CN117718663A - Nut box welding positioning gripper, device and method for vehicle floor - Google Patents

Abstract

The invention relates to the technical field of vehicle welding, in particular to a nut box welding positioning gripper, a device and a method for a vehicle floor. Comprises a mounting turntable; one side surface of the installation turntable is used for being fixedly connected with an end effector of the six-axis manipulator, and the other side surface of the installation turntable is provided with a valve island; the outer peripheral surface of the mounting turntable is circumferentially divided into a plurality of mounting areas; at least one gripper mechanism is arranged in each installation area, and the gripper mechanisms in different installation areas are used for gripping nut boxes of different types on the vehicle floor; the six-axis manipulator is used for driving the installation turntable to rotate around the central axis of the installation turntable through the end effector of the six-axis manipulator when the six-axis manipulator provided with the nut box welding positioning manipulator for the vehicle floor provided by the invention grabs, carries and positions the nut boxes of the vehicle floor.

Description

Nut box welding positioning gripper, device and method for vehicle floor

Technical Field

The invention relates to the technical field of vehicle welding, in particular to a nut box welding positioning gripper, a device and a method for a vehicle floor.

Background

Because a plurality of nut boxes are welded on the vehicle floor, in the prior art, a plurality of fixing tools are matched with each other to position all the nut boxes on the vehicle floor at one time, and then the nut boxes are welded, but the fixing tools generally have complex structures, single production vehicle types, the tools need to be replaced after the welded vehicle types are changed, and the production efficiency is low;

in order to solve the above problems, in the prior art, six-axis manipulators are generally used to grasp, carry and position each nut box on the vehicle floor, and by setting different teaching tracks in the control unit, the six-axis manipulators can adapt to the welding positioning work of the nut box on the vehicle floor of different vehicle types, but since the nut box welded on the vehicle floor generally contains multiple types, the welding positioning gripper on the existing six-axis manipulator can only adapt to one type of nut box, which also results in the problem that in the prior art, when the six-axis manipulator is used to grasp, carry and position each nut box on the vehicle floor, if a single six-axis manipulator is used to carry out the work, the six-axis manipulator needs to disassemble and assemble the positioning grippers of different types on the end effector of the six-axis manipulator multiple times in the process of grasping, carrying and positioning each nut box on the vehicle floor, thereby reducing the production efficiency; if a plurality of six-axis manipulators with positioning grippers of different types are adopted for operation, the problem that the input cost is high, interference is easy to occur among the six-axis manipulators, and the teaching programming difficulty of the six-axis manipulators is high exists.

Disclosure of Invention

According to the nut box welding positioning gripper, the device and the method for the vehicle floor, the problems that in the prior art, as the welding positioning gripper on the existing six-axis manipulator is generally only suitable for one type of nut box, when the six-axis manipulator is used for grabbing, carrying and positioning all nut boxes on the vehicle floor, if a single six-axis manipulator is adopted for operation, the six-axis manipulator needs to disassemble and assemble positioning grippers of different types on an end effector of the six-axis manipulator for many times in the process of grabbing, carrying and positioning all nut boxes on the vehicle floor, and the production efficiency is reduced are solved; if a plurality of six-axis manipulators with positioning grippers of different types are adopted for operation, the technical problems of high input cost, easy interference among the six-axis manipulators and high teaching programming difficulty of the six-axis manipulators are also caused.

The technical scheme adopted by the invention is as follows: a nut box welding positioning gripper for a vehicle floor comprises a mounting turntable;

one side surface of the installation turntable is used for being fixedly connected with an end effector of the six-axis manipulator, and the other side surface of the installation turntable is provided with a valve island; the outer peripheral surface of the installation turntable is circumferentially divided into a plurality of installation areas; at least one gripper mechanism is arranged in each installation area, and the gripper mechanisms in different installation areas are used for gripping nut boxes of different types on the vehicle floor; each gripper mechanism is arranged at intervals along the circumferential direction of the mounting turntable, each gripper mechanism is electrically connected with the valve island, and the valve island is used for controlling each gripper mechanism.

The outer peripheral surface of the installation turntable is circumferentially divided into a plurality of installation areas, at least one gripper mechanism is arranged in each installation area, and the gripper mechanisms in different installation areas are used for gripping nut boxes of different types on the vehicle floor; the six-axis manipulator of the nut box welding positioning gripper of the vehicle floor provided by the invention can drive the mounting turntable to rotate around the central axis of the mounting turntable through the end effector thereof to finish the switching of the gripper mechanisms, and the six-axis manipulator provided with the positioning grippers of different types is not required to be arranged on the end effector of the six-axis manipulator to grasp, carry and position the nut boxes of the vehicle floor; the problem that in the prior art, as the welding positioning gripper on the existing six-axis manipulator can only be generally matched with one type of nut box, when the six-axis manipulator is used for gripping, carrying and positioning all nut boxes on the vehicle floor, if a single six-axis manipulator is adopted for operation, the six-axis manipulator can have the problem that positioning grippers of different types are required to be dismounted on the end effector of the six-axis manipulator for many times in the process of gripping, carrying and positioning all nut boxes on the vehicle floor, so that the production efficiency is reduced; if a plurality of six-axis manipulators with positioning grippers of different types are adopted for operation, the technical problems of high input cost, easy interference among the six-axis manipulators and high teaching programming difficulty of the six-axis manipulators are also caused.

Further, the gripper mechanisms in different installation areas have the same structure and different sizes; each gripper mechanism comprises an air cylinder clamping jaw and a positioning plate;

the cylinder clamping jaw comprises a telescopic cylinder fixedly arranged on the outer peripheral surface of the mounting turntable and a clamping part arranged on the telescopic end of the telescopic cylinder;

the clamping part comprises two clamping jaws which are arranged symmetrically left and right, and the telescopic cylinder is used for driving the two clamping jaws of the clamping part to clamp nut boxes of corresponding types;

the positioning plate is arranged between the two clamping jaws and is fixedly connected to the shell of the telescopic cylinder; a binding surface used for binding the top end surface of the nut box with the corresponding model is arranged on the side surface of the positioning plate, which is far away from the telescopic cylinder; the valve island is characterized in that a first contact sensor is arranged on the joint surface and used for sending first contact information to the valve island, and the valve island controls the telescopic cylinder according to the first contact information.

The side surface, far away from the telescopic cylinder, of the positioning plate is provided with an attaching surface for attaching with the top end surface of a nut box of a corresponding model; the first contact sensor is arranged on the joint surface, so that the nut box welding positioning gripper of the vehicle floor provided by the invention can judge whether the joint surface is jointed with the top end surface of the nut box of the corresponding model through the first contact information sent by the first contact sensor in the process of grabbing the nut box, and after judging that the joint surface is jointed with the top end surface of the nut box of the corresponding model, the telescopic cylinder is controlled through the valve island, so that the two clamping jaws of the clamping part clamp the nut box of the corresponding model, and the grabbing accuracy of the nut box welding positioning gripper of the vehicle floor provided by the invention is ensured.

Further, a locating pin matched with a process hole on the top end face of the nut box of the corresponding model is further arranged on the side face, away from the telescopic cylinder, of the locating plate.

The locating plate is provided with the locating pin matched with the process hole on the top end face of the nut box with the corresponding model far away from the telescopic cylinder, so that the nut box is prevented from being deviated in the horizontal direction perpendicular to the clamping directions of the two clamping jaws in the process of grabbing the nut box with the corresponding model by the aid of the locating pin of the clamping mechanism before the nut box with the corresponding model is clamped by the two clamping jaws of the clamping mechanism, the pre-positioning between the clamping mechanism and the nut box with the corresponding model can be achieved by inserting the locating pin of the clamping mechanism into the process hole on the top end face of the nut box with the corresponding model, and the nut box is prevented from being deviated in the horizontal direction perpendicular to the clamping directions of the two clamping jaws in the process of clamping the nut box with the corresponding model.

Further, two limiting members are fixedly connected to the upper part of the positioning plate, the two limiting members are symmetrically arranged on the left side and the right side of the positioning plate, and the two limiting members are used for limiting the two opposite side surfaces of the nut box of the corresponding model respectively; the limiting member is arranged in a staggered manner with the clamping jaw in the front-rear direction.

By arranging the two limiting members, before the two clamping jaws of the clamping part of the gripper mechanism clamp the nut box with the corresponding model, the two limiting members can be respectively limited outside two opposite side surfaces of the nut box with the corresponding model, so that the nut box is prevented from deflecting in a horizontal plane, the grabbing accuracy of the nut box welding positioning gripper of the vehicle floor is further improved, and the consistency of grabbing the nut box with the corresponding model each time by the gripper mechanism is improved.

Further, a position sensor is installed on the telescopic cylinder and is electrically connected with the valve island, and the position sensor is used for detecting the telescopic position of the telescopic cylinder and sending clamping information to the valve island when the telescopic position of the telescopic cylinder reaches a preset telescopic position.

The nut box welding positioning gripper for the vehicle floor provided by the invention can judge whether two clamping jaws of the corresponding gripper mechanism clamp nut boxes of corresponding types or not by detecting whether the valve island receives the clamping information sent by the corresponding position sensor or not by arranging the position sensor for detecting the telescopic position of the telescopic cylinder and enabling the position sensor to send clamping information to the valve island when the telescopic position of the telescopic cylinder reaches a preset telescopic position, so that the situation that the nut boxes drop from the gripper mechanism or not in a workpiece placing process can be effectively avoided.

The invention further provides a nut box welding positioning device of the vehicle floor, which comprises a control unit, a six-axis manipulator, a loading platform and the nut box welding positioning gripper of the vehicle floor;

one end of the installation turntable is fixedly connected with an end effector of the six-axis manipulator, and the end effector is used for driving the installation turntable to rotate around the center of the installation turntable;

the upper surface of the upper part table is divided into a plurality of placement areas, the number of the placement areas is the same as that of the installation areas, a plurality of positioning stations are arranged in each placement area, and the positioning stations in different placement areas are used for positioning and placing nut boxes of different types; each positioning station is provided with a second contact sensor used for being in contact with the nut box, each second contact sensor is electrically connected with the control unit, each second contact sensor is used for sending second contact information to the control unit, and the gripper mechanism is used for gripping the nut box in the corresponding placement area;

The six-axis mechanical arm and the valve island are electrically connected with the control unit, and the control unit is used for controlling the operation of the valve island and the six-axis mechanical arm so as to grasp the nut box on the loading platform to a corresponding target position on the floor of the vehicle.

The upper surface of the upper part table is divided into a plurality of placement areas, the number of the placement areas is the same as that of the installation areas, a plurality of positioning stations are arranged in each placement area, and the positioning stations in different placement areas are used for positioning and placing nut boxes of different types; the nut boxes of the corresponding types are only grabbed in the corresponding placement areas by the aid of the gripper mechanisms (namely, the gripper mechanisms of different types) in each installation area, so that when teaching programming is carried out on the six-axis mechanical arm, teaching tracks of the nut boxes are only required to be grabbed on the corresponding positioning stations in the placement areas by the aid of the gripper mechanisms, teaching programming quantity of the six-axis mechanical arm can be effectively reduced, and program errors are reduced compared with the mode that teaching tracks of the nut boxes are required to be grabbed on all positioning stations on a workpiece loading table by the aid of the gripper mechanisms.

Meanwhile, a second contact sensor for contacting with the nut box is arranged on each positioning station, each second contact sensor is electrically connected with the control unit, and the second contact sensor sends second contact information to the control unit, so that the control unit can judge whether the nut box with the corresponding model is placed on each positioning station through the received second contact information, and then the control unit can automatically select a grabbing target (namely, automatically select the nut box to be grabbed), and control the operation of the valve island and the six-axis manipulator according to the selected grabbing target so as to grab the nut box on the loading table to the corresponding target position on the vehicle floor.

Further, at least one placement subarea is arranged in each placement area, and the number of the placement subareas in each placement area corresponds to the number of the gripper mechanisms in each installation area;

a plurality of positioning stations are arranged in each placement subarea, and different gripper mechanisms are used for grabbing nut boxes in different placement subareas.

By enabling different gripper mechanisms to be used for grabbing nut boxes in different placement subareas, each gripper mechanism is enabled to grab nut boxes of corresponding types in the corresponding placement subareas only, and therefore when teaching programming is carried out on the six-axis mechanical arm, teaching tracks of the nut boxes are grabbed on the corresponding positioning stations in the placement subareas only by setting the gripper mechanisms, teaching programming quantity of the six-axis mechanical arm can be further reduced, and program errors are reduced.

Further, the valve island is further configured to send the clamping information to the control unit after receiving the clamping information.

By enabling the valve island to send the clamping information to the control unit after receiving the clamping information, enabling the control unit to judge whether the clamping information sent by a position sensor of the clamping mechanism is received or not when any clamping mechanism clamps a nut box of a corresponding model by controlling the operation of the valve island and the six-axis manipulator; after judging that the nut box with the corresponding model is clamped, controlling the operation of the valve island and the six-axis manipulator, and conveying the clamped nut box or driving other gripper mechanisms to grip the nut box; the nut box can be effectively prevented from falling from the gripper mechanism in the process of placing the nut box.

Further, the nut box welding positioning device of the vehicle floor further comprises a wire harness, the mounting turntable is provided with a wire harness through hole, the wire harness through hole penetrates through two sides of the mounting turntable, the wire harness is fixed on the mechanical arm of the six-axis mechanical arm, one end of the wire harness penetrates through the wire harness through hole and then is connected to the valve island, the other end of the wire harness is used for being connected with the control unit, and the other end of the wire harness is also used for being connected with a power supply;

the maximum rotatable angle of the six-axis mechanical arm, by which the end effector drives the mounting turntable to rotate around the central axis of the mounting turntable, is 360 degrees.

The maximum rotatable angle which can drive the installation turntable to rotate around the central shaft of the installation turntable is set to 360 degrees by the end effector of the six-axis manipulator, so that the wire harness and the manipulator of the six-axis manipulator can be effectively prevented from being wound.

The invention also provides a positioning method of the nut box welding positioning device of the vehicle floor, which comprises the following steps:

step 1: acquiring a nut box information group of a vehicle floor to be welded, wherein the nut box information group comprises the quantity information of various types of nut boxes required by the vehicle floor to be welded and the piece placing track information of each required nut box;

Step 2: the control unit selects corresponding types and numbers of nut boxes in the corresponding placement areas on the loading table according to the number information to serve as grabbing targets;

step 3: and the control unit controls the six-axis manipulator and the valve island to operate according to the grabbing target, the piece placing track information and the piece grabbing track information stored in the control unit, and grabs the selected nut box to the corresponding target position on the floor of the vehicle to be welded.

Further, in the step 2, the control unit determines that the loading is required according to the number information and the received second contact information, and if the number of any type of nut boxes required by the floor of the vehicle to be welded is greater than the number of the type of nut boxes placed in the corresponding placement area, the control unit pauses the operation; otherwise, the control unit judges that the loading is not needed, and the control unit selects nut boxes with corresponding types and numbers in the corresponding placement areas on the loading table according to the quantity information to serve as grabbing targets.

Further, the control unit judges according to the quantity information and the received second contact information, if the quantity of any type of nut boxes required by the vehicle floor to be welded is larger than the quantity of the nut boxes of the type placed on each positioning station in the corresponding placement area, the control unit judges that the loading is required, and the control unit pauses working;

If the number of the nut boxes of any type required by the vehicle floor to be welded is larger than the number of the gripper mechanisms in the corresponding installation area, the number of the nut boxes of the type placed in any placement subarea of the corresponding placement area is zero, or the number of the nut boxes of any type required by the vehicle floor to be welded is not larger than the number of the gripper mechanisms in the corresponding installation area, but is larger than the number of the placement subareas in which the nut boxes of the type are placed in the corresponding placement area, the control unit judges that the workpiece is required to be loaded, and pauses the work; otherwise, the control unit judges that the loading is not needed, and the control unit selects nut boxes with corresponding types and numbers in the corresponding placement areas on the loading table according to the quantity information to serve as grabbing targets.

By judging that the control unit needs to go up when the number of any type of nut boxes required by the vehicle floor to be welded is greater than the number of nut boxes of the type placed in the corresponding placement area, the number of any type of nut boxes required by the vehicle floor to be welded is greater than the number of gripper mechanisms in the corresponding installation area, the number of any type of nut boxes placed in any placement subarea of the corresponding placement area is zero, and the number of any type of nut boxes required by the vehicle floor to be welded is not greater than the number of gripper mechanisms in the corresponding installation area, but greater than the number of placement subareas in which the type of nut boxes are placed in the corresponding placement area, the nut box welding positioning device of the vehicle floor provided by the invention can be used for grabbing a plurality of nut boxes at one time, and then when each grabbed nut box is sequentially sent to the corresponding target position, the nut box welding positioning device of the vehicle floor provided by the invention can grab the nut boxes each time, and the efficiency of grabbing pieces is improved.

Further, in the step 3, the control unit controls the six-axis manipulator and the valve island to operate according to the grabbing target and the grabbing piece track information, so that the corresponding grabbing mechanism finishes grabbing pieces of the selected nut boxes;

the control unit controls the six-axis manipulator and the valve island to operate according to the piece placing track information, so that the selected nut box is moved to a corresponding target position on the floor of the vehicle to be welded by the manipulator mechanism for completing piece grabbing;

the control unit controls the six-axis manipulator and the valve island to operate according to the grabbing target and the grabbing piece track information, positions a certain grabbing mechanism and a corresponding nut box, and after the positioning is finished, the valve island detects whether first contact information sent by a first contact sensor of the grabbing mechanism is received or not; if not, the valve island sends positioning failure information to the control unit, and the control unit pauses the operation after receiving the positioning failure information and sends out a positioning failure alarm; if yes, the valve island sends positioning success information to the control unit, the control unit sends clamping information to the valve island after receiving the positioning success information, and the valve island controls the telescopic cylinder of the gripper mechanism to drive the two clamping jaws of the gripper mechanism to clamp the nut box after receiving the clamping information, so that the gripping of the nut box is completed.

Further, the valve island is further used for sending the clamping information to the control unit when receiving the clamping information sent by the position sensor;

after the control unit sends clamping information to the valve island, continuously detecting whether the clamping information sent by the position sensor of the handle mechanism is received within a preset time length, judging according to a detection result, if not, judging that the clamping is failed by the control unit, suspending the work of the control unit, and sending out a clamping failure alarm; if yes, the control unit judges that the clamping is successful, and the grabbing of the nut box is completed.

Drawings

FIG. 1 is a schematic view of the structure of a nut case welding positioning grip of a vehicle floor in embodiment 1;

FIG. 2 is a schematic view of the structure of the grip mechanism in embodiment 1;

fig. 3 is a schematic view of the structure of the nut case of embodiment 1 in which the gripper mechanism grips the corresponding model;

FIG. 4 is a schematic structural view of a nut case welding positioning device of a vehicle floor in embodiment 2;

FIG. 5 is a schematic view of the structure of the loading table in embodiment 2;

wherein: 1-a nut box welding positioning gripper of a vehicle floor, 2-a six-axis manipulator, 3-a loading platform, 4-a nut box and 5-a wire harness;

11-an installation turntable, 12-a valve island and 13-a handle mechanism;

131-a telescopic cylinder, 132-a clamping part, 133-a positioning plate, 134-a first contact sensor, 135-a positioning pin and 136-a limiting member;

132.1-clamping jaw, 132.2-fixing seat, 132.3-driving piece;

133.1—a bonding surface;

41-first type nut box, 42-second type nut box, 43-third type nut box.

Detailed Description

The following surfaces are used to clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention:

in the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on automobiles, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Example 1:

as shown in fig. 1 to 3, the present embodiment 1 provides a nut box welding positioning grip 1 of a vehicle floor, including a mounting turntable 11;

One side surface of the installation turntable 11 is used for being fixedly connected with an end effector of the six-axis manipulator, and the other side surface of the installation turntable 11 is provided with a valve island 12; the outer peripheral surface of the mounting turntable 11 is divided into a plurality of mounting areas in the circumferential direction; at least one gripper mechanism 13 is arranged in each installation area, and the gripper mechanisms 13 in different installation areas are used for gripping nut boxes 4 of different types on the floor of the vehicle; each of the gripper mechanisms 13 is arranged at intervals along the circumferential direction of the mounting turntable 11, each of the gripper mechanisms 13 is electrically connected to a valve island 12, and the valve islands 12 are used for controlling each of the gripper mechanisms 13.

The outer peripheral surface of the installation turntable 11 is circumferentially divided into a plurality of installation areas, at least one gripper mechanism 13 is arranged in each installation area, and the gripper mechanisms 13 in different installation areas are used for gripping nut boxes 4 of different types on the floor of the vehicle; the gripper mechanisms 13 are arranged at intervals along the circumferential direction of the mounting turntable 11, so that the nut box welding positioning gripper 1 of the vehicle floor provided by the invention can be matched with nut boxes 4 of various types, and when the six-axis manipulator provided with the nut box welding positioning gripper 1 of the vehicle floor provided by the invention is used for grabbing, carrying and positioning each nut box 4 of the vehicle floor, the six-axis manipulator can drive the mounting turntable 11 to rotate around the center of the six-axis manipulator through the end effector so as to finish the switching of the gripper mechanisms 13, and the six-axis manipulator provided with the positioning grippers of different types is not required to be assembled and disassembled on the end effector of the six-axis manipulator so as to grab, carry and position each nut box of the vehicle floor; the problem that in the prior art, as the welding positioning gripper on the existing six-axis manipulator can only be generally matched with one type of nut box, when the six-axis manipulator is used for gripping, carrying and positioning all nut boxes on the vehicle floor, if a single six-axis manipulator is adopted for operation, the six-axis manipulator can have the problem that positioning grippers of different types are required to be dismounted on the end effector of the six-axis manipulator for many times in the process of gripping, carrying and positioning all nut boxes on the vehicle floor, so that the production efficiency is reduced; if a plurality of six-axis manipulators with positioning grippers of different types are adopted for operation, the technical problems of high input cost, easy interference among the six-axis manipulators and high teaching programming difficulty of the six-axis manipulators are also caused.

As shown in fig. 2, in embodiment 1, the gripper mechanisms 13 in different mounting areas have the same structure and different sizes; each gripper mechanism 13 comprises a cylinder jaw 132.1 and a positioning plate 133;

the cylinder jaw 132.1 includes a telescopic cylinder 131 fixedly installed on the outer circumferential surface of the installation dial 11 and a clamping portion 132 installed on the telescopic end of the telescopic cylinder 131;

the clamping part 132 comprises two clamping jaws 132.1 which are arranged symmetrically left and right, and the telescopic cylinder 131 is used for driving the two clamping jaws 132.1 of the clamping part 132 to clamp the nut box 4 with the corresponding model;

the positioning plate 133 is arranged between the two clamping jaws 132.1, and the positioning plate 133 is fixedly connected to the outer shell of the telescopic cylinder 131; the side surface of the positioning plate 133, which is far away from the telescopic cylinder 131, is provided with an attaching surface 133.1 for attaching with the top end surface of the nut box 4 of the corresponding model; the contact surface 133.1 is provided with a first contact sensor 134, the first contact sensor 134 is configured to send first contact information to the valve island 12, and the valve island 12 controls the telescopic cylinder 131 according to the first contact information.

By arranging an attaching surface 133.1 for attaching to the top end surface of the nut case 4 of the corresponding model on the side surface of the positioning plate 133 away from the telescopic cylinder 131; the first contact sensor 134 is arranged on the bonding surface 133.1, so that the nut box welding positioning gripper 1 of the vehicle floor provided by the invention can judge whether the bonding surface 133.1 is bonded with the top end surface of the nut box 4 with the corresponding model through the first contact information sent by the first contact sensor 134 in the process of gripping the nut box 4, and after judging that the bonding surface 133.1 is bonded with the top end surface of the nut box 4 with the corresponding model, the telescopic cylinder 131 is controlled through the valve island 12, so that the two clamping jaws 132.1 of the clamping part 132 clamp the nut box 4 with the corresponding model, and the gripping accuracy of the nut box welding positioning gripper 1 of the vehicle floor provided by the invention is ensured.

Specifically, in the present embodiment 1, as shown in fig. 2, the clamping portion 132 includes two clamping jaws 132.1 arranged symmetrically left and right, two driving members 132.3 arranged symmetrically left and right, and a fixing base 132.2 fixedly connected to the housing of the telescopic cylinder 131; the fixed seat 132.2 is sleeved outside the telescopic rod of the telescopic cylinder 131, so that the telescopic rod of the telescopic cylinder 131 can freely stretch in the fixed seat 132.2;

one end of each of the two driving parts 132.3 is hinged on the telescopic rod of the telescopic cylinder 131; the other ends of the two driving members 132.3 are hinged with a clamping jaw 132.1; the middle parts of the two clamping jaws 132.1 are both hinged on the fixed seat 132.2, and one end of each clamping jaw 132.1 is hinged with a driving piece 132.3 on the same side; the other ends of the two clamping jaws 132.1 are used to clamp the nut case 4.

In this embodiment 1, as shown in fig. 2, a positioning pin 135 for mating with a process hole on the top end surface of the nut case 4 of the corresponding model is further provided on the side of the positioning plate 133 away from the telescopic cylinder 131.

By arranging the positioning pin 135 which is used for matching with the process hole on the top end surface of the nut box 4 with the corresponding model on the side surface of the positioning plate 133 away from the telescopic cylinder 131, before the two clamping jaws 132.1 of the clamping part 132 of the clamping mechanism 13 clamp the nut box 4 with the corresponding model in the process of clamping the nut box 4 with the corresponding model, the positioning pin 135 of the clamping mechanism 13 can be inserted into the process hole on the top end surface of the nut box 4 with the corresponding model, the pre-positioning between the clamping mechanism 13 and the nut box 4 with the corresponding model can be realized, and the nut box 4 can be prevented from being offset in the horizontal direction perpendicular to the clamping directions of the two clamping jaws 132.1 in the process of clamping the nut box 4 with the corresponding model in the process of clamping the nut box 132.1.

In this embodiment 1, as shown in fig. 2, two limiting members 136 are fixedly connected to the upper portion of the positioning plate 133, the two limiting members 136 are symmetrically arranged on the left and right sides of the positioning plate 133, and the two limiting members 136 are used for limiting the two opposite side surfaces of the nut box 4 of the corresponding model respectively; the stop member 136 is arranged offset from the clamping jaw 132.1 in the front-rear direction.

By arranging the two limiting members 136, before the two clamping jaws 132.1 of the clamping part 132 of the gripper mechanism 13 clamp the nut box 4 with the corresponding model in the process of grabbing the nut box 4 with the corresponding model, the nut box 4 can be prevented from deflecting in the horizontal plane by limiting the two limiting members 136 outside two opposite side surfaces of the nut box 4 with the corresponding model, so that the grabbing accuracy of the nut box welding positioning gripper 1 of the vehicle floor is further improved, and the consistency of grabbing the nut box 4 with the corresponding model each time by the gripper mechanism 13 is improved.

Preferably, in embodiment 1, a position sensor is mounted on the telescopic cylinder 131, and the position sensor is electrically connected to the valve island 12, and the position sensor is used for detecting the telescopic position of the telescopic cylinder 131, and sending clamping information to the valve island 12 when the telescopic position of the telescopic cylinder 131 reaches a preset telescopic position.

By arranging the position sensor for detecting the telescopic position of the telescopic cylinder 131 and enabling the position sensor to send clamping information to the valve island 12 when the telescopic position of the telescopic cylinder 131 reaches a preset telescopic position, the nut box welding positioning gripper 1 of the vehicle floor provided by the invention can judge whether the two clamping jaws 132.1 of the corresponding gripper mechanism 13 clamp the nut box 4 of the corresponding model or not by detecting whether the valve island 12 receives the clamping information sent by the corresponding position sensor, and can effectively avoid the condition that the nut box 4 falls from the gripper mechanism 13 in the process of placing workpieces.

Example 2:

as shown in fig. 4 and fig. 5, based on the nut box welding positioning grip 1 of the vehicle floor provided in embodiment 1, embodiment 2 provides a nut box welding positioning device of the vehicle floor, which comprises a control unit, a six-axis manipulator 2, a loading platform 3 and the nut box welding positioning grip 1 of the vehicle floor provided in embodiment 1;

one end of the installation turntable 11 is fixedly connected with an end effector of the six-axis manipulator 2, and the end effector is used for driving the installation turntable 11 to rotate around the center of the installation turntable;

the upper surface of the upper part table 3 is divided into a plurality of placement areas, the number of the placement areas is the same as that of the installation areas, a plurality of positioning stations are arranged in each placement area, and the positioning stations in different placement areas are used for positioning and placing nut boxes 4 of different types; each positioning station is provided with a second contact sensor for contacting with the nut box 4, each second contact sensor is electrically connected with the control unit, the second contact sensor is used for sending second contact information to the control unit, and the hand grasping mechanism 13 is used for grasping the nut box 4 in the corresponding placement area;

The six-axis mechanical arm 2 and the valve island 12 are electrically connected with a control unit, and the control unit is used for controlling the operation of the valve island 12 and the six-axis mechanical arm 2 so as to grasp the nut box 4 on the upper part table 3 to the corresponding target position on the floor of the vehicle.

The upper surface of the upper part table 3 is divided into a plurality of placement areas, the number of the placement areas is the same as that of the installation areas, a plurality of positioning stations are arranged in each placement area, and the positioning stations in different placement areas are used for positioning and placing nut boxes 4 of different types; the gripper mechanisms 13 (i.e., the gripper mechanisms 13 of different types) in each installation area are enabled to grasp the nut boxes 4 of the corresponding types only in the corresponding placement areas, so that when teaching programming is carried out on the six-axis manipulator 2, only teaching tracks of the nut boxes 4 are required to be grasped on each positioning station in the corresponding placement areas by arranging the gripper mechanisms 13, and compared with the arrangement mode of teaching tracks of the nut boxes 4 required to be grasped on all positioning stations on the workpiece loading table 3 by arranging the gripper mechanisms 13, teaching programming quantity of the six-axis manipulator 2 can be effectively reduced, and occurrence of program errors is reduced.

Meanwhile, a second contact sensor for contacting with the nut box 4 is arranged on each positioning station, each second contact sensor is electrically connected with the control unit, and the second contact sensor is enabled to send second contact information to the control unit, so that the control unit can judge whether the nut box 4 with the corresponding model is placed on each positioning station or not through the received second contact information, and then the control unit can automatically select a grabbing target (namely, automatically select the nut box 4 to be grabbed), and control the operation of the valve island 12 and the six-axis manipulator 2 according to the selected grabbing target so as to grab the nut box 4 on the upper part table 3 to the corresponding target position on the floor of the vehicle.

Specifically, in the present embodiment 2, the upper surface of the upper stage 3 is divided into three placement areas (including a first placement area, a second placement area, and a third placement area), wherein, as shown in fig. 5, each positioning station in the first placement area is used for placing a first type of nut case 41, each positioning station in the second placement area is used for placing a second type of nut case 42, and each positioning station in the third placement area is used for placing a third type of nut case 43;

the outer peripheral surface of the installation turntable 11 of the nut box welding positioning grip 1 of the vehicle floor is divided into three installation areas (comprising a first installation area, a second installation area and a third installation area) along the circumferential direction; three first gripper mechanisms are arranged in the first installation area, four second gripper mechanisms are arranged in the second installation area, one third gripper mechanism is arranged in the third installation area, the first gripper mechanism is used for grabbing the first type of nut box 41, the second gripper mechanism is used for grabbing the second type of nut box 42, and the third gripper mechanism is used for grabbing the third type of nut box 43.

Preferably, in this embodiment 2, at least one placement sub-area is disposed in each placement area, and the number of placement sub-areas disposed in each placement area corresponds to the number of the gripper mechanisms 13 disposed in each installation area (specifically, in this embodiment 2, three placement sub-areas are disposed in the first placement area, four placement sub-areas are disposed in the second placement area, and one placement sub-area is disposed in the third placement area);

A plurality of positioning stations are provided in each of the placement sub-areas, different ones of the gripper mechanisms 13 being adapted to grip nut-boxes 4 in different ones of the placement sub-areas (i.e. different ones of the first gripper mechanisms being adapted to grip nut-boxes 41 of a first type in different ones of the placement sub-areas in the first placement area, different ones of the second gripper mechanisms being adapted to grip nut-boxes 42 of a second type in different ones of the placement sub-areas in the second placement area, and different ones of the third gripper mechanisms being adapted to grip nut-boxes 43 of a third type in the placement sub-areas in the third placement area).

By using different gripper mechanisms 13 to grip the nut boxes 4 in different placement subareas, each gripper mechanism 13 only grips the nut box 4 of the corresponding model in the corresponding placement subarea, so that when teaching and programming the six-axis manipulator 2, only the teaching track of each gripper mechanism 13 gripping the nut box 4 on each positioning station in the corresponding placement subarea needs to be set, the teaching and programming quantity of the six-axis manipulator 2 can be further reduced, and the occurrence of program errors is reduced.

Wherein preferably the valve island 12 is further adapted to send the clamping information to the control unit after receiving the clamping information.

By enabling the valve island 12 to send the clamping information to the control unit after receiving the clamping information, the control unit can judge whether the gripper mechanism 13 has clamped the nut box 4 of the corresponding model by detecting whether the clamping information sent by the position sensor of the gripper mechanism 13 is received or not when controlling the operation of the valve island 12 and the six-axis manipulator 2 and enabling any gripper mechanism 13 to clamp the nut box 4 of the corresponding model; after judging that the nut box 4 with the corresponding model is clamped, controlling the operation of the control valve island 12 and the six-axis manipulator 2, and conveying the clamped nut box 4 or driving other gripper mechanisms 13 to grip the nut box; the situation that the nut box 4 falls from the gripper mechanism 13 in the workpiece placing process can be effectively avoided.

Preferably, in this embodiment 2, as shown in fig. 4, the nut box welding positioning device of the vehicle floor further includes a wire harness 5, a wire harness via hole is formed on the mounting turntable 11, the wire harness via hole penetrates through two sides of the mounting turntable 11, the wire harness 5 is fixed on a mechanical arm of the six-axis mechanical arm 2, one end of the wire harness 5 penetrates through the wire harness via hole and then is connected to the valve island 12, the other end of the wire harness 5 is used for connecting with a control unit, and the other end of the wire harness 5 is also used for connecting with a power supply;

The maximum rotatable angle by which the end effector of the six-axis robot 2 drives the mounting turntable 11 to rotate about its center axis is 360 degrees.

By setting the maximum rotatable angle at which the end effector of the six-axis robot 2 can drive the mounting turn plate 11 to rotate around its center axis to 360 degrees, the wire harness 5 can be effectively prevented from being wound around the robot arm of the six-axis robot 2.

Example 3:

according to the nut box welding positioning device of the vehicle floor provided in embodiment 2, embodiment 3 provides a positioning method of the nut box welding positioning device of the vehicle floor, the positioning method includes the following steps:

step 1: acquiring a nut box 4 information group of a vehicle floor to be welded, wherein the nut box 4 information group comprises the quantity information of various types of nut boxes 4 required by the vehicle floor to be welded and the piece placing track information of each nut box 4 required by the vehicle floor to be welded;

step 2: the control unit selects corresponding types and numbers of nut boxes 4 as grabbing targets in the corresponding placement areas on the loading table 3 according to the number information;

step 3: the control unit controls the six-axis manipulator 2 and the valve island 12 to operate according to the grabbing target, the piece placing track information and the piece grabbing track information stored in the control unit, and grabs the selected nut box 4 to the corresponding target position on the floor of the vehicle to be welded.

Further, in step 2, the control unit determines that the loading is required according to the quantity information and the received second contact information, if the quantity of any type of nut boxes 4 required by the vehicle floor to be welded is greater than the quantity of the type of nut boxes 4 placed in the corresponding placement area, the control unit pauses the operation; otherwise, the control unit judges that the loading is not needed, and selects the nut boxes 4 with the corresponding types and the corresponding numbers in the corresponding placement areas on the loading table 3 according to the quantity information to serve as grabbing targets.

Preferably, the control unit judges according to the quantity information and the received second contact information, if the quantity of any type of nut boxes 4 required by the floor of the vehicle to be welded is greater than the quantity of the nut boxes 4 of the type placed on each positioning station in the corresponding placement area, the control unit judges that the loading is required, and the control unit pauses the work;

otherwise, the control unit carries out secondary judgment according to the quantity information and the received second contact information, if the quantity of the nut boxes 4 of any model required by the vehicle floor to be welded is larger than the quantity of the gripper mechanisms 13 in the corresponding installation area, and the quantity of the nut boxes 4 of the model placed in any placement subarea of the corresponding placement area is zero, or the quantity of the nut boxes 4 of any model required by the vehicle floor to be welded is not larger than the quantity of the gripper mechanisms 13 in the corresponding installation area, but is larger than the quantity of the placement subareas in which the nut boxes 4 of the model are placed in the corresponding placement area, the control unit judges that the workpiece is required to be loaded, and the control unit pauses working; otherwise, the control unit judges that the loading is not needed, and selects the nut boxes 4 with the corresponding types and the corresponding numbers in the corresponding placement areas on the loading table 3 according to the quantity information to serve as grabbing targets.

By making the control unit determine that the loading is required when the number of any type of nut cases 4 required by the vehicle floor to be welded is greater than the number of nut cases 4 of the type placed in the corresponding placement area, the number of any type of nut cases 4 required by the vehicle floor to be welded is greater than the number of gripper mechanisms 13 in the corresponding installation area, the number of nut cases 4 of the type placed in any placement subarea of the corresponding placement area is zero, and the number of any type of nut cases 4 required by the vehicle floor to be welded is not greater than the number of gripper mechanisms 13 in the corresponding installation area, but greater than the number of placement subareas in which the nut cases 4 of the type are placed in the corresponding placement area, the nut case welding positioning device of the vehicle floor provided by the invention can be made to grasp a plurality of nut cases 4 at a time when the number of the nut cases 4 is set, and then the grasped nut cases 4 are sequentially sent to the corresponding target positions, the nut case welding positioning device of the vehicle floor provided by the invention can grasp the maximum number of nut cases 4 each time, and the efficiency of gripping the grippers is improved.

Further, in step 3, the control unit controls the six-axis manipulator 2 and the valve island 12 to operate according to the grabbing target and the grabbing piece track information, so that the corresponding gripper mechanism 13 finishes grabbing the selected nut box 4;

The control unit controls the six-axis manipulator 2 and the valve island 12 to operate according to the piece placing track information, so that the selected nut box 4 is moved to a corresponding target position on the floor of the vehicle to be welded by the gripper mechanism 13 for completing piece grabbing;

the control unit controls the six-axis manipulator 2 and the valve island 12 to operate according to the grabbing target and the grabbing piece track information, positions a certain grabbing mechanism 13 and a corresponding nut box 4, and after the positioning is completed, the valve island 12 detects whether first contact information sent by a first contact sensor 134 of the grabbing mechanism 13 is received or not; if not, the valve island 12 sends positioning failure information to the control unit, and the control unit pauses the operation after receiving the positioning failure information and sends out a positioning failure alarm; if so, the valve island 12 sends positioning success information to the control unit, the control unit sends clamping information to the valve island 12 after receiving the positioning success information, and the valve island 12 controls the telescopic cylinder 131 of the gripper mechanism 13 to drive the two clamping jaws 132.1 of the gripper mechanism 13 to clamp the nut box 4 after receiving the clamping information, so that the gripping of the nut box 4 is completed.

Further, the valve island 12 is further configured to send the clamping information to the control unit when receiving the clamping information sent by the position sensor;

After the control unit sends clamping information to the valve island 12, continuously detecting whether the clamping information sent by the position sensor of the gripper mechanism 13 is received within a preset time period, judging according to a detection result, if not, judging that the clamping is failed by the control unit, suspending the work by the control unit, and sending out a clamping failure alarm; if yes, the control unit judges that the clamping is successful, and the grabbing of the nut box 4 is completed.

The nut box welding positioning gripper, the device and the method for the vehicle floor provided by the invention have at least the following technical effects or advantages:

1. the outer peripheral surface of the installation turntable 11 is circumferentially divided into a plurality of installation areas, at least one gripper mechanism 13 is arranged in each installation area, and the gripper mechanisms 13 in different installation areas are used for gripping nut boxes 4 of different types on the floor of the vehicle; the gripper mechanisms 13 are arranged at intervals along the circumferential direction of the mounting turntable 11, so that the nut box welding positioning gripper 1 of the vehicle floor provided by the invention can be matched with nut boxes 4 of various types, and when the six-axis manipulator provided with the nut box welding positioning gripper 1 of the vehicle floor provided by the invention is used for grabbing, carrying and positioning each nut box 4 of the vehicle floor, the six-axis manipulator can drive the mounting turntable 11 to rotate around the center of the six-axis manipulator through the end effector so as to finish the switching of the gripper mechanisms 13, and the six-axis manipulator provided with the positioning grippers of different types is not required to be assembled and disassembled on the end effector of the six-axis manipulator so as to grab, carry and position each nut box of the vehicle floor; the problem that in the prior art, as the welding positioning gripper on the existing six-axis manipulator can only be generally matched with one type of nut box, when the six-axis manipulator is used for gripping, carrying and positioning all nut boxes on the vehicle floor, if a single six-axis manipulator is adopted for operation, the six-axis manipulator can have the problem that positioning grippers of different types are required to be dismounted on the end effector of the six-axis manipulator for many times in the process of gripping, carrying and positioning all nut boxes on the vehicle floor, so that the production efficiency is reduced; if a plurality of six-axis manipulators with positioning grippers of different types are adopted for operation, the technical problems of high input cost, easy interference among the six-axis manipulators and high teaching programming difficulty of the six-axis manipulators are also caused.

2. By arranging an attaching surface 133.1 for attaching to the top end surface of the nut case 4 of the corresponding model on the side surface of the positioning plate 133 away from the telescopic cylinder 131; the first contact sensor 134 is arranged on the bonding surface 133.1, so that the nut box welding positioning gripper 1 of the vehicle floor provided by the invention can judge whether the bonding surface 133.1 is bonded with the top end surface of the nut box 4 with the corresponding model through the first contact information sent by the first contact sensor 134 in the process of gripping the nut box 4, and after judging that the bonding surface 133.1 is bonded with the top end surface of the nut box 4 with the corresponding model, the telescopic cylinder 131 is controlled through the valve island 12, so that the two clamping jaws 132.1 of the clamping part 132 clamp the nut box 4 with the corresponding model, and the gripping accuracy of the nut box welding positioning gripper 1 of the vehicle floor provided by the invention is ensured.

3. By arranging the positioning pin 135 which is used for matching with the process hole on the top end surface of the nut box 4 with the corresponding model on the side surface of the positioning plate 133 away from the telescopic cylinder 131, before the two clamping jaws 132.1 of the clamping part 132 of the clamping mechanism 13 clamp the nut box 4 with the corresponding model in the process of clamping the nut box 4 with the corresponding model, the positioning pin 135 of the clamping mechanism 13 can be inserted into the process hole on the top end surface of the nut box 4 with the corresponding model, the pre-positioning between the clamping mechanism 13 and the nut box 4 with the corresponding model can be realized, and the nut box 4 can be prevented from being offset in the horizontal direction perpendicular to the clamping directions of the two clamping jaws 132.1 in the process of clamping the nut box 4 with the corresponding model in the process of clamping the nut box 132.1.

4. By arranging the two limiting members 136, before the two clamping jaws 132.1 of the clamping part 132 of the gripper mechanism 13 clamp the nut box 4 with the corresponding model in the process of grabbing the nut box 4 with the corresponding model, the nut box 4 can be prevented from deflecting in the horizontal plane by limiting the two limiting members 136 outside two opposite side surfaces of the nut box 4 with the corresponding model, so that the grabbing accuracy of the nut box welding positioning gripper 1 of the vehicle floor is further improved, and the consistency of grabbing the nut box 4 with the corresponding model each time by the gripper mechanism 13 is improved.

5. By arranging the position sensor for detecting the telescopic position of the telescopic cylinder 131 and enabling the position sensor to send clamping information to the valve island 12 when the telescopic position of the telescopic cylinder 131 reaches a preset telescopic position, the nut box welding positioning gripper 1 of the vehicle floor provided by the invention can judge whether the two clamping jaws 132.1 of the corresponding gripper mechanism 13 clamp the nut box 4 of the corresponding model or not by detecting whether the valve island 12 receives the clamping information sent by the corresponding position sensor, and can effectively avoid the condition that the nut box 4 falls from the gripper mechanism 13 in the process of placing workpieces.

6. The upper surface of the upper part table 3 is divided into a plurality of placement areas, the number of the placement areas is the same as that of the installation areas, a plurality of positioning stations are arranged in each placement area, and the positioning stations in different placement areas are used for positioning and placing nut boxes 4 of different types; the gripper mechanisms 13 (i.e., the gripper mechanisms 13 of different types) in each installation area are enabled to grasp the nut boxes 4 of the corresponding types only in the corresponding placement areas, so that when teaching programming is carried out on the six-axis manipulator 2, only teaching tracks of the nut boxes 4 are required to be grasped on each positioning station in the corresponding placement areas by arranging the gripper mechanisms 13, and compared with the arrangement mode of teaching tracks of the nut boxes 4 required to be grasped on all positioning stations on the workpiece loading table 3 by arranging the gripper mechanisms 13, teaching programming quantity of the six-axis manipulator 2 can be effectively reduced, and occurrence of program errors is reduced.

Meanwhile, a second contact sensor for contacting with the nut box 4 is arranged on each positioning station, each second contact sensor is electrically connected with the control unit, and the second contact sensor is enabled to send second contact information to the control unit, so that the control unit can judge whether the nut box 4 with the corresponding model is placed on each positioning station or not through the received second contact information, and then the control unit can automatically select a grabbing target (namely, automatically select the nut box 4 to be grabbed), and control the operation of the valve island 12 and the six-axis manipulator 2 according to the selected grabbing target so as to grab the nut box 4 on the upper part table 3 to the corresponding target position on the floor of the vehicle.

7. By using different gripper mechanisms 13 to grip the nut boxes 4 in different placement subareas, each gripper mechanism 13 only grips the nut box 4 of the corresponding model in the corresponding placement subarea, so that when teaching and programming the six-axis manipulator 2, only the teaching track of each gripper mechanism 13 gripping the nut box 4 on each positioning station in the corresponding placement subarea needs to be set, the teaching and programming quantity of the six-axis manipulator 2 can be further reduced, and the occurrence of program errors is reduced.

8. By enabling the valve island 12 to send the clamping information to the control unit after receiving the clamping information, the control unit can judge whether the gripper mechanism 13 has clamped the nut box 4 of the corresponding model by detecting whether the clamping information sent by the position sensor of the gripper mechanism 13 is received or not when controlling the operation of the valve island 12 and the six-axis manipulator 2 and enabling any gripper mechanism 13 to clamp the nut box 4 of the corresponding model; after judging that the nut box 4 with the corresponding model is clamped, controlling the operation of the control valve island 12 and the six-axis manipulator 2, and conveying the clamped nut box 4 or driving other gripper mechanisms 13 to grip the nut box; the situation that the nut box 4 falls from the gripper mechanism 13 in the workpiece placing process can be effectively avoided.

9. By setting the maximum rotatable angle at which the end effector of the six-axis robot 2 can drive the mounting turn plate 11 to rotate around its center axis to 360 degrees, the wire harness 5 can be effectively prevented from being wound around the robot arm of the six-axis robot 2.

10. By making the control unit determine that the loading is required when the number of any type of nut cases 4 required by the vehicle floor to be welded is greater than the number of nut cases 4 of the type placed in the corresponding placement area, the number of any type of nut cases 4 required by the vehicle floor to be welded is greater than the number of gripper mechanisms 13 in the corresponding installation area, the number of nut cases 4 of the type placed in any placement subarea of the corresponding placement area is zero, and the number of any type of nut cases 4 required by the vehicle floor to be welded is not greater than the number of gripper mechanisms 13 in the corresponding installation area, but greater than the number of placement subareas in which the nut cases 4 of the type are placed in the corresponding placement area, the nut case welding positioning device of the vehicle floor provided by the invention can be made to grasp a plurality of nut cases 4 at a time when the number of the nut cases 4 is set, and then the grasped nut cases 4 are sequentially sent to the corresponding target positions, the nut case welding positioning device of the vehicle floor provided by the invention can grasp the maximum number of nut cases 4 each time, and the efficiency of gripping the grippers is improved.

It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is capable of modification, variation, addition or substitution by those skilled in the art within the spirit and scope of the invention.

Claims (10)

1. The utility model provides a nut box welding position tongs on vehicle floor which characterized in that: comprises a mounting turntable;

one side surface of the installation turntable is used for being fixedly connected with an end effector of the six-axis manipulator, and the other side surface of the installation turntable is provided with a valve island; the outer peripheral surface of the installation turntable is circumferentially divided into a plurality of installation areas; at least one gripper mechanism is arranged in each installation area, and the gripper mechanisms in different installation areas are used for gripping nut boxes of different types on the vehicle floor; each gripper mechanism is arranged at intervals along the circumferential direction of the mounting turntable, each gripper mechanism is electrically connected with the valve island, and the valve island is used for controlling each gripper mechanism.

2. The nut box weld positioning gripper of a vehicle floor as defined in claim 1, wherein: the gripper mechanisms in different installation areas have the same structure and different sizes; each gripper mechanism comprises an air cylinder clamping jaw and a positioning plate;

The cylinder clamping jaw comprises a telescopic cylinder fixedly arranged on the outer peripheral surface of the mounting turntable and a clamping part arranged on the telescopic end of the telescopic cylinder;

the clamping part comprises two clamping jaws which are arranged symmetrically left and right, and the telescopic cylinder is used for driving the two clamping jaws of the clamping part to clamp nut boxes of corresponding types;

the positioning plate is arranged between the two clamping jaws and is fixedly connected to the shell of the telescopic cylinder; a binding surface used for binding the top end surface of the nut box with the corresponding model is arranged on the side surface of the positioning plate, which is far away from the telescopic cylinder; the valve island is characterized in that a first contact sensor is arranged on the joint surface and used for sending first contact information to the valve island, and the valve island controls the telescopic cylinder according to the first contact information.

3. The nut box weld positioning gripper of a vehicle floor as defined in claim 2, wherein: and the side surface of the positioning plate, which is far away from the telescopic cylinder, is also provided with a positioning pin matched with a process hole on the top end surface of the nut box with the corresponding model.

4. The nut box weld positioning gripper of a vehicle floor as defined in claim 2, wherein: the upper part of the positioning plate is also fixedly connected with two limiting members, the two limiting members are symmetrically arranged at the left side and the right side of the positioning plate, and the two limiting members are used for limiting the two opposite side surfaces of the nut box with the corresponding model respectively; the limiting member is arranged in a staggered manner with the clamping jaw in the front-rear direction.

5. The nut box weld positioning gripper of a vehicle floor as defined in claim 2, wherein: the telescopic cylinder is provided with a position sensor, the position sensor is electrically connected with the valve island, and the position sensor is used for detecting the telescopic position of the telescopic cylinder and sending clamping information to the valve island when the telescopic position of the telescopic cylinder reaches a preset telescopic position.

6. The utility model provides a nut box welding position device on vehicle floor which characterized in that: a nut box welding positioning gripper comprising a control unit, a six-axis manipulator, a loading table and a vehicle floor according to any one of claims 1-5;

one end of the installation turntable is fixedly connected with an end effector of the six-axis manipulator, and the end effector is used for driving the installation turntable to rotate around the center of the installation turntable;

the upper surface of the upper part table is divided into a plurality of placement areas, the number of the placement areas is the same as that of the installation areas, a plurality of positioning stations are arranged in each placement area, and the positioning stations in different placement areas are used for positioning and placing nut boxes of different types; each positioning station is provided with a second contact sensor used for being in contact with the nut box, each second contact sensor is electrically connected with the control unit, each second contact sensor is used for sending second contact information to the control unit, and the gripper mechanism is used for gripping the nut box in the corresponding placement area;

The six-axis mechanical arm and the valve island are electrically connected with the control unit, and the control unit is used for controlling the operation of the valve island and the six-axis mechanical arm so as to grasp the nut box on the loading platform to a corresponding target position on the floor of the vehicle.

7. The nut box welding positioning device of a vehicle floor according to claim 6, wherein: at least one placement subarea is arranged in each placement area, and the number of the placement subareas in each placement area corresponds to the number of the gripper mechanisms in each installation area;

a plurality of positioning stations are arranged in each placement subarea, and different gripper mechanisms are used for grabbing nut boxes in different placement subareas.

Further, the valve island is further configured to send the clamping information to the control unit after receiving the clamping information.

8. A positioning method of a nut case welding positioning device of a vehicle floor as defined in claim 6, characterized in that the positioning method comprises the steps of:

step 1: acquiring a nut box information group of a vehicle floor to be welded, wherein the nut box information group comprises the quantity information of various types of nut boxes required by the vehicle floor to be welded and the piece placing track information of each required nut box;

Step 2: the control unit selects corresponding types and numbers of nut boxes in the corresponding placement areas on the loading table according to the number information to serve as grabbing targets;

step 3: and the control unit controls the six-axis manipulator and the valve island to operate according to the grabbing target, the piece placing track information and the piece grabbing track information stored in the control unit, and grabs the selected nut box to the corresponding target position on the floor of the vehicle to be welded.

9. The positioning method of the nut case welding positioning device of the vehicle floor according to claim 8, characterized in that: in the step 2, the control unit judges according to the quantity information and the received second contact information, if the quantity of any type of nut boxes required by the vehicle floor to be welded is greater than the quantity of the nut boxes of the type placed in the corresponding placement area, the control unit judges that the loading is required, and the control unit pauses working; otherwise, the control unit judges that the loading is not needed, and the control unit selects nut boxes with corresponding types and numbers in the corresponding placement areas on the loading table according to the quantity information to serve as grabbing targets.

10. The positioning method of the nut case welding positioning device of the vehicle floor according to claim 8, characterized in that:

in the step 3, the control unit controls the six-axis manipulator and the valve island to operate according to the grabbing target and the grabbing piece track information, so that the corresponding grabbing mechanism finishes grabbing pieces of the selected nut boxes;

the control unit controls the six-axis manipulator and the valve island to operate according to the piece placing track information, so that the selected nut box is moved to a corresponding target position on the floor of the vehicle to be welded by the manipulator mechanism for completing piece grabbing;

the control unit controls the six-axis manipulator and the valve island to operate according to the grabbing target and the grabbing piece track information, positions a certain grabbing mechanism and a corresponding nut box, and after the positioning is finished, the valve island detects whether first contact information sent by a first contact sensor of the grabbing mechanism is received or not; if not, the valve island sends positioning failure information to the control unit, and the control unit pauses the operation after receiving the positioning failure information and sends out a positioning failure alarm; if yes, the valve island sends positioning success information to the control unit, the control unit sends clamping information to the valve island after receiving the positioning success information, and the valve island controls the telescopic cylinder of the gripper mechanism to drive the two clamping jaws of the gripper mechanism to clamp the nut box after receiving the clamping information, so that the gripping of the nut box is completed.