CN116372411A - Total splicing device and method for positioning robot gripping workpiece - Google Patents

Abstract

The invention relates to a general splicing device and a general splicing method for positioning a robot gripping workpiece, wherein the general splicing device comprises a white car body lower part station, a side wall preassembling station, a white car body inner framework synthesis station, a repair welding station A, a white car body framework synthesis station and a repair welding station B; the invention cancels the clamp of the positioning gripping apparatus, reduces the investment of the positioning clamp, reduces the time of positioning and clamping the gripping apparatus on the clamp, and improves the production beat. The invention has simple process method, very high mixed flow capacity of multiple vehicle types, reduces the manufacturing cost and improves the production efficiency.

Description

Total splicing device and method for positioning robot gripping workpiece

Technical Field

The invention belongs to the technical field of tools, and relates to a general splicing device and method for positioning a workpiece held by a robot.

Background

At present, when a white automobile body relates to collinear production of multiple automobile types, the vast majority of automobile body assembly stations adopt an open frame structure to cooperate with multiple base positions and multiple clamps to realize the mode of automobile type switching production, for example, a side wall clamp is arranged on a trihedron or tetrahedron rotating hub, and the side wall clamp corresponding to the automobile type at the lower part of the automobile body is selected through rotating the rotating hub to realize the production of the multiple automobile types. The mode has the advantages of high vehicle body positioning precision and high beat, and meanwhile, the mode also has the defects of large occupied space, low switching efficiency and high investment cost.

The general assembly process mode of the white car body in the form of the robot gripping apparatus is adopted, the gripping apparatus fixed on the ground is required to be arranged for positioning the gripping apparatus of the robot, the gripping apparatus and the gripping apparatus have positioning and clamping processes, and when the car body is switched, the gripping apparatus is required to be taken away from the fixed gripping apparatus for opening the clamping cylinder by the robot, the action flow is long, and the production beat is reduced.

Disclosure of Invention

The invention aims to solve the technical problems of large occupied space, low switching efficiency and high investment cost in the prior art, and provides a general splicing device and method for positioning a workpiece held by a robot.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

In order to solve the technical problems, the invention is realized by adopting the following technical scheme:

the robot gripping workpiece positioning assembly device comprises a white body lower part station 1, a side wall preassembling station 2, a white body inner framework synthesis station 3, a repair welding station A4, a white body framework synthesis station 5 and a repair welding station B6;

the white car body lower part station 1, the side wall preassembling station 2, the white car body inner skeleton synthesizing station 3, the repair welding station A4, the white car body skeleton synthesizing station 5 and the repair welding station B6 are sequentially arranged.

Further, the underbody station 1 comprises an underbody-in-white assembly 11 and an underbody-in-white conveying system; the white automobile body lower part assembly 11 is formed by assembling and welding an engine cabin, a front floor and a rear floor; the mode of the white car body conveying system comprises AGV conveying, roller machine conveying and skid conveying, and reciprocating rod conveying.

Further, the side wall preassembling station 2 comprises a white car body lower part assembly 11, a left side wall inner plate welding assembly 21 and a right side wall inner plate welding assembly 22), a left robot-held side wall flexible gripper 23, a right robot-held side wall flexible gripper, a left robot-held welding tongs, a right robot-held welding tongs, a white car body conveying system, a white car body lower part assembly positioning device and 4 robots;

the positioning device of the lower body-in-white assembly is positioned in the center of the side wall preassembling station 2; the left robot-held side wall flexible gripper 23 is held by a robot positioned at the left side of the preassembly station 2; the right robot-held side wall flexible gripper is held by a robot positioned on the right side of the preassembly station 2; the left side wall flexible gripping device 23 gripped by the left robot and the right side wall gripping device gripped by the right robot are preassembled on the left side wall inner plate welding assembly 21 and the right side wall inner plate welding assembly 22 to the lower body-in-white assembly 11 to form a lower body-in-white assembly.

The left side wall inner plate welding assembly 21 and the right side wall inner plate welding assembly 22 are formed by assembling and welding a side wall reinforcing plate assembly, a front column upper side inner plate assembly, a middle column assembly, a threshold assembly and a rear side wall assembly;

the left robot-held side wall flexible gripping device and the right robot-held side wall flexible gripping device are composed of a gripper frame, a gun changing disc tool side, a locating pin, a supporting block assembly, a single-shaft moving platform and a three-shaft platform;

the welding tongs gripped by the left robot and the welding tongs gripped by the right robot are composed of a gun changing disc tool side, a welding power supply and C-shaped welding tongs.

Further, the white body inner skeleton synthesis station 3 comprises a white body lower part assembly, a top cover front beam assembly 31, a top cover rear beam assembly 32, a left robot-held side wall positioning gripper 33, a right robot-held side wall positioning gripper 34, a left robot-held top cover beam positioning gripper 35, a right robot-held top cover beam positioning gripper 36, a left robot-held welding tongs B37, a right robot-held welding tongs B38, a white body conveying system, a white body lower part assembly positioning device and at least 6 robots;

the positioning device of the white automobile body lower assembly is positioned at the center of the white automobile body inner framework synthesis station 3, and the white automobile body lower assembly is positioned on the white automobile body lower assembly; the left robot-held side wall positioning gripper 33 is held by a robot positioned at the left side of the white car body inner framework synthesis station 3; the right robot-held side wall positioning gripper 34 is held by a robot positioned on the right side of the white car body inner framework synthesis station 3; the left side wall positioning gripping device 33 gripped by the left robot and the right side wall positioning gripping device 34 gripped by the right robot are used for fixedly positioning the left side wall inner plate welding assembly 21 and the right side wall inner plate welding assembly 22; the left-robot-held top cover beam positioning gripper 35 positions the top cover front beam assembly 31, and the right-robot-held top cover beam positioning gripper 36 positions the top cover rear beam assembly 32 to the lower body-in-white assembly; the welding tongs B37 held by the left robot and the right robot and the welding tongs B38 held by the right robot are held by the left robot and the right robot of the white car body inner frame synthesizing station 3 to carry out 45-point fixation and synthesis on the white car body frame assembly;

the left side wall positioning gripping device 33 gripped by the robot and the right side wall positioning gripping device 34 gripped by the robot are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the front cross beam positioning gripping device 35 of the top cover gripped by the robot and the rear cross beam positioning gripping device 36 of the top cover gripped by the robot are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the left robotic-held electrode holder 37 and the right robotic-held electrode holder 38 are each composed of a gun changing plate tool side, a welding power source and a C-shaped electrode holder.

Further, the white body skeleton synthesizing station 5 is composed of a white body skeleton assembly 45, a left side wall outer plate assembly 51, a right side wall outer plate assembly, a left robot-held side wall outer plate positioning gripping device 53, a right robot-held side wall outer plate positioning gripping device, a left robot-held welding tongs E55, a right robot-held welding tongs E, a left robot-held welding tongs F57, a right robot-held welding tongs F, a white body conveying system, a white body lower assembly positioning device and at least 6 robots;

the positioning device of the lower body-in-white assembly is positioned at the center of the framework synthesis station 5 of the body-in-white, and the framework assembly 45 of the body-in-white assembly is positioned on the lower body-in-white assembly; the left robot-held side wall outer plate positioning gripper 53 is held by a robot positioned at the left side of the white body framework synthesis station 5; the right robot-held side wall outer plate positioning gripper is held by a robot positioned on the right side of the white body framework synthesis station 5; the left side wall outer plate positioning gripping device 53 gripped by the left robot and the right side wall outer plate positioning gripping device gripped by the right robot are used for clamping and positioning the left side wall outer plate assembly 51 and the right side wall outer plate assembly; the welding tongs E55, E, F57 and F which are gripped by the left robot, the right robot and the left robot of the white body framework synthesis station 5 are used for performing point fixation on the white body framework;

the left robot-held side wall outer plate positioning gripping device 53 and the right robot-held side wall outer plate positioning gripping device are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the left robotic holding welding tongs E55, the right robotic holding welding tongs E, the left robotic holding welding tongs F57 and the right robotic holding welding tongs F are composed of a gun changing disc tool side, a welding power supply and C-shaped or X-shaped welding tongs.

Further, the repair welding station A4 mainly comprises an inner frame assembly of a white automobile body, a white automobile body conveying system, at least 4 spot welding robots, a positioning device for a lower assembly of the white automobile body, a welding clamp G gripped by a left robot A1, a welding clamp H gripped by a left robot A2, a welding clamp G gripped by a right robot A1 and a welding clamp H gripped by a right robot A2.

The positioning device of the lower body-in-white assembly is positioned at the center of the repair welding station A4, and the lower body-in-white assembly is positioned on the inner frame assembly of the body-in-white;

welding tongs G held by a left robot A, welding tongs H held by a left robot B, welding tongs G held by a right robot A and welding tongs H held by a right robot B of the repair welding station A4 are subjected to repair welding of the inner framework assembly of the white car body;

and the body-in-white conveying system of the repair welding station A4 conveys the body-in-white framework assembly from the previous station to the repair welding station A4, and conveys the body-in-white framework assembly from the previous station to the next station after the welding of the repair welding station is finished.

Further, the repair welding station B6 mainly comprises a body-in-white framework assembly, a body-in-white conveying system, at least 4 spot welding robots, a positioning device for a lower body-in-white assembly, a welding clamp I gripped by a left robot C, a welding clamp J gripped by a left robot D, a welding clamp I gripped by a right robot C and a welding clamp J gripped by a right robot D;

the positioning device of the lower body-in-white assembly is positioned in the center of the repair welding station B6, and the lower body-in-white assembly is used for positioning the body-in-white framework assembly;

welding tongs I gripped by a left robot C, welding tongs J gripped by a left robot D, welding tongs I gripped by a right robot C and welding tongs J gripped by a right robot D of the repair welding station B6 are subjected to repair welding of the body-in-white framework component;

and the body-in-white conveying system of the repair welding station B6 conveys the body-in-white framework assembly from the previous station to the repair welding station B6, and conveys the body-in-white framework assembly from the previous station to the next station after the welding of the repair welding station is finished.

The general splicing method for positioning the workpiece held by the robot comprises the following specific contents:

the lower part station 1 of the white automobile body, the side wall preassembling station 2, the inner frame synthesis station 3 of the white automobile body, the repair welding station A4, the frame synthesis station 5 of the white automobile body and the repair welding station B6 are arranged in sequence;

the white body lower assembly moves from the white body lower station 1 to the side wall preassembling station 2; after the lower body-in-white assembly reaches 2 stations, the roller descends to enable the lower body-in-white assembly to fall on a clamp for positioning and clamping, the robots on the left side and the right side of the stations move side wall flexible grippers to pick up left side wall inner plate welding assemblies and right side wall inner plate welding assemblies, the left side wall inner plate welding assemblies and the right side wall inner plate welding assemblies are assembled to the lower body-in-white assembly 11 in a moving mode, welding seams are formed in a butt joint mode, and the left side wall threshold upper side welding spot and the right side wall threshold lower side welding spot of the lower body-in-white assembly are welded by the left robot and the right robot on the left side and the right side of the stations;

after a skid for loading the lower body-in-white fitting is driven by the rolling machine to reach 3 stations, the rolling machine descends to enable the lower body-in-white fitting to fall on a clamp for positioning and clamping, a left side wall positioning gripping device 33 and a right side wall positioning gripping device 34 which are gripped by left robots and positioned on two sides of the stations are used for positioning left side wall inner plates and right side wall inner plates on the lower body-in-white fitting, a top cover beam positioning gripping device 35 and a top cover beam positioning gripping device 36 which are gripped by the left robots are used for gripping a top cover front beam assembly 31 and a top cover rear beam assembly 32, the upper body-in-white fitting is moved and assembled to form an inner body-in-white frame assembly, welding pliers B37 and B38 which are gripped by the left robots and positioned on two sides of the stations are used for welding to finish welding spots of the inner body-in-white frame assembly, and the robots are gradually opened and moved to be placed on a gripping device placing frame, the welding pliers are gripped from a welding pliers parking station, and the inner body-in-white frame assembly is repaired;

after a skid for loading the white car body inner frame assembly 45 is driven by the rolling machine to reach 4 stations, the rolling machine descends to enable the white car body inner frame assembly 45 to fall on a clamp for positioning and clamping, welding tongs C41 gripped by a left robot, welding tongs C gripped by a right robot repair welding a front half welding spot of the white car body, welding tongs D43 gripped by the left robot and welding tongs D gripped by the right robot repair welding a rear half welding spot of the white car body;

after the skid for loading the white car body inner frame assembly 45 is driven by the rolling machine to reach the 5 stations, the white car body inner frame assembly 45 is dropped on a clamp to be positioned and clamped by the rolling machine, a left side wall outer plate positioning gripping device 53 gripped by a left robot, a right side wall outer plate positioning gripping device gripped by a right robot, a left side wall outer plate assembly 51 is gripped by the right side wall outer plate positioning gripping device, the right side wall outer plate assembly is arranged on the white car body inner frame assembly 45 to form the white car body frame assembly, and a welding clamp E55 gripped by the left robot, a welding clamp F57 gripped by the left robot, a welding clamp E gripped by the right robot and a welding clamp F gripped by the right robot are used for welding the white car body frame assembly.

Further, the left side wall inner plate welding assembly and the right side wall inner plate welding assembly are grabbed by the robot movable side wall flexible grabbers on the left side and the right side of the station, the welding assembly is moved and assembled to the white vehicle body lower assembly 11 to form a white vehicle body lower assembly, the welding assembly is butted to form a resistance spot welding lap joint, and welding pliers are grabbed by the left robot and the right robot on the left side and the right side of the station to weld the welding points on the upper side and the lower side of the left side wall threshold and the right side wall threshold of the white vehicle body lower assembly.

The utility model provides a general piecing together device that work piece location is held to robot still includes the skid that the roll bed risees and loads white automobile body skeleton assembly, and under the rotatory effect of roll bed rubber coating gyro wheel, white automobile body skeleton assembly removes next station and carries out repair welding.

Compared with the prior art, the invention has the beneficial effects that:

according to the general assembly process device and method for positioning the workpiece held by the robot, provided by the invention, the clamp for positioning the gripping tool is omitted, so that the investment of the positioning clamp is reduced, the time for positioning and clamping the gripping tool on the clamp is shortened, and the production beat is improved. The invention has simple process method, very high mixed flow capacity of multiple vehicle types, reduces the manufacturing cost and improves the production efficiency.

Drawings

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a schematic plan layout view of a tool of a total assembly device for positioning a robot gripping workpiece;

FIG. 2 is a schematic view of a underbody station of the present invention;

FIG. 3 is a schematic view of a side wall preassembling station of the present invention;

FIG. 4 is a schematic diagram of a white body inner skeleton synthesis station of the present invention;

FIG. 5 is a schematic diagram of a repair welding station according to the present invention;

FIG. 6 is a schematic diagram of a body-in-white skeleton synthesis station of the present invention;

in the figure: 1. a lower body-in-white station; 2. a side wall preassembling station; 3. a white car body inner framework synthesis station A; 4. repair welding station A; 5. a white car body inner framework synthesis station B; 6. repair welding station B; 11, a body-in-white lower assembly; 12. a skid; 13. a rolling bed; 21. a left side wall inner plate welding assembly; 22. a right side wall inner plate welding assembly; 23. a left robot-held side wall flexible gripper; 31. a top cover front beam assembly; 32. a top cover rear cross beam assembly; 33. a left robot-held side wall positioning gripper; 34. a side wall positioning gripping device gripped by the right robot; 35. a top cover beam positioning gripping apparatus gripped by the left robot; 36. a top cover beam positioning gripping apparatus gripped by the right robot; 37. a welding tongs B gripped by the left robot; 38. a welding clamp B gripped by the right robot; 41. a welding clamp C gripped by the left robot; 43. a welding tongs D gripped by the left robot; 45. an inner body-in-white framework assembly; 51. a left side wall outer panel assembly; 53. a left robot-held side wall outer plate positioning gripper; 55. a welding tongs E gripped by the left robot; 57. and a left robot-held welding tongs F.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.

The invention is described in detail below with reference to the attached drawing figures:

a general assembly process device for positioning a robot gripping workpiece comprises six parts, namely a lower body-in-white station 1, a side wall preassembling station 2, an inner body-in-white framework synthesis station 3, a repair welding station A4, an inner body-in-white framework synthesis station 5 and a repair welding station B6. The device also comprises a side wall preassembling station gripper storage device, a white car body inner framework synthesis station gripper storage device, a white car body framework synthesis station gripper storage device, a conveying system, a robot and the like which are correspondingly configured.

The underbody station 1 is comprised of an underbody assembly 11 and a body-in-white conveyor system in a number of ways, such as AGV conveyor, roller and sled, reciprocating bar conveyor, etc.

The side wall preassembling station 2 is composed of a white car body lower assembly, a left/right side wall inner plate assembly, a white car body conveying system, a side wall gripper storage device, 2 carrying robots and a plurality of spot welding robots.

The white car body inner frame synthesis station 3 is composed of a white car body lower part, left/right side wall inner plate assemblies, front/rear top cover reinforcing beam assemblies, a white car body conveying system, side wall inner plate gripper storage devices, 2 carrying robots and a plurality of spot welding robots.

The repair welding station A4 is composed of an inner framework assembly piece of a white car body, a white car body conveying system and a plurality of spot welding robots.

The white body framework synthesis station 5 is composed of a white body inner framework assembly, a left/right side wall outer plate assembly, a white body conveying system, a side wall outer plate gripper storage device, 2 carrying robots and a plurality of spot welding robots.

The repair welding station B6 is composed of a white car body framework assembly, a white car body conveying system and a plurality of spot welding robots.

Example 1

As shown in fig. 1, a schematic plan layout case of an equipment tool of a robot-held workpiece positioning total assembly process device comprises a lower body-in-white station 1, a side wall preassembling station 2, an inner body-in-white framework synthesizing station 3, a repair welding station A4, an inner body-in-white framework synthesizing station 5 and a repair welding station B6.

As shown in fig. 2, the lower body-in-white station 1 is composed of a lower body-in-white assembly 11, a skid 12 and a rolling machine 13, the lower body-in-white assembly 11 is formed by assembling and welding an engine compartment, a front floor and a rear floor, the sizes and the shapes of the lower body-in-white assemblies of different vehicle types are different, and the block structures of the vehicle bodies of different platform vehicle types are also different. The skid 12 is generally formed by welding two longitudinal beams and four to eight cross beams, and is provided with four positioning pins and eight supporting blocks for positioning the lower body assembly, the skid is used as a conveying carrier, and the loading vehicle body moves on a rolling machine. The horizontal driving of the roller 13 generally adopts a horizontal servo motor to drive the rubber coating roller to rotate through a belt, so as to drive a skid with the lower body-in-white assembly to move, and the lower body-in-white assembly is moved from the station 1 to the station 2. The vertical lifting of the roller 13 generally adopts a gear-rack structure driven by double servo motors, and has the characteristics of high speed, high bearing capacity, high precision, long service life and the like.

As shown in fig. 3, the side wall preassembling station 2 is composed of a white car body lower assembly 11, a left side wall inner plate welding assembly 21, a right side wall inner plate welding assembly 22, a left robot-held side wall flexible gripper 23, a right robot-held side wall flexible gripper, a left robot-held welding tongs A and a right robot-held welding tongs A;

the left side wall inner plate welding assembly 21 and the right side wall inner plate welding assembly 22 are generally formed by assembling and welding a side wall reinforcing plate assembly, a front column upper side inner plate assembly, a center column assembly, a threshold assembly and a rear side wall assembly, and the left/right robot-held side wall flexible gripper consists of a gripper frame, a gun changing disc tool side, a locating pin, a supporting block assembly, a single-shaft moving platform and a three-shaft platform, and the left/right robot-held welding tongs consist of the gun changing disc tool side, a welding power supply and a C-shaped welding tongs.

After the lower body-in-white assembly reaches 2 stations, the roller descends to drop the lower body-in-white assembly on the clamp for positioning and clamping, the robots on the left side and the right side of the stations move the side wall flexible grippers to pick up the left/right side wall inner plate welding assembly, the left/right side wall inner plate welding assembly is assembled to the lower body-in-white assembly 11 in a moving way to form a lower body-in-white assembly, the lower body-in-white assembly is butted to form a resistance spot welding lap joint seam which is as long as 5 meters, and the left/right robots on the left side and the right side of the stations grasp welding tongs to weld and finish 10 welding spots on the upper side and the lower side of the left side wall threshold and the lower side of the lower body-in-white assembly.

As shown in fig. 4, the white body inner skeleton synthesizing station is composed of a white body lower part assembly, a top cover front beam assembly 31, a top cover rear beam assembly 32, a left robot-held side wall positioning gripper 33, a right robot-held side wall positioning gripper 34, a left robot-held top cover beam positioning gripper 35, a right robot-held top cover beam positioning gripper 36, a left robot-held welding tongs B37 and a right robot-held welding tongs B38;

the top cover front beam assembly 31 is formed by welding a top cover front beam sub-assembly and a front beam reinforcing plate, and the top cover rear beam assembly 32 is formed by welding a top cover rear beam sub-assembly and a rear beam reinforcing plate;

the left side wall positioning gripping device 33 gripped by the robot and the right side wall positioning gripping device 34 gripped by the robot are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the front cross beam positioning gripping device 35 of the top cover gripped by the robot and the rear cross beam positioning gripping device 36 of the top cover gripped by the robot are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the left robotic-held electrode holder 37 and the right robotic-held electrode holder 38 are each composed of a gun changing plate tool side, a welding power source and a C-shaped electrode holder.

After the skid for loading the lower body-in-white fitting is driven by the rolling machine to reach 3 stations, the rolling machine descends to enable the lower body-in-white fitting to fall on a clamp for positioning and clamping, a left-robot-clamped side wall positioning gripping device 33 and a right-robot-clamped side wall positioning gripping device 34 on two sides of the stations are used for positioning left/right side wall inner plates on the lower body-in-white fitting, a left-robot-clamped top cover beam positioning gripping device 35 and a right-robot-clamped top cover beam positioning gripping device 36 are used for gripping a top cover front beam assembly 31 and a top cover rear beam assembly 32, the welding tongs B37 and the welding tongs B38 on two sides of the stations are used for welding key important welding spots of the inner body-in-white frame assembly, and the welding tongs B38 are used for gradually opening the gripping devices and moving to be placed on a gripping device placing frame, grabbing the welding tongs from the welding tongs station and repairing the inner body-in-white frame assembly.

As shown in fig. 5, the repair welding station is composed of an inner frame assembly 45 of a white car body, a welding clamp C41 gripped by a left robot, a welding clamp C gripped by a right robot, a welding clamp D43 gripped by the left robot, a welding clamp D gripped by the right robot, and the welding clamp D gripped by the left robot and the welding clamp D gripped by the right robot are all composed of a gun changing disc tool side, a welding power supply and a welding clamp C or an X-shaped welding clamp.

After the skid for loading the white car body inner frame assembly 45 is driven by the rolling machine to reach 4 stations, the rolling machine descends to enable the white car body inner frame assembly 45 to fall on a clamp for positioning and clamping, welding tongs C41 gripped by a left robot, welding tongs C gripped by a right robot repair welding of the front half welding spots of the white car body, welding tongs D43 gripped by the left robot and welding tongs D gripped by the right robot repair welding of the rear half welding spots of the white car body.

As shown in fig. 6, the body-in-white skeleton synthesizing station 5 is composed of a body-in-white skeleton assembly 45, a left side wall outer plate assembly 51, a right side wall outer plate assembly, a left robot-held side wall outer plate positioning gripper 53, a right robot-held side wall outer plate positioning gripper, a left robot-held welding tongs E55, a left robot-held welding tongs F57, a right robot-held welding tongs E, and a right robot-held welding tongs F;

the left side wall outer plate positioning gripping device 53 gripped by the robot and the right side wall outer plate positioning gripping device gripped by the robot are composed of a gripping device frame, a positioning pin, a clamping unit and a gun changing disc tool side;

the welding tongs E55 gripped by the left robot, the welding tongs F57 gripped by the left robot, the welding tongs E gripped by the right robot and the welding tongs F gripped by the right robot are all composed of a gun changing disc tool side, a welding power supply and C-shaped or X-shaped welding tongs.

After the skid for loading the white car body inner frame assembly 45 is driven by the rolling machine to reach the 5 stations, the white car body inner frame assembly 45 is dropped on a clamp to be positioned and clamped by the rolling machine, a left side wall outer plate positioning gripping device 53 gripped by a left robot, a right side wall outer plate positioning gripping device gripped by a right robot, a left side wall outer plate assembly 51 is gripped by the right side wall outer plate positioning gripping device, the right side wall outer plate assembly is arranged on the white car body inner frame assembly 45 to form the white car body frame assembly, and a welding clamp E55 gripped by the left robot, a welding clamp F57 gripped by the left robot, a welding clamp E gripped by the right robot and a welding clamp F gripped by the right robot are used for welding the white car body frame assembly.

The skid for loading the white car body framework assembly is lifted by the rolling machine, and the white car body framework assembly moves to the next station for repair welding under the rotating action of the rubber coating roller of the rolling machine.

The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention. And all that is not described in detail in this specification is well known to those skilled in the art.

Claims (10)

1. The utility model provides a general piecing together device that work piece location was held to robot which characterized in that: the device comprises a white car body lower part station (1), a side wall preassembling station (2), a white car body inner framework synthesis station (3), a repair welding station A (4), a white car body framework synthesis station (5) and a repair welding station B (6);

the white car body lower part station (1), the side wall preassembling station (2), the white car body inner framework synthesis station (3), the repair welding station A (4), the white car body framework synthesis station (5) and the repair welding station B (6) are sequentially arranged.

2. The general assembly device for positioning a robot gripping workpiece according to claim 1, wherein:

the lower body-in-white station 1 comprises a lower body-in-white assembly (11) and a body-in-white conveying system; the white automobile body lower part assembly (11) is formed by assembling and welding an engine bin, a front floor and a rear floor; the mode of the white car body conveying system comprises AGV conveying, roller machine conveying and skid conveying, and reciprocating rod conveying.

3. The general assembly device for positioning a robot gripping workpiece according to claim 1, wherein:

the side wall preassembling station (2) comprises a white car body lower part assembly (11), a left side wall inner plate welding assembly (21), a right side wall inner plate welding assembly (22), a left robot-held side wall flexible gripper (23), a right robot-held side wall flexible gripper, a left robot-held welding tongs, a right robot-held welding tongs, a white car body conveying system, a white car body lower part assembly positioning device and 4 robots;

the positioning device of the lower body-in-white assembly is positioned in the center of the side wall preassembling station (2); the left robot-held side wall flexible gripper (23) is held by a robot positioned at the left side of the preassembly station (2); the right robot-held side wall flexible gripper is held by a robot positioned on the right side of the preassembly station (2); the left side wall flexible gripping device (23) gripped by the left robot and the right side wall gripping device gripped by the right robot are preassembled on the left side wall inner plate welding assembly (21) and the right side wall inner plate welding assembly (22) to the lower part assembly (11) of the white automobile body to form a lower part assembly of the white automobile body;

the left side wall inner plate welding assembly (21) and the right side wall inner plate welding assembly (22) are formed by assembling and welding a side wall reinforcing plate assembly, a front column upper side inner plate assembly, a center column assembly, a threshold assembly and a rear side wall assembly;

the left robot-held side wall flexible gripping device and the right robot-held side wall flexible gripping device are composed of a gripper frame, a gun changing disc tool side, a locating pin, a supporting block assembly, a single-shaft moving platform and a three-shaft platform;

the welding tongs gripped by the left robot and the welding tongs gripped by the right robot are composed of a gun changing disc tool side, a welding power supply and C-shaped welding tongs.

4. A general assembly for positioning a robotic gripping workpiece according to claim 3, wherein:

the white car body inner framework synthesis station (3) comprises a white car body lower part assembly, a top cover front beam assembly (31), a top cover rear beam assembly (32), a left robot-held side wall positioning gripper (33), a right robot-held side wall positioning gripper (34), a left robot-held top cover beam positioning gripper (35), a right robot-held top cover beam positioning gripper (36), a left robot-held welding tongs B (37), a right robot-held welding tongs B (38), a white car body conveying system, a white car body lower part assembly positioning device and at least 6 robots;

the positioning device of the white automobile body lower assembly is positioned at the center of the white automobile body inner framework synthesis station (3), and the white automobile body lower assembly is used for positioning the white automobile body lower assembly; the left robot-held side wall positioning gripping device (33) is held by a robot positioned at the left side of the white car body inner framework synthesis station (3); the right robot-held side wall positioning gripping device (34) is held by a robot positioned on the right side of the white car body inner framework synthesis station (3); the left side wall positioning gripping device (33) and the right side wall positioning gripping device (34) are gripped by the left robot, and the left side wall inner plate welding assembly (21) and the right side wall inner plate welding assembly (22) are fixedly positioned; a left-robot-held top cover beam positioning gripper (35) positions a top cover front beam assembly (31), and a right-robot-held top cover beam positioning gripper (36) positions a top cover rear beam assembly (32) to a lower body-in-white assembly; the welding tongs B (37) gripped by the left robot and the right robot and the welding tongs B (38) gripped by the right robot are subjected to point fixation of a white car body framework assembly (45) at the white car body inner framework synthesis station (3);

the left side wall positioning gripping device (33) gripped by the robot and the right side wall positioning gripping device (34) gripped by the robot are composed of a gripping device frame, a positioning pin, a clamping unit and a gun changing disc tool side;

the front cross beam positioning gripping device (35) of the top cover gripped by the robot and the rear cross beam positioning gripping device (36) of the top cover gripped by the robot are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the welding tongs (37) held by the left robot and the welding tongs (38) held by the right robot are composed of a gun changing disc tool side, a welding power supply and C-shaped welding tongs.

5. The general assembly device for positioning a robot gripping workpiece according to claim 1, wherein:

the body-in-white framework synthesis station (5) is composed of a body-in-white framework assembly (45), a left side wall outer plate assembly (51), a right side wall outer plate assembly, a left robot-held side wall outer plate positioning gripping tool (53), a right robot-held side wall outer plate positioning gripping tool, a left robot-held welding clamp E (55), a right robot-held welding clamp E, a left robot-held welding clamp F (57), a right robot-held welding clamp F, a body-in-white conveying system, a body-in-white lower assembly positioning device and at least 6 robots;

the positioning device of the white automobile body lower assembly is positioned at the center of the white automobile body framework synthesis station (5), and the white automobile body framework assembly (45) is positioned on the white automobile body lower assembly; the left robot-held side wall outer plate positioning gripping device (53) is held by a robot positioned at the left side of the white body framework synthesis station (5); the right robot-held side wall outer plate positioning gripper is held by a robot positioned on the right side of the white body framework synthesis station (5); the left side wall outer plate positioning gripping device (53) gripped by the left robot and the right side wall outer plate positioning gripping device gripped by the right robot are used for clamping and positioning a left side wall outer plate assembly (51) and a right side wall outer plate assembly; the welding tongs E (55) gripped by the left robot, the welding tongs E gripped by the right robot, the welding tongs F (57) gripped by the left robot and the welding tongs F gripped by the right robot of the white body framework synthesis station (5) are used for performing point fixation on the white body framework;

the left robot-held side wall outer plate positioning gripping device (53) and the right robot-held side wall outer plate positioning gripping device are composed of gripping device frames, positioning pins, clamping units and gun changing disc tool sides;

the left robotic-held welding tongs E (55), the right robotic-held welding tongs E, the left robotic-held welding tongs F (57) and the right robotic-held welding tongs F are composed of a gun changing disc tool side, a welding power supply and C or X-shaped welding tongs.

6. The general assembly device for positioning a robot gripping workpiece according to claim 1, wherein:

the repair welding station A (4) mainly comprises an inner frame assembly of a white automobile body, a white automobile body conveying system, at least 4 spot welding robots, a positioning device for an assembly of the lower part of the white automobile body, a welding clamp G gripped by a left robot A, a welding clamp H gripped by a left robot B, a welding clamp G gripped by a right robot A and a welding clamp H gripped by a right robot B.

The positioning device of the lower body-in-white assembly is positioned at the center of the repair welding station A (4), and the lower body-in-white assembly is used for positioning the upper body-in-white inner framework assembly;

welding pliers G held by a left robot A, welding pliers H held by a left robot B, welding pliers G held by a right robot A and welding pliers H held by a right robot B of the repair welding station A (4) are used for repair welding of the white car body inner framework assembly;

and the white body conveying system of the repair welding station A (4) conveys the white body framework assembly from the previous station to the repair welding station A (4), and conveys the white body framework assembly from the station to the next station after the repair welding station is finished.

7. The general assembly device for positioning a robot gripping workpiece according to claim 1, wherein:

the repair welding station B (6) mainly comprises a white car body framework assembly, a white car body conveying system, at least 4 spot welding robots, a white car body lower assembly positioning device, a welding clamp I gripped by a left robot C, a welding clamp J gripped by a left robot D, a welding clamp I gripped by a right robot C and a welding clamp J gripped by a right robot D;

the positioning device of the lower body-in-white assembly is positioned in the center of the repair welding station B (6), and the lower body-in-white assembly is used for positioning the body-in-white framework assembly;

repair welding of the white body framework component is carried out by a welding clamp I gripped by a left robot C, a welding clamp J gripped by a left robot D, a welding clamp I gripped by a right robot C and a welding clamp J gripped by a right robot D of the repair welding station B (6);

and the body-in-white conveying system of the repair welding station B (6) conveys the body-in-white framework assembly from the previous station to the repair welding station B (6), and conveys the body-in-white framework assembly from the station to the next station after the repair welding station is finished.

8. The general splicing method for positioning the workpiece held by the robot is characterized by comprising the following specific contents:

the lower part station (1) of the white automobile body, the side wall preassembling station (2), the inner framework synthesis station (3) of the white automobile body, the repair welding station A (4), the framework synthesis station (5) of the white automobile body and the repair welding station B (6) are sequentially arranged;

the white automobile body lower assembly moves from the white automobile body lower station (1) to the side wall preassembling station (2); after the lower body-in-white assembly reaches a station (2), the roller descends to enable the lower body-in-white assembly to fall on a clamp for positioning and clamping, the robots on the left side and the right side of the station move side wall flexible grippers to grasp left side wall inner plate welding assemblies and right side wall inner plate welding assemblies, the left side wall inner plate welding assemblies and the right side wall inner plate welding assemblies are assembled to the lower body-in-white assembly (11) in a moving way to form lower body-in-white assembly, welding seams are formed in a butt joint way, and welding tongs are gripped by the left robot and the right robot on the left side and the right side of the station to weld welding points on the upper side and the lower side of the side wall threshold of the lower body-in-white assembly;

after a skid for loading a lower body-in-white fitting is driven by a rolling machine to reach 3 stations, the rolling machine descends to enable the lower body-in-white fitting to fall on a clamp for positioning and clamping, a left side wall positioning gripping device (33) and a right side wall positioning gripping device (34) which are gripped by a left robot and a right robot at two sides of the stations are used for positioning left and right side wall inner plates on the lower body-in-white fitting, a top cover beam positioning gripping device (35 and a top cover beam positioning gripping device (36) which are gripped by the right robot are used for gripping a top cover front beam assembly (31) and a top cover rear beam assembly (32), welding pliers B (37) and welding pliers B (38) which are gripped by the left robot and the right robot at two sides of the stations are used for welding to finish welding spots of the inner body-in-white frame assembly, and the welding pliers are gradually opened and moved to be placed on a gripping device placing frame, the welding pliers are gripped from a welding pliers station, and the inner body-in-white frame assembly is subjected to repair welding;

after a skid for loading the white automobile body inner framework assembly (45) is driven by the rolling machine to reach 4 stations, the rolling machine descends to enable the white automobile body inner framework assembly (45) to fall on a clamp for positioning and clamping, welding tongs C (41) gripped by a left robot and welding tongs C gripped by a right robot repair welding a front half welding spot of the white automobile body, welding tongs D (43) gripped by the left robot and welding tongs D gripped by the right robot repair welding a rear half welding spot of the white automobile body;

after a skid for loading the white automobile body inner framework assembly (45) is driven by the rolling machine to reach 5 stations, the white automobile body inner framework assembly (45) is dropped on a clamp to be positioned and clamped by the rolling machine, a left side wall outer plate positioning gripper (53) which is gripped by a left robot, a right side wall outer plate positioning gripper which is gripped by a right robot, a left side wall outer plate assembly (51) which is gripped by the right side wall outer plate positioning gripper, a right side wall outer plate assembly which is arranged on the white automobile body inner framework assembly (45) and a white automobile body framework assembly is formed, and welding tongs E (55) which are gripped by the left robot, welding tongs F (57) which are gripped by the left robot, welding tongs E which are gripped by the right robot and welding tongs F which are gripped by the right robot are welded.

9. The general assembly device for positioning a robot gripping workpiece according to claim 8, wherein:

the robot on the left side and the right side of the station moves the flexible grippers to grasp the left side and the right side wall inner plate welding assemblies, and moves and assembles to the lower body-in-white assembly (11) to form a lower body-in-white assembly, and the welding joints are formed by butt joint, so that welding tongs are grasped by the left robot on the left side and the right side of the station to complete welding of the upper side and the lower side of the left side wall threshold and the right side wall threshold of the lower body-in-white assembly.

10. The general assembly device for positioning a robot gripping workpiece according to claim 9, wherein:

the skid for loading the white car body framework assembly is lifted by the rolling machine, and the white car body framework assembly moves to the next station for repair welding under the rotating action of the rubber coating roller of the rolling machine.

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