
The general assembly of the body refers to that a lower body assembly, a left/right side wall assembly, a rear wall and a plurality of top cover cross beams form a body-in-white framework, which is a very key ring in the production of the body-in-white, and determines the strength and the accuracy of the whole body-in-white.
The existing automobile body general splicing forms are general splicing systems such as translation gable type and tetrahedron turntable type (such as China patent of application number CN 202011563903.2), the occupied area is large, the investment of equipment is large, a plurality of manipulators (robots) are needed to be arranged, only welding of forming welding spots of the general splicing station is realized, repair welding of other welding spots of the automobile body is carried out at the subsequent station, and the design positions of all positioning cylinders cannot be adjusted, so that the automobile body general splicing system is only suitable for production of mass automobile types.
However, for multiple small batch vehicle types, the total assembly system of the automobile body is too high in cost and flexible production of multiple vehicle types cannot be realized.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a flexible vehicle body assembly system for solving the technical problem that the conventional vehicle body assembly system cannot realize flexible production of multiple vehicle types.
In order to achieve the above purpose, the invention provides a flexible car body assembly system, which comprises a bottom positioning mechanism, a positioning frame, a positioning gripper, an external walking shaft and a manipulator;
The bottom positioning mechanism is used for positioning and clamping the left/right side wall, positioning the lower car body and positioning and clamping the lap joint of the lower end of the side wall and the threshold beam;
The positioning frame is used for providing accurate positioning and clamping for the front cross beam and the rear upper cross beam of the top cover;
the positioning grip is used for accurately positioning and clamping the left/right side walls and the rear upper beam and the top cover front beam;
the external walking shafts are arranged on two sides of the bottom positioning mechanism and used for driving the manipulator to move;
the manipulator is used for grabbing a welding gun to weld the vehicle body.
In some embodiments, the bottom positioning mechanism comprises a base, a left/right side wall front reinforcing plate front end positioning unit, a lower vehicle body positioning unit, a side wall lower end positioning unit, a side wall rear end positioning unit and a positioning handle lower positioning unit, wherein the left/right side wall front reinforcing plate front end positioning unit is used for positioning and clamping the left/right side wall front reinforcing plate front end, the lower vehicle body positioning unit is used for positioning the lower vehicle body, the side wall lower end positioning unit is used for Y-direction positioning and clamping the side wall lower end and the lap edge of the lower end of the floor threshold beam, the side wall rear end positioning unit is used for X-direction clamping the side wall rear end, and the positioning handle lower positioning unit is used for positioning and clamping the front/rear lower positioning device of the positioning handle and providing an air source for the positioning handle.
In some embodiments, the left/right side wall front reinforcing plate front end positioning unit comprises a first Z-direction supporting part, a first mounting base, a first cylinder translation part, a first front limiting part, a first rear limiting part, a first mounting seat and an XYZ positioning clamping part, wherein the first Z-direction supporting part is of a fixed structure and is used for supporting an end suspension mounting surface of the front end of the left/right side wall front reinforcing plate connected with a frame, the first cylinder translation part is provided with a first mounting seat and an XYZ positioning clamping part and used for providing Y-direction translation, the first cylinder translation part comprises a first translation cylinder and a first translation guide rail, the first front limiting part is arranged on the first mounting seat and the XYZ positioning clamping part and is turned up to be limited and locked after the first mounting seat and the XYZ positioning clamping part are advanced to the original position, a first sliding block is formed at the bottom of the first mounting seat and can move on the first translation guide rail, the first sliding block is used for driving the first side wall front end of the left/right side wall front reinforcing plate to move back, and the first XYZ positioning clamping part is used for driving the first side wall front end of the first mounting seat and the first side wall front reinforcing plate to move back, and the first XYZ positioning clamping part to move back to the first X-direction.
In some embodiments, the lower vehicle body positioning unit comprises a left/right front longitudinal beam positioning part, a lower vehicle body Z-direction supporting part, a second cylinder translation part, a second rear limit part, a second front limit part and a rear cross beam positioning part, wherein the left/right front longitudinal beam positioning part is used for positioning a mounting hole of a left/right front longitudinal beam, the lower vehicle body Z-direction supporting part is used for supporting the lower vehicle body in the Z-direction, the second cylinder translation part comprises a second translation cylinder, a second translation guide rail and a second slide block, the second translation cylinder is used for driving the second slide block to move so that the rear cross beam positioning part mounted on the second slide block can move in the front-back X-direction on the second slide block to perform a vehicle type switching function, the second front limit part is used for limiting the position of the rear cross beam positioning part, and the rear cross beam positioning part is used for positioning the mounting hole of the rear cross beam.
In some embodiments, the side wall lower end positioning unit comprises a second mounting base, a first sliding table Y-direction advancing limiting part, a third cylinder translation part, a second Z-direction supporting part and a Y-direction positioning clamping part, wherein the second mounting base is mounted on the base, the first sliding table Y-direction advancing limiting part is used for limiting Y-direction translation of the Y-direction positioning clamping part mounted on the third cylinder translation part, the second Z-direction supporting part is used for Z-direction supporting of the side wall, and the Y-direction positioning clamping part is uniformly distributed along the X-direction of the bottom of the side wall and used for Y-direction positioning and clamping of the lower end of the side wall and the joint edge of the lower end of the floor threshold beam.
In some embodiments, the side wall rear end positioning unit includes a third mounting base, a fourth cylinder translation part, a second sliding table Y forward limiting part, a second mounting base, an X-direction positioning clamping part, and a positioning gripper rear upper positioning clamping part, the fourth cylinder translation part is mounted on the third mounting base, the fourth cylinder translation part is mounted with a second mounting base, a plurality of groups of X-direction positioning clamping parts are disposed on the second mounting base, the X-direction positioning clamping part is used for performing X-direction positioning clamping on the side wall rear end, the positioning gripper rear upper positioning clamping part includes a first positioning plate, a first waist-shaped positioning hole in X-direction is formed in the first positioning plate for positioning the front/rear upper positioning device of the positioning gripper, the positioning gripper rear upper positioning clamping part further includes a first Y-direction clamping cylinder for clamping the front/rear upper positioning device on the Y-direction positioning surface of the first positioning plate.
In some embodiments, the lower positioning unit of the positioning grip comprises an air supply interface, a fourth mounting base, a supporting seat, a protective cover, a lower positioning clamping part, a first connecting plate, an X-direction front limiting block, a Y-direction limiting block, a Z-direction supporting block, an X-direction rear limiting block and a transition supporting block, wherein the air supply interface is connected with a compressed air source, the lower end of the supporting seat is connected with the fourth mounting base, the upper end of the supporting seat is connected with the first connecting plate, a rotating shaft is arranged in the middle of the supporting seat, the lower positioning clamping part is driven by a driving cylinder to rotate around the rotating shaft so as to realize opening and clamping of the lower positioning clamping part, two groups of first steel wheels are arranged on the lower positioning clamping part, and the first steel wheels are used for clamping the front/rear lower positioning device of the positioning grip on the Y-direction limiting block and the Z-direction supporting block.
In some embodiments, the positioning gripper comprises a positioning gripper frame, a positioning clamping part device and a quick-change device, wherein the positioning gripper frame comprises a frame body, a front/rear lower positioning device and a front/rear upper positioning device, the positioning clamping part device comprises a side wall front main positioning pin part device, a side wall rear main positioning pin part device, a rear side wall beam positioning pin part device, a side wall X-direction clamping part device, a side wall Y-direction clamping part device and a side wall Z-direction clamping part device, the positioning pin part device is a double-guide-column structure translation cylinder driving part device, the clamping part device is rotationally clamped and opened by a turnover cylinder driving part device, the quick-change device comprises a male disc and a female disc, the male disc is arranged on the manipulator, and the female disc is arranged on the frame body of the positioning gripper.
In some embodiments, the lift conveyor roller includes a vertical lift function and a horizontal conveyor function.
In some embodiments, the flexible vehicle body assembly system further comprises a skid, a grip storage rack and a welding gun storage rack, wherein the skid is arranged on the lifting conveying roller bed, the grip storage rack is used for storing positioning grips, and the welding gun storage rack is used for storing welding guns.
Compared with the prior art, the technical scheme has the advantages that for the general assembly of a specific vehicle model, only a specific positioning gripper is required to be designed, and the bottom positioning mechanism, the positioning frame, the external traveling shaft and the mechanical arm 5 can be universal, so that the vehicle model has the advantages of high equipment utilization rate, strong vehicle model expandability, small investment scale and the like, and is suitable for flexible production of multiple small-batch vehicle models.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of a flexible vehicle body assembly system provided by the present invention;
FIG. 2 is a schematic perspective view of the bottom positioning mechanism, positioning grippers, lifting conveyor rollers and skids in FIG. 1;
FIG. 3 is a schematic perspective view of the bottom positioning mechanism of FIG. 1;
FIG. 4 is a schematic perspective view of the front end positioning unit of the left/right side gusset front reinforcement panel of FIG. 3;
FIG. 5 is a schematic perspective view of the left/right side gusset front end positioning unit of FIG. 4 in another view angle, shown schematically as 5;
FIG. 6 is a schematic perspective view of the lower body positioning unit of FIG. 3;
FIG. 7 is a schematic perspective view of the lower end positioning unit of the side wall in FIG. 3;
FIG. 8 is a schematic perspective view of the side body rear end positioning unit in FIG. 3;
FIG. 9 is a schematic perspective view of the side body rear end positioning unit of FIG. 8 in another view;
FIG. 10 is a schematic perspective view of a lower positioning unit of the positioning grip of FIG. 3;
FIG. 11 is a schematic perspective view of the lower positioning unit of the positioning handle of FIG. 10 from another perspective;
FIG. 12 is a schematic perspective view of the positioning frame of FIG. 1;
FIG. 13 is a schematic perspective view of the positioning frame body of FIG. 12;
FIG. 14 is a schematic perspective view of the front cross member positioning portion of the roof of FIG. 12;
FIG. 15 is a schematic perspective view of the rear end upper cross member positioning and clamping unit of FIG. 12;
FIG. 16 is a schematic perspective view of the front upper positioning grip assembly of the positioning grip of FIG. 12;
FIG. 17 is a schematic perspective view of the positioning grip of FIG. 1;
FIG. 18 is a schematic perspective view of the positioning grip frame of FIG. 17;
FIG. 19 is a schematic perspective view of the positioning and clamping unit of FIG. 17;
FIG. 20 is a schematic perspective view of the quick change device of FIG. 17;
FIG. 21 is a schematic perspective view of the elevating conveyor roll in FIG. 1;
FIG. 22 is a schematic perspective view of the sled of FIG. 1;
FIG. 23 is a schematic perspective view of the outer walking shaft of FIG. 1;
FIG. 24 is a schematic perspective view of the gripper storage rack of FIG. 1;
fig. 25 is a schematic perspective view of the welding gun storage rack of fig. 1.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
Referring to fig. 1, the invention provides a flexible car body assembly system, which comprises a bottom positioning mechanism 1, a positioning frame 2, a positioning gripper 3, a lifting conveying roller 4, a skid 5, an external walking shaft 6, a manipulator 7, a gripper storage rack 8 and a welding gun storage rack 9.
Referring to fig. 1-3, the bottom positioning mechanism 1 is in a bilateral symmetry structure, and the lifting conveying roller bed 4 is arranged in the middle of the bottom positioning mechanism 1. The main function of the bottom positioning mechanism 1 is to provide a mounting base of a clamp, position and clamp the front end of a left/right side wall front reinforcing plate, position a lower car body, position and clamp the lap joint of the lower end of the side wall and a threshold beam, and position and clamp the rear end of the side wall. The bottom positioning mechanism 1 comprises a base 11, a left/right side wall front reinforcing plate front end positioning unit 12, a lower vehicle body positioning unit 13, a side wall lower end positioning unit 14, a side wall rear end positioning unit 15 and a positioning handle lower positioning unit 16.
Referring to fig. 3, the base 11 is a channel steel structure, a first bottom plate is laid on the upper surface of the channel steel structure, feet are distributed on the lower portion of the channel steel structure, and the base 11 is used for supporting and installing each clamp unit located above the base.
Referring to fig. 4 and 5, the left/right side wall front reinforcing plate front end positioning unit 12 is configured to perform positioning and clamping on the front end of the left/right side wall front reinforcing plate, so as to ensure the Y-direction shift size of the left/right side wall front reinforcing plate during assembly, where the left/right side wall front end positioning unit 12 includes a first Z-direction supporting portion 121, a first mounting base 122, a first cylinder translation portion 123, a first front limiting portion 124, a first rear limiting portion 125, a first mounting seat 126, and an XYZ positioning and clamping portion 127, where the first Z-direction supporting portion 121 is a fixed structure, and supports an end suspension mounting surface where the front end of the left/right side wall front reinforcing plate is connected to the frame; the first cylinder translation part 123 provides Y-direction translation for the first mounting seat 126 and the XYZ positioning and clamping part 127, the first cylinder translation part 123 comprises a first translation cylinder 1231 and a first translation guide rail 1232, the first front limiting part 124 is turned up to limit and lock after the first mounting seat 126 and the XYZ positioning and clamping part 127 are advanced in place, the first rear limiting part 125 is turned up to limit and lock after the first mounting seat 126 and the XYZ positioning and clamping part 127 are retreated to the original position, a first sliding block 1261 is formed at the bottom of the first mounting seat 126, the first sliding block 1261 can move on the first translation guide rail 1232, the first translation cylinder 1231 can drive the first sliding block 1261 to move, positioning blocks are arranged at the front end and the rear end of the first translation guide rail 1232 and are matched with the first front limiting part 124 and the first rear limiting part 125, the top of the first mounting seat 126 provides mounting support for the XYZ positioning and clamping part 127, the XYZ positioning and clamping part 127 comprises 2 groups of cylinder units to clamp the front end of the left/right front reinforcing plate in Z-direction and the XY direction.
Referring to fig. 6, after the lower car body positioning unit 13 is used for lifting and conveying the rolling bed 4 and the skid 5 to fall down, positioning the lower car body, according to the principle of consistency of positioning reference, the main positioning reference of the car body is 4 suspension mounting holes on the left/right front longitudinal beam and the rear cross beam on the floor of the lower car body, so that the structure of the lower car body positioning unit 13 is consistent with that of the lower car body positioning structure of the preassembled station, and mainly positioning the 4 suspension mounting holes on the lower car body, the lower car body positioning unit 13 comprises a left/right front longitudinal beam positioning part 131, a lower car body Z-direction supporting part 132, a second cylinder translation part 133, a second rear limit part 134, a second front limit part 135 and a rear cross beam positioning part 136, the left/right front longitudinal beam positioning part 131 positions the suspension mounting holes on the left/right front longitudinal beam, the selected cylinder is a pointing cylinder, the positioning pin is a turning-over clamping hook, after the lower positioning hole falls into the positioning pin, the clamping hook turns out to clamp the lower car body onto the positioning surface of the positioning pin, the space for separately increasing the clamping part, and the space for installing the left/right front longitudinal beam is used for detecting whether the lower car body is near the upper station is located; the lower vehicle body Z-direction supporting part 132 is a fixed part and is mainly used for supporting the lower vehicle body Z-direction, the second cylinder translation part 133 comprises a second translation cylinder 1331, a second translation guide rail 1332 and a second sliding block 1333, the second translation cylinder 1331 is used for driving the second sliding block 1333 to move so that the rear beam positioning part 136 arranged on the second sliding block 1333 can move forwards and backwards on the second sliding block 1333 in X-direction and mainly plays a role of vehicle type switching, the second rear limiting part 134 is a cylinder overturning limit and limits the position of the rear beam positioning part 136, the second front limiting part 135 is a cylinder overturning limit, the rear cross beam positioning part 136 is arranged on the second sliding block 1333 and is used for positioning a mounting hole suspended on the rear cross beam, the selected cylinder is a pointing cylinder which plays a role in positioning and clamping, and the pointing cylinder is arranged on a group of overturning cylinders, when positioning is needed, the overturning cylinders are turned up to position and clamp the pointing cylinder, and when a vehicle body is conveyed, the overturning cylinders fall down to ensure the trafficability of conveying the vehicle body.
Referring to fig. 7, the side lower end positioning unit 14 is configured to perform Y-directional positioning and clamping on the lower end of the side lower end and the joint edge of the lower end of the floor sill beam, so as to ensure spot welding quality, where the side lower end positioning unit 14 includes a second mounting base 141, a first sliding table Y-directional advancing limiting unit 142, a third cylinder translating unit 143, a second Z-directional supporting unit 144, and a Y-directional positioning and clamping unit 145, the lower end of the second mounting base 141 is mounted on the base 11, the upper end of the second mounting base is used for mounting each component, the first sliding table Y-directional advancing limiting unit 142 mainly limits Y-directional translation of the Y-directional positioning and clamping unit 145 on the third cylinder translating unit 143, the second Z-directional supporting unit 144 is configured to support the side lower end and the joint edge of the lower end of the floor sill beam in a Y-directional direction, and the Y-directional positioning and clamping unit 145 are uniformly distributed along the bottom X-direction of the side lower end of the side.
Referring to fig. 8 and 9, the side wall rear end positioning unit 15 is configured to clamp the side wall rear end in an X direction, where the side wall rear end positioning unit 15 includes a third mounting base 151, a fourth cylinder translation part 152, a second sliding table Y forward limiting part 153, a second mounting base 154, an X-direction positioning clamp part 155, and a positioning gripper rear upper positioning clamp part 156, the third mounting base 151 is an L-shaped upright structure, the fourth cylinder translation part 152 is vertically mounted on the third mounting base 151, the fourth cylinder translation part 152 is mounted with a second mounting base 154, a plurality of sets of X-direction positioning clamp parts 155 are disposed on the second mounting base 154, the X-direction positioning clamp is performed on the side wall rear end, the Y-direction front end of the L-shaped upright of the third mounting base 151 is the positioning gripper rear upper positioning clamp part 156, the positioning gripper rear upper positioning clamp part 156 includes a first positioning plate 1561, the first waist-shaped positioning clamp 156 is opened on the first positioning plate 1561, the front/rear upper positioning device 313 for positioning the gripper 3 is further positioned on the first positioning gripper rear positioning clamp plate 1562.
Referring to fig. 10 and 11, a positioning grip lower positioning unit 16 is configured to perform positioning clamping on a front/rear lower positioning device 312 of a positioning grip 3, and provide an air source for the positioning grip 3 so that the positioning grip 3 can still clamp after the manipulator 7 is separated from the positioning grip 3, where the positioning grip lower positioning unit 16 includes an air supply interface 161, a fourth mounting base 162, a support base 163, a protective cover 164, a lower positioning clamping unit 165, a first connecting plate 166, an X forward limiting block 167, a Y limiting block 168, a Z supporting block 169, an X backward limiting block 1610 and a transition supporting block 1611, the air supply interface 161 is a floating type quick-plug connector, the lower end is connected with a fixed compressed air source, and the upper end is driven by a telescopic cylinder to move up and down to be connected with and disconnected from an upper air source interface of the positioning grip 3; the lower end of the supporting seat 163 is connected with the fourth mounting base 162, the upper end is connected with the first connecting plate 166, a rotating shaft is arranged in the middle, the lower positioning and clamping part 165 is driven by the driving cylinder 1651 to rotate around the rotating shaft, the lower positioning and clamping part 165 is opened and clamped, two groups of first steel wheels 1652 are arranged on the lower positioning and clamping part 165, the first steel wheels 1652 are used for clamping the front/rear lower positioning device 312 of the positioning grip 3 on the Y-direction limiting block 168 and the Z-direction supporting block 169, the first connecting plate 166 is provided with an X-direction limiting block 167, a Z-direction supporting block 169, an X-direction rear limiting block 1610, a transition supporting block 1611, a group of second steel wheels 1671 and a third steel wheels 1612 are respectively arranged on the X-direction limiting block 167 and the X-direction limiting block 1610 and are used for carrying out X-direction positioning on the front/rear lower positioning device 312 of the positioning grip 3, a group of fourth steel wheels are arranged on the transition supporting block 1611, the top of the fourth wheels is horizontal to the Z-direction supporting block 169, the front/rear lower positioning means 312 for positioning the grip 3 provides auxiliary support when entered.
Referring to fig. 12, the positioning frame 2 spans across both sides of the base 11, and is used for providing accurate positioning and clamping for the front roof rail and the rear upper roof rail when the vehicle body is assembled, and providing positioning and clamping for the front/rear upper positioning device 313 of the positioning grip 3, the positioning frame 2 includes a positioning frame body 21, a front roof rail positioning part 22, a rear upper roof rail positioning clamping part 23, and a front upper positioning clamping part 24 of the positioning grip.
Referring to fig. 12 and 13, the positioning frame body 21 includes a frame composed of four supporting columns 211, two cross beams 212 and a longitudinal beam 213, wherein reinforcing ribs are welded on the top of the longitudinal beam 213, and the top cover front cross beam positioning part assembly 22 and the rear upper cross beam positioning clamping part assembly 23 are welded on two sides of the longitudinal beam 213.
Referring to fig. 14, the top cover front beam positioning unit 22 is symmetric about the longitudinal beam 213 of the positioning frame body 21, and is used for accurately positioning the top cover front beam, and is composed of a second bottom plate 221, a first cylinder sliding unit 222, a second connecting plate 223, and a first positioning unit 224.
Referring to fig. 15, the rear upper beam positioning and clamping unit 23 is symmetric about the longitudinal beam 213 of the positioning frame body 21, and mainly includes a third bottom plate 231, a second cylinder sliding unit 232, a third connecting plate 233, a second positioning unit 234, and a supporting and clamping unit 235.
Referring to fig. 16, the front upper positioning and clamping unit 24 of the positioning grip is used for positioning and clamping the front/rear upper positioning device 313 of the positioning grip 3, the structure of the positioning and clamping unit is identical to that of the rear upper positioning and clamping unit 156 of the positioning grip of the side wall rear end positioning unit 15, and the positioning grip is composed of a cantilever mounting seat 241, a second positioning plate 242 and a clamping unit body 243, wherein the second positioning plate 242 is provided with an X-direction second waist-shaped positioning hole 2421, mainly used for positioning the front/rear upper positioning device 313 of the positioning grip 3 in the Z direction, and the clamping unit body 243 is a set of second Y-direction clamping cylinders for clamping the front/rear upper positioning device 313 of the positioning grip 3 on the Y-direction positioning surface of the second positioning plate 242.
Referring to fig. 17, the positioning gripper 3 is of a bilateral symmetry structure, and has the main functions of precisely positioning and clamping left/right side walls, positioning and clamping a rear side wall beam, a rear side wall upper beam and a top cover front beam, and completing precise positioning of vehicle body assembly together with a top cover front beam positioning part 22, a rear side wall upper beam positioning and clamping part 23 and a left/right side wall front reinforcing plate front end positioning unit 12, a lower vehicle body positioning unit 13, a side wall lower end positioning unit 14 and a side wall rear end positioning unit 15 on the positioning frame 2, so as to ensure the precision of a vehicle body framework. The positioning gripper 3 comprises a positioning gripper frame 31, a positioning clamping part 32 and a quick-change device 33.
Referring to fig. 17 and 18, the positioning handle frame 31 includes a frame body 311, a front/rear lower positioning device 312 and a front/rear upper positioning device 313, wherein the frame body 311 is formed by welding round steel pipes, a part of the position of the frame body is added with reinforcing ribs to ensure the rigidity of the frame body, a mounting plate of the positioning and clamping part 32 is welded on the frame according to the arrangement position requirement of the positioning and clamping part 32, a mounting plate of the quick-change device 33 is welded at the middle part of the frame body, the front/rear lower positioning device 312 and the front/rear upper positioning device 313 are arranged at 4 corners of the frame body 311, wherein the front/rear lower positioning device 312 is matched with the positioning handle lower positioning unit 16 on the bottom positioning mechanism 1, the front/rear upper positioning device 313 is matched with the positioning handle rear upper positioning and clamping part 156 of the side wall rear end positioning unit 15 and the positioning handle front upper positioning and clamping part 24 on the positioning frame 2 to jointly complete the positioning and clamping of the side wall frame 31 by the positioning and clamping part 32 arranged on the positioning and clamping part 31.
With continued reference to fig. 18, the front/rear lower positioning device 312 is in an assembled structure, and is assembled by a plurality of components, the upper end connecting plate is connected with the frame body 311, the lower surface of the lower end T-shaped block is in contact with the Z-direction supporting block 169, the positioning gripper 3 is supported in the Z-direction, two sides are in contact with the X-forward limiting block 167 and the X-backward limiting block 1610, the positioning gripper 3 is positioned in the X-direction, the front end positioning block is in contact with the Y-direction limiting block 168, the positioning gripper 3 is positioned in the Y-direction, two positioning blocks are mounted on the rear end inclined plane, and are in contact with the two groups of first steel wheels 1651 on the lower positioning clamping unit 165, so that the whole front/rear lower positioning device 312 is pressed on the positioning gripper lower positioning unit 16.
With continued reference to fig. 18, the front/rear upper positioning device 313 is also assembled from a plurality of components, the rear end is connected to the frame body 311, the first waist-shaped positioning hole 15611 of the first positioning plate 1561 and the second waist-shaped positioning hole 2421 of the second positioning plate 242 are in contact, and a multistage mounting plate, a connecting plate and a ball-shaped connecting rod structure are arranged between the front and rear ends of the front/rear upper positioning device 313, so that the front positioning pin has a certain rotation activity through the ball-shaped connecting rod and can smoothly enter the waist-shaped positioning hole of the positioning plate.
Referring to fig. 19, the positioning and clamping unit 32 includes a front side wall main positioning pin unit 321, a rear side wall main positioning pin unit 322, a rear side wall beam positioning pin unit 323, a side wall X-direction clamping unit 324, a side wall Y-direction clamping unit 325, and a side wall Z-direction clamping unit 326, where the positioning pin unit is a dual-guide-column structure translational cylinder driving unit that moves forward and backward, and the clamping unit is rotated by the turnover cylinder driving unit to clamp and open.
Referring to fig. 20, the quick-change device 33 mainly plays a role of connecting the manipulator 7 and the positioning gripper 3, the quick-change device 33 includes a male disc 331 and a female disc 332, the male disc 331 is mounted on the manipulator 7, the female disc 332 is mounted on the frame body 311 of the positioning gripper 3, the male disc 331 and the female disc 332 are provided with corresponding air sources and electrical interfaces, and compressed air and electrical signals after connection can be transmitted from the manipulator 7 side to the cylinder and electrical elements on the positioning gripper 3 side, so that the manipulator 7 can open and close the positioning clamping part on the positioning gripper 3.
Referring to fig. 21, the lifting and conveying roller 4 has vertical lifting and horizontal conveying functions, and includes a vertical lifting functional portion 41 and a horizontal conveying functional portion 42, wherein the vertical lifting functional portion 41 adopts a belt cam pair to vertically lift, in other embodiments, the vertical lifting functional portion 41 may also directly adopt a cylinder, the horizontal conveying functional portion 42 adopts a chain roller pair to horizontally convey, the vehicle body falls on/falls off from a lower vehicle body clamp through vertical lifting, and the skid 5 and the vehicle body are conveyed to the next station through horizontal conveying.
Referring to fig. 22, a skid 5 is formed by welding longitudinal and transverse rectangular pipes, a positioning part assembly of a vehicle body and a plurality of groups of vehicle body lower supporting parts are arranged on the skid 5, and the skid 5 is arranged on the lifting conveying roller 4.
Referring to fig. 23, the outer traveling shaft 6 is provided with a guide rail, a rack, a travel switch, and the like. The driving motor and the gear are arranged on the mounting base of the manipulator 7, and the manipulator 7 can be driven to move on the guide rail of the external traveling shaft 6 through the driving motor and the gear, so that the working radius moving range of the manipulator 7 is increased.
Referring to fig. 24, the gripper storage rack 8 is used for storing the positioning grippers 3, when the positioning grippers 3 finish the car body assembling and positioning, the manipulator 7 can grab the welding gun (not shown) to weld the welding spots formed by the car body, and after welding, the manipulator 7 can remove the positioning grippers 3 and put the same back onto the gripper storage rack 8, and grab the welding gun again to repair the remaining welding spots of the car body. The gripper storage rack 8 adopts a frame structure formed by welding square tubes, is fixed on the ground through chemical bolts, is provided with three positioning gripper supporting parts, two positioning gripper positioning pin parts and one quick-change device for protection, and can provide support and positioning for the positioning grippers 3.
Referring to fig. 25, a welding gun storage rack 9 is used for storing welding guns, is fixed on the ground through chemical bolts, and is provided with a welding gun supporting part, a positioning pin part and a quick-change device for protection, so that the welding gun can be supported and positioned.
The working process is as follows:
Pre-assembling of body frame
(1) A preassembling station is arranged in front of a car body assembly station, the preassembling station is provided with rough positioning of a left/right side wall assembly, the left/right side wall assembly is manually installed on a lower car body, and then a rear wall and a plurality of cross beams of a top cover are installed on the left/right side wall assembly to form a preliminary white car body framework;
(2) The product structure of the left/right side wall assembly lap joint part with the lower car body threshold beam, the lap joint part with the rear enclosing beam and the lap joint part with the top cover beam is provided with pre-lap joints which are in a boss structure and approximate to a trapezoid, the initial state is 90 degrees, 3 groups of the lap joint parts with the lower car body threshold beam are respectively arranged at 1 group of lap joint parts with the rear enclosing beam and the top cover beam, and rectangular grooves are formed at the lap joint parts of the rear enclosing beam, the top cover beam and the pre-lap joints so that the pre-lap joints can penetrate out of the beams;
(3) The vehicle body line adopts a rolling machine skid to carry out inter-station vehicle body conveying, after a lower vehicle body reaches a preassembling station, the rolling machine skid falls down, a lower vehicle body assembly falls into a lower vehicle body clamp and is positioned and clamped, a left/right side wall assembly is manually placed on the lower vehicle body clamp to carry out rough positioning (X direction and Z direction), after rough positioning, 3 groups of pre-lap buckles at the lap joint position of the left/right side wall assembly and a lower vehicle body threshold beam are knocked by a rubber hammer to be 90 degrees to be tightly pressed on the inner side of the lower vehicle body threshold beam to complete preassembling of the left/right side wall;
in the steps, the flexible vehicle body total assembly system provided by the invention is not involved.
(II) vehicle body Assembly
(4) After the pre-assembling station finishes pre-assembling the left/right side wall assembly, the rear wall cross beam and the top cover cross beam, the lifting conveying roller 4 lifts to convey the white car body framework to the splicing station, and after the pre-assembling station is in place, the lifting conveying roller 4 descends to enable the white car body framework to fall onto a lower car body clamp of the splicing station;
(5) In the splicing station, the mechanical arms 7 arranged on the two sides of the vehicle body firstly grasp the positioning grippers 3, and after the positioning grippers 3 are placed on the positioning frame 2 for positioning and clamping, the accurate clamping and positioning of the left/right side wall assembly, the rear wall cross beam, the rear wall upper cross beam and the top cover front cross beam are completed by a plurality of groups of positioning pins, positioning blocks and clamping units on the positioning grippers 3;
(6) After the left/right side wall assembly, the rear wall cross beam, the rear wall upper cross beam and the top cover front cross beam are accurately clamped and positioned, the manipulator 7 is separated from the positioning grip 3, and then a welding gun is gripped to carry out welding of a split station forming welding spot;
(7) After welding the formed welding spots, the mechanical arm 7 grabs the positioning grippers 3, loosens each clamping unit and puts the positioning grippers 3 back onto the gripper storage rack 8;
(8) The mechanical arm 7 grabs the welding gun to finish welding spot repair welding of the splicing station;
(9) When the vehicle types are switched, the manipulator 7 can grasp the positioning grippers 3 corresponding to the vehicle types to finish the split accurate positioning of the corresponding vehicle types, and the vehicle type automatic positioning device has high flexibility and expandability.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present invention should be included in the scope of the present invention.
Claims (8)
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| CN116586799B (en) * | 2023-04-28 | 2026-01-20 | 东风越野车有限公司 | Flexible welding tool and welding method for vehicle body floor |
| CN116900507A (en) * | 2023-08-16 | 2023-10-20 | 中国第一汽车股份有限公司 | A kind of laser cutting process for car body frame |
| CN117381427A (en) * | 2023-11-27 | 2024-01-12 | 重庆长安汽车股份有限公司 | An assembly system, production line and production method |
| CN121423946A (en) * | 2025-12-30 | 2026-01-30 | 迈赫机器人自动化股份有限公司 | A multi-model car assembly system |
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| CN109014685B (en) * | 2018-09-27 | 2023-09-12 | 上海永乾机电有限公司 | A kind of vehicle body flexible assembly operation island |
| CN109262173B (en) * | 2018-11-13 | 2020-11-27 | 安徽巨一科技股份有限公司 | White automobile body always pieces together positioner of tongs |
| CN214721779U (en) * | 2020-12-25 | 2021-11-16 | 东风越野车有限公司 | Non-bearing type vehicle body rear wall assembly positioning tool and system |
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