CN117124350A - A vehicle dashboard clamping system installed on the go - Google Patents
A vehicle dashboard clamping system installed on the go Download PDFInfo
- Publication number
- CN117124350A CN117124350A CN202311322965.8A CN202311322965A CN117124350A CN 117124350 A CN117124350 A CN 117124350A CN 202311322965 A CN202311322965 A CN 202311322965A CN 117124350 A CN117124350 A CN 117124350A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamp
- jaw
- vehicle
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention provides a vehicle dashboard clamp system relating to a satellite installation. Relates to the technical field of automobile assembly. The vehicle instrument board clamp system mounted in a follow-up way comprises a trolley, a robot and a clamp assembly, wherein the clamp assembly comprises a clamp beam, two ends of the clamp beam in the length direction are respectively provided with a fixed clamping jaw and a movable clamping jaw, when the movable clamping jaw moves towards the fixed clamping jaw to a proper position, the fixed clamping jaw and the movable clamping jaw are respectively inserted into positioning holes on an instrument board, the instrument board is clamped and held, and the robot drives the clamp beam to be mounted on the instrument board when being driven by a vehicle body on a vehicle conveying structure; the fixed clamping jaw and the movable clamping jaw are respectively provided with a screw tightening gun, and the screw tightening gun is suitable for loosening or tightening screws on an instrument panel. The instrument board can be mounted along with the vehicle body in the conveying process, so that the vehicle body is not required to be stopped, the assembly time of the instrument board is saved, and the production efficiency of the whole line is improved.
Description
Technical Field
The invention relates to the technical field of automobile assembly, in particular to a vehicle instrument panel clamp system for follow-up installation.
Background
The assembly of the instrument panel is an essential processing technology in the vehicle production process, and the instrument panel is usually fixed-point mounted on the vehicle body through a manual power assisting arm or fixed-point mounted on the vehicle body by using a robot during assembly. However, since the instrument panel is often assembled by fixed-point mounting, the process of assembling the instrument panel requires suspension of the conveyance of the vehicle body, which results in a relatively reduced production efficiency of the vehicle production line.
Disclosure of Invention
The invention solves the problems that: how to improve the production efficiency of the whole line.
In order to solve the problems, the invention provides a vehicle instrument panel clamp system installed in a follow-up way, which comprises a trolley, a robot and a clamp assembly, wherein the trolley and the robot are both used for being distributed on the same side of a vehicle conveying structure; the trolley is used for preassembling screws on an instrument panel and storing the instrument panel; the fixture assembly comprises a fixture cross beam, the fixture cross beam is arranged at the tail end of the robot, a fixed clamping jaw and a movable clamping jaw are respectively arranged at two ends of the fixture cross beam in the length direction, the movable clamping jaw is suitable for moving towards or away from the fixed clamping jaw along the length direction of the fixture cross beam, and when the movable clamping jaw moves in place towards the fixed clamping jaw, the fixed clamping jaw and the movable clamping jaw are respectively used for being spliced with a positioning hole on an instrument board, and the robot is suitable for driving the fixture cross beam to follow a vehicle body on the vehicle conveying structure; and screw tightening guns are respectively arranged on the fixed clamping jaw and the movable clamping jaw, and are suitable for loosening or screwing screws on the instrument panel.
Optionally, remove the clamping jaw and include clamping jaw body and auto-lock cylinder, be equipped with on the clamping jaw body the screw tightening rifle, auto-lock cylinder install in the anchor clamps crossbeam, and with clamping jaw body drive connection is used for the drive the clamping jaw body is towards or keep away from fixed clamping jaw removes.
Optionally, the movable clamping jaw further comprises a guide rail, the length direction of the guide rail is consistent with the expansion direction of the output end of the self-locking air cylinder, and the clamping jaw body is in sliding connection with the guide rail.
Optionally, the fixed clamping jaw and the movable clamping jaw are connected with the screw tightening gun assembled by the fixed clamping jaw and the movable clamping jaw respectively through a driving mechanism, and the driving mechanism is used for driving the screw tightening gun to move along a direction perpendicular to the moving direction of the movable clamping jaw.
Optionally, the actuating end of the screw tightening gun is provided with a sleeve, and the screw tightening gun is used for holding the screw on the instrument panel through the sleeve.
Optionally, the vehicle instrument panel clamp system of the follower installation further comprises an instrument panel in-place sensor, wherein the instrument panel in-place sensor is respectively installed on the fixed clamping jaw and the movable clamping jaw and used for feeding back the instrument panel position.
Optionally, the vehicle instrument panel clamp system of the following installation further comprises a screw in-place sensor, wherein the screw in-place sensor is respectively installed on the fixed clamping jaw and the movable clamping jaw, and the screw tightening gun is used for identifying screws on the instrument panel through the screw in-place sensor.
Optionally, the vehicle instrument panel clamp system of the pallet installation further comprises a visual guide structure, wherein the visual guide structure is installed on the clamp beam and used for capturing screw positions on an instrument panel, and the robot is used for driving the clamp beam to move towards the instrument panel on the trolley through the visual guide structure.
Optionally, the vehicle instrument panel clamp system of the following installation further comprises a six-dimensional force sensor, wherein the six-dimensional force sensor is installed on the clamp beam and is in communication connection with a control terminal of the robot, so as to optimize the moving path of the robot.
Optionally, the vehicle instrument panel clamp system of the satellite installation further comprises a trolley positioning mechanism for limiting movement of the trolley.
Compared with the prior art, the vehicle instrument board clamp system for the follow-up installation is used for pre-assembling an instrument board through the trolley through the screws, so that the assembling screws required by the instrument board can be pre-assembled on the instrument board, and the pre-feeding of the instrument board screws is realized; the trolley and the robot are both used for being distributed on the same side of the vehicle conveying structure, so that the robot is prevented from running across the vehicle conveying structure, and the running safety and stability of the robot are ensured; and be provided with fixed clamping jaw and removal clamping jaw respectively by fixture crossbeam length direction's both ends, remove clamping jaw and be suitable for along fixture crossbeam's length direction orientation or keep away from fixed clamping jaw and remove that the distance between clamping jaw and the clamping jaw is adjustable, in order to improve the adaptability of fixed clamping jaw and removal clamping jaw to instrument board length, the rethread fixture crossbeam is installed in the terminal of robot, and when removal clamping jaw moves in place towards fixed clamping jaw, the robot is suitable for driving fixture crossbeam and the automobile body follow-up on the vehicle conveying structure, the fixation clamp is used for pegging graft with the locating hole on the instrument board with removal clamping jaw, make fixed clamping jaw and removal clamping jaw cooperate in order to realize the clamp of instrument board, and be equipped with the screw on fixed clamping jaw and the removal clamping jaw respectively, the screw on the instrument board is suitable for unscrewing or screws on the instrument board are screwed down to the screw tightening gun, and when fixed clamping jaw moves towards fixed clamping jaw, in the instrument board follow-up, in the instrument board assembly process, the robot passes through fixture crossbeam, fixed clamping jaw and removal clamping jaw is used for unscrewing or automobile body follow-up on the instrument board, and instrument board follow-up line is realized, thereby the instrument board conveying line is not required, and the instrument board follow-up time is realized, thereby the assembly line is realized, the improvement has been realized, and the instrument board is realized and is convenient, and is beneficial to be equipped with the following line, and has been assembled.
Drawings
FIG. 1 is a schematic illustration of a vehicle instrument panel clamp system for satellite installation in accordance with one embodiment of the present invention;
FIG. 2 is a schematic illustration of a vehicle instrument panel clamp system for a vehicle instrument panel clamping instrument panel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a second embodiment of a vehicle instrument panel clamp system for satellite installation;
FIG. 4 is a second schematic view of a vehicle instrument panel clamp system for clamping an instrument panel according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle body production line according to an embodiment of the present invention.
Reference numerals illustrate:
1-a clamp beam; 2-fixing clamping jaws; 3-moving the clamping jaw; 31-a jaw body; 32-a self-locking cylinder; 33-a guide rail; 4-a screw tightening gun; 5-instrument panel in-situ sensor; 6-a screw in-place sensor; 10-a robot; 20-visual guide structure; a 30-six-dimensional force sensor; 40-vehicle conveying structure; 50-trolley.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The Z-axis in the drawing represents vertical, i.e., up-down position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal position, and the positive direction of the X-axis (i.e., the arrow of the X-axis is pointed) represents the left side, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) represents the right side; the Y-axis in the drawing shows a horizontal front-rear position, and the positive direction of the Y-axis (i.e., the arrow of the Y-axis points) shows the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) shows the rear side. It should also be noted that the foregoing Z-axis, Y-axis, and X-axis are meant to be illustrative only and not indicative or implying that the apparatus or component in question must be oriented, configured or operated in a particular orientation, and therefore should not be construed as limiting the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
Referring to fig. 1 to 5, the present invention provides a pallet clamp system for a vehicle instrument panel installed in a follower manner, comprising a cart 50, a robot 10 and a clamp assembly, wherein the cart 50 and the robot 10 are positioned on the same side of a vehicle conveying structure 20; the trolley 50 is used for pre-assembling the screws on the instrument panel and for storing the instrument panel; the fixture assembly comprises a fixture cross beam 1, the fixture cross beam 1 is arranged at the tail end of a robot 10, fixed clamping jaws 2 and movable clamping jaws 3 are respectively arranged at two ends of the fixture cross beam 1 in the length direction, the movable clamping jaws 3 are suitable for moving towards or away from the fixed clamping jaws 2 along the length direction of the fixture cross beam 1, and when the movable clamping jaws 3 move towards the fixed clamping jaws 2 in place, the fixed clamping jaws 2 and the movable clamping jaws 3 are respectively used for being spliced with positioning holes on an instrument board, and the robot 10 is suitable for driving the fixture cross beam 1 to follow-up a vehicle body on a vehicle conveying structure 40; and the fixed clamping jaw 2 and the movable clamping jaw 3 are respectively provided with a screw tightening gun 4, and the screw tightening gun 4 is suitable for loosening or tightening screws on an instrument panel.
Specifically, with the Y axis as the conveying direction of the vehicle conveying structure 40, the carriage 50 and the robot 10 are both located on the left side of the vehicle conveying structure 40; the vehicle conveying structure 40 is used for conveying the vehicle body along the Y-axis in the negative direction, and the instrument panel is preassembled on the trolley 50 through the assembling screw thereof during production so that the instrument panel and the screw on the instrument panel are prestored by the trolley 50; the robot 10 may be a seven-axis robot, and may move back and forth along the conveying direction of the vehicle conveying structure 40, where the end of the robot 10 is connected to the clamp beam 1, so as to be used for driving the clamp beam 1 to follow the vehicle body on the vehicle conveying structure 40, and the vehicle conveying structure 40 is a common structure such as a conveying roller way. The X-axis is the longitudinal direction of the jig beam 1. The fixed clamping jaw 2 is assembled at the left end of the clamp beam 1, the movable clamping jaw 3 is assembled at the right end of the clamp beam 1, pin shafts can be respectively assembled at the mutually facing ends of the fixed clamping jaw 2 and the movable clamping jaw 3 so as to be suitable for being inserted into positioning holes in an instrument board, the screw tightening gun 4 is respectively assembled at the lower ends of the fixed clamping jaw 2 and the movable clamping jaw 3, and the screw tightening gun 4 can be unscrewed or screw-tightened on the instrument board. Generally, the fascia that needs to be assembled is often placed at an assembly station for assembly at which the vehicle body is transported to the assembly station. The method comprises the steps that at first, a robot 10 is positioned at one end of a Y-axis forward direction, an instrument board to be assembled is preassembled on a trolley 50 through screws, a movable clamping jaw 3 moves to the farthest end away from a fixed clamping jaw 2, so that the distance between the fixed clamping jaw 2 and the movable clamping jaw 3 is maximized, when a vehicle conveying structure 40 conveys a vehicle body to be produced to the robot 10, the robot 10 drives a clamp beam 1 to move to the instrument board, the length direction of the clamp beam 1 is adjusted to be consistent with the length direction of the instrument board, the fixed clamping jaw 2 corresponds to the left end of the instrument board, the movable clamping jaw 3 corresponds to the right end of the instrument board, after the fixed clamping jaw 2 is inserted into a positioning hole at the left end of the instrument board, the movable clamping jaw 3 moves towards the fixed clamping jaw 2 until the positioning hole at the right end of the instrument board is inserted into the positioning hole at the left end of the instrument board, after the fixed clamping jaw 2 and the movable clamping jaw 3 finish clamping the instrument board, a screw tightening gun 4 on the instrument board is completely unscrewed, and the clamp on the instrument board can be confirmed before the trolley can move the instrument board; the fixed clamping jaw 2 and the movable clamping jaw 3 clamp the instrument board, the robot 10 moves synchronously with the vehicle conveying structure 40 along the negative direction of the Y axis, the instrument board is moved to the assembly position on the automobile body through the clamp beam 1, after the screw holes on the instrument board are aligned with the mounting holes on the automobile body, the screw on the instrument board is screwed by the screw tightening gun 4 on the fixed clamping jaw 2 and the movable clamping jaw 3, the movable clamping jaw 3 is far away from the fixed clamping jaw 2, and the robot 10 drives the clamp beam 1 to separate from the instrument board.
In this embodiment, therefore, the instrument panel is preassembled by the screws through the carriage 50 so that the assembling screws required for the instrument panel can be preassembled on the instrument panel to achieve the preliminary feeding of the instrument panel screws; the trolley 50 and the robot 10 are distributed on the same side of the vehicle conveying structure 40, so that the robot 10 is prevented from running across the vehicle conveying structure 40, and the running safety and stability of the robot 10 are ensured; the two ends of the length direction of the clamp beam 1 are respectively provided with a fixed clamping jaw 2 and a movable clamping jaw 3, the movable clamping jaw 3 is suitable for moving towards or away from the fixed clamping jaw 2 along the length direction of the clamp beam 1, so that the distance between the fixed clamping jaw 2 and the movable clamping jaw 3 is adjustable, the adaptability of the fixed clamping jaw 2 and the movable clamping jaw 3 to the length of an instrument board is improved, the clamp beam 1 is arranged at the tail end of a robot 10, and when the movable clamping jaw 3 moves towards the fixed clamping jaw 2 in place, the robot 10 is suitable for driving the clamp beam 1 to follow-up with a vehicle body on a vehicle conveying structure 40, the fixed clamping jaw 2 and the movable clamping jaw 3 are used for being spliced with a positioning hole on the instrument board, the fixed clamping jaw 2 and the movable clamping jaw 3 are matched to clamp the instrument board, the robot 10 realizes the follow-up of the fixed clamping jaw 2, the movable clamping jaw 3 and the vehicle body assembled on the clamp beam 1, the screw tightening gun 4 is respectively assembled on the fixed clamping jaw 2 and the movable clamping jaw 3, the screw tightening gun 4 is suitable for loosening or tightening screws on the instrument panel, the screw tightening gun 4 can be driven by the clamp beam 1, and when the fixed clamping jaw 2 and the movable clamping jaw 3 clamp the instrument panel, the screw tightening gun 4 is suitable for loosening or tightening screws on the instrument panel, thus, in the instrument panel assembly process, the robot 10 realizes the follow-up of the instrument panel and the automobile body through the clamp beam 1, the fixed clamping jaw 2 and the movable clamping jaw 3, realizes the follow-up of the screw tightening gun 4 and the instrument panel, and further realizes the follow-up installation of the instrument panel in the automobile body conveying process, thereby, the fixed point assembly during the automobile body conveying is not required to be stopped, the subsequent station flow is optimized, the zero waiting of the whole line is facilitated, the assembly time of the instrument panel is saved, thereby improving the production efficiency of the whole line.
Optionally, as shown in connection with fig. 1 and 3, the movable clamping jaw 3 includes a clamping jaw body 31 and a self-locking cylinder 32, the clamping jaw body 31 is provided with a screw tightening gun 4, and the self-locking cylinder 32 is mounted on the clamp beam 1 and is in driving connection with the clamping jaw body 31, so as to be used for driving the clamping jaw body 31 to move towards or away from the fixed clamping jaw 2.
Specifically, a screw tightening gun 4 is assembled on the clamping jaw body 31, a self-locking air cylinder 32 is assembled at the lower end of the clamp beam 1 through a bolt, a piston rod of the self-locking air cylinder 32 is in driving connection with the clamping jaw body 31, and the clamping jaw body 31 can be driven to move towards or away from the fixed clamping jaw 2.
So, be equipped with screw tightening rifle 4 on through clamping jaw body 31, self-locking cylinder 32 installs in anchor clamps crossbeam 1 to with clamping jaw body 31 drive connection, with be used for driving clamping jaw body 31 towards or keep away from fixed clamping jaw 2 and remove, during the clamp, self-locking cylinder 32 can improve clamping self-locking ability of clamping jaw body 31 and removal clamping jaw 2, and then guarantees the stability of screw tightening rifle 4, thereby guarantees the reliability that screw tightening rifle 4 was screwed or is unscrewed the screw.
Optionally, as shown in fig. 1 and 3, the movable jaw 3 further includes a guide rail 33, a length direction of the guide rail 33 is consistent with a telescopic direction of an output end of the self-locking cylinder 32, and the jaw body 31 is slidably connected with the guide rail 33. In this way, the guide rail 33 guides the movement of the jaw body 31, thereby improving the movement stability of the jaw body 31.
Alternatively, as shown in conjunction with fig. 1 and 3, the fixed jaw 2 and the movable jaw 3 are connected with their respective assembled screw tightening guns 4 by a driving mechanism, and the driving mechanism is used to drive the screw tightening guns 4 to move in a direction perpendicular to the moving direction of the movable jaw 3.
Specifically, the driving mechanism may include an air cylinder and a slide rail, the screw tightening gun 4 is slidably connected with the slide rail, the air cylinder drives the screw tightening gun 4 to move along the slide rail, and the moving direction of the slide rail is perpendicular to the moving direction of the moving clamping jaw 3.
In this way, the fixed clamping jaw 2 and the movable clamping jaw 3 are connected with the screw tightening gun 4 assembled by the fixed clamping jaw 2 and the movable clamping jaw 3 respectively through the driving mechanism, and the driving mechanism is used for driving the screw tightening gun 4 to move along the direction perpendicular to the moving direction of the movable clamping jaw 3, so that the degree of freedom of the screw tightening gun 4 in the direction perpendicular to the moving direction of the movable clamping jaw 3 is realized, and interference between the screw tightening gun 4 and the instrument panel in the process of clamping the instrument panel by the fixed clamping jaw 2 and the movable clamping jaw 3 is avoided, so that the assembly efficiency of the instrument panel is improved.
Optionally, the actuating end of the screw tightening gun 4 is provided with a sleeve, the screw tightening gun 4 being used to hold the screw on the instrument panel by means of the sleeve. In this way, in the process of screwing or unscrewing the screw on the instrument panel by the screw tightening gun 4, the sleeve guides the screw to rotate, and the screw is prevented from falling off from the instrument panel after the screw is completely unscrewed, so that the use stability of the screw tightening gun 4 is improved, and the assembly efficiency of the instrument panel is improved.
Optionally, as shown in connection with fig. 1, the vehicle instrument panel clamp system for satellite installation further comprises an instrument panel in-situ sensor 5, the instrument panel in-situ sensor 5 being mounted to the stationary jaw 2 and the movable jaw 3, respectively, for feedback of instrument panel position.
In particular, the instrument panel presence sensor 5 may be a 3D camera or a binocular camera, as well as a 2D camera or other kind of vision sensor, as appropriate. An instrument panel in-position sensor 5 is mounted to the fixed jaw 2 and the movable jaw 3, respectively, for feedback of instrument panel position.
In this way, the instrument panel is respectively installed on the fixed clamping jaw 2 and the movable clamping jaw 3 through the instrument panel in-situ sensor 5 so as to be used for feeding back the position of the instrument panel, so that the quick positioning of the instrument panel can be realized, the positioning time of the instrument panel can be shortened, and the assembly efficiency of the instrument panel can be improved.
Optionally, as shown in connection with fig. 1, the vehicle dashboard clamp system for satellite installation further comprises a screw presence sensor 6, the screw presence sensor 6 being mounted to the fixed jaw 2 and the mobile jaw 3, respectively, the screw tightening gun 4 being used to identify the screws on the dashboard by means of the screw presence sensor 6.
In particular, the screw in-place sensor 6 may be a 3D camera or a binocular camera, as well as a 2D camera or other kind of vision sensor, as appropriate.
In this way, the screw in-place sensor 6 is respectively arranged on the fixed clamping jaw 2 and the movable clamping jaw 3, the screw tightening gun 4 is used for identifying the screw on the instrument board through the screw in-place sensor 6, so that the position of the screw on the instrument board is convenient to judge, and the alignment precision of the screw in-place sensor 6 and the screw is improved.
Optionally, as shown in connection with fig. 5, the vehicle dashboard clamp system for the satellite installation further comprises a visual guiding structure 20, the visual guiding structure 20 is mounted on the clamp beam 1, the visual guiding structure 20 is used for capturing the screw position on the dashboard, and the robot 10 is used for driving the clamp beam 1 to move towards the dashboard on the trolley 1 through the visual guiding structure 20.
In particular, the visual guide structure 20 may be a 3D camera or a binocular camera, and a 2D camera or other kinds of visual sensors may also be employed. The visual guide structure 20 is installed on the fixture cross beam 1 and distributed at the left end and the right end of the fixture cross beam 1, the visual guide structure 20 is used for capturing the position of a locating hole on an instrument panel, and the robot 10 is used for driving the fixture cross beam 1 to move towards the instrument panel on the trolley 1 through the visual guide structure 20. When the robot is used, after the positions of the instrument board screws are confirmed through the visual guide structure 20, the robot 10 is used for driving the clamp beam 1 to move towards the instrument board on the trolley 1 through the visual guide structure 20, and further, when the instrument board is assembled on a vehicle body, the visual guide structure 20 can also identify mounting hole positions on the vehicle body so as to ensure that the mounting holes on the vehicle body are aligned with the screw holes on the instrument board, so that the moving path of the robot 10 is corrected, and the instrument board is ensured to be placed at a position matched with the vehicle body. In this way, the visual guide structure 20 can optimize the moving path of the robot 10 to ensure that the movement of the robot 10 is fast and accurate.
Optionally, as shown in connection with fig. 1 and 5, the vehicle dashboard clamp system for the satellite installation further comprises a six-dimensional force sensor 30, wherein the six-dimensional force sensor 30 is mounted on the clamp beam 1 and is in communication connection with a control terminal of the robot 10 for optimizing the movement path of the robot 10.
Specifically, the six-dimensional force sensor 30 is directly connected to the control terminal of the robot arm 10, and is mounted on the jig beam 1 by bolts. When the mounting position is blocked by jamming or the like, the fixed clamping jaw 2 or the movable clamping jaw 3 can receive an interference force, the six-dimensional force sensor 30 feeds back the interference force to the control terminal of the robot arm 10, and the control terminal of the robot arm 10 controls the robot 10 to move according to the direction of the interference force until the value of the interference force is reduced to a proper range, so that the position of the robot 10 after moving is the optimal mounting position.
In this way, the six-dimensional force sensor 30 is installed on the clamp beam 1 and is in communication connection with the control terminal of the robot 10, so as to be used for optimizing the moving path of the robot 10, and the position of the robot 10 can be fed back in real time in the instrument panel assembly process, so that the accuracy of the moving path of the robot 10 is improved.
Optionally, as shown in connection with fig. 5, the body production line further includes a carriage positioning mechanism for restricting movement of the carriage 50.
Specifically, the trolley positioning mechanism may include a positioning pin and a base, where a positioning hole is provided on the base, and when the trolley 50 is in the positioning hole, the positioning pin is connected with the trolley 50 and is spliced with the positioning hole to fix the trolley 50; alternatively, the trolley positioning mechanism may include a base, a hydraulic cylinder and a positioning block, the positioning block is mounted on the trolley 50 and is provided with a through hole, the hydraulic cylinder is mounted on the base, and when the through hole on the positioning block is consistent with the cylinder rod axis of the hydraulic cylinder, the cylinder rod of the hydraulic cylinder is inserted into the through hole of the positioning block to fix the trolley 50. The crown block positioning mechanism may be replaced with other mechanisms that limit movement of the carriage 50.
In this way, the movement of the carriage 50 is restricted by the carriage positioning mechanism, so that the stability of the carriage 50 can be improved, and the storage stability of the instrument panel on the carriage 50 can be improved.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. A pallet clamp system for a vehicle, characterized by comprising a trolley (50), a robot (10) and a clamp assembly, wherein the trolley (50) and the robot (10) are both arranged on the same side of a vehicle conveying structure (40); the trolley (50) is used for preassembling screws on an instrument panel and for storing the instrument panel; the fixture assembly comprises a fixture cross beam (1), the fixture cross beam (1) is mounted at the tail end of the robot (10), fixed clamping jaws (2) and movable clamping jaws (3) are respectively arranged at two ends of the length direction of the fixture cross beam (1), the movable clamping jaws (3) are suitable for moving towards or away from the fixed clamping jaws (2) along the length direction of the fixture cross beam (1), and when the movable clamping jaws (3) move towards the fixed clamping jaws (2) in place, the fixed clamping jaws (2) and the movable clamping jaws (3) are used for being respectively connected with positioning holes in an instrument board in an inserting mode, and the robot (10) is suitable for driving the fixture cross beam (1) to follow a vehicle body on the vehicle conveying structure (40); and a screw tightening gun (4) is respectively arranged on the fixed clamping jaw (2) and the movable clamping jaw (3), and the screw tightening gun (4) is suitable for loosening or screwing screws on the instrument panel.
2. The vehicle dashboard clamp system according to claim 1, characterized in that the movable clamp jaw (3) comprises a clamp jaw body (31) and a self-locking cylinder (32), the clamp jaw body (31) is provided with the screw tightening gun (4), and the self-locking cylinder (32) is mounted on the clamp cross beam (1) and is in driving connection with the clamp jaw body (31) for driving the clamp jaw body (31) to move towards or away from the fixed clamp jaw (2).
3. The vehicle dashboard clamp system according to claim 2, wherein the movable jaw (3) further comprises a guide rail (33), a length direction of the guide rail (33) coincides with a telescoping direction of an output end of the self-locking cylinder (32), and the jaw body (31) is slidably connected with the guide rail (33).
4. A vehicle dashboard clamp system according to claim 1, characterized in that the fixed jaw (2) and the movable jaw (3) are connected to the screw tightening gun (4) to which they are respectively fitted by means of a driving mechanism, and the driving mechanism is used for driving the screw tightening gun (4) to move in a direction perpendicular to the moving direction of the movable jaw (3).
5. The vehicle dashboard clamp system according to claim 1, characterized in that the actuating end of the screw tightening gun (4) is provided with a sleeve, the screw tightening gun (4) being adapted to grip a screw on the dashboard via the sleeve.
6. The satellite mounted vehicle dashboard clamp system according to claim 1, further comprising a dashboard presence sensor (5), said dashboard presence sensor (5) being mounted to said stationary jaw (2) and said mobile jaw (3), respectively, for feeding back said dashboard position.
7. The satellite mounted vehicle dashboard clamp system according to claim 1, further comprising a screw presence sensor (6), the screw presence sensor (6) being mounted to the stationary jaw (2) and the mobile jaw (3), respectively, the screw tightening gun (4) being adapted to identify screws on the dashboard by the screw presence sensor (6).
8. The satellite mounted vehicle dashboard clamp system according to claim 1, further comprising a visual guide structure (20), the visual guide structure (20) being mounted to the clamp cross-beam (1), the visual guide structure (20) being for capturing screw positions on a dashboard, the robot (10) being for driving the clamp cross-beam (1) towards the dashboard on the trolley (1) by the visual guide structure (20).
9. The vehicle dashboard clamp system of claim 8, further comprising a six-dimensional force sensor (30), the six-dimensional force sensor (30) being mounted to the clamp beam (1) and communicatively connected to a control terminal of the robot (10) for optimizing a path of movement of the robot (10).
10. The satellite mounted vehicle dashboard clamp system of claim 1, further comprising a trolley positioning mechanism for limiting movement of the trolley (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311322965.8A CN117124350A (en) | 2023-10-12 | 2023-10-12 | A vehicle dashboard clamping system installed on the go |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311322965.8A CN117124350A (en) | 2023-10-12 | 2023-10-12 | A vehicle dashboard clamping system installed on the go |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117124350A true CN117124350A (en) | 2023-11-28 |
Family
ID=88854767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311322965.8A Pending CN117124350A (en) | 2023-10-12 | 2023-10-12 | A vehicle dashboard clamping system installed on the go |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117124350A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02185836A (en) * | 1989-01-12 | 1990-07-20 | Mitsubishi Motors Corp | Clamping mechanism for instrument panel installer |
| JP2001151174A (en) * | 1999-11-22 | 2001-06-05 | Honda Motor Co Ltd | Automotive front component assembly equipment |
| CN110712030A (en) * | 2019-10-10 | 2020-01-21 | 迈赫机器人自动化股份有限公司 | Flexible automatic switching system for automobile instrument panel |
| CN211362023U (en) * | 2019-12-23 | 2020-08-28 | 东风汽车有限公司 | Instrument desk assembly jig |
| CN115816046A (en) * | 2022-12-28 | 2023-03-21 | 义乌固聚智能科技有限公司 | Instrument board assembling and screwing mechanism and method |
| CN116374053A (en) * | 2023-04-23 | 2023-07-04 | 浙江固智机器人科技有限公司 | Control system and method for robot accompanying assembly automobile instrument board |
-
2023
- 2023-10-12 CN CN202311322965.8A patent/CN117124350A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02185836A (en) * | 1989-01-12 | 1990-07-20 | Mitsubishi Motors Corp | Clamping mechanism for instrument panel installer |
| JP2001151174A (en) * | 1999-11-22 | 2001-06-05 | Honda Motor Co Ltd | Automotive front component assembly equipment |
| CN110712030A (en) * | 2019-10-10 | 2020-01-21 | 迈赫机器人自动化股份有限公司 | Flexible automatic switching system for automobile instrument panel |
| CN211362023U (en) * | 2019-12-23 | 2020-08-28 | 东风汽车有限公司 | Instrument desk assembly jig |
| CN115816046A (en) * | 2022-12-28 | 2023-03-21 | 义乌固聚智能科技有限公司 | Instrument board assembling and screwing mechanism and method |
| CN116374053A (en) * | 2023-04-23 | 2023-07-04 | 浙江固智机器人科技有限公司 | Control system and method for robot accompanying assembly automobile instrument board |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1137767A (en) | Nozzle holder for holding mechanized or automated arc welding or cutting nozzles, especially nozzles on machines or robots | |
| CN115139090A (en) | Automatic tightening machine and method for threaded connection of cylinders | |
| CN209754350U (en) | Four-gun automatic welding machine for angle iron flange | |
| CN104438498A (en) | Hand pipe bender | |
| CN104385286A (en) | Crankshaft-grabbing operation method, crankshaft robot clamp system and assembly method therefor | |
| CN209349835U (en) | A kind of automobile door hinge assembling accessory | |
| CN117124350A (en) | A vehicle dashboard clamping system installed on the go | |
| CN201321297Y (en) | Panel positioning and following conveying system | |
| CN218426504U (en) | Spatial positioning instrument of steel construction installation | |
| CN211465420U (en) | Multifunctional automatic screw locking machine | |
| CN218252993U (en) | Automatic boring device for piston | |
| US20230182312A1 (en) | Automated system for mounting front-end module for vehicle | |
| KR20180107595A (en) | Vehicle part mounting system and control method of the same | |
| JP2001030133A (en) | Work positioning device | |
| CN220739942U (en) | Automatic welding fixture | |
| CN115800665B (en) | Motor housing installation equipment | |
| CN107914167A (en) | Cylindric workpiece multi-connected clamping device | |
| CN119927550A (en) | Method for using a tool positioning, clamping and quick-changing device for a workstation | |
| CN211192813U (en) | Automatic clamping machine | |
| CN223656412U (en) | A pneumatic component assembly machine for automobile windows | |
| US20060186092A1 (en) | Joining device | |
| CN219189403U (en) | Special frock of duplex position machining center processing leaf spring support | |
| CN222726743U (en) | Grabbing device capable of clamping cylinders with various specifications | |
| CN223265152U (en) | Tightening mechanisms and assembly equipment | |
| CN224042892U (en) | A multi-station flange processing and welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |