CN201385191Y - Flexible welding system applicable to producing automobile body robot by multi-vehicle type mixed line - Google Patents
Flexible welding system applicable to producing automobile body robot by multi-vehicle type mixed line Download PDFInfo
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- CN201385191Y CN201385191Y CN200920080565U CN200920080565U CN201385191Y CN 201385191 Y CN201385191 Y CN 201385191Y CN 200920080565 U CN200920080565 U CN 200920080565U CN 200920080565 U CN200920080565 U CN 200920080565U CN 201385191 Y CN201385191 Y CN 201385191Y
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Abstract
The utility model discloses a flexible welding system applicable to producing an automobile body robot by a multi-vehicle type mixed line, comprising a fixed shelf-type fixture storage supply unit, the robot installed on a moving slide platform, a plurality of sled-type support locating units which are used for supporting and locating workpieces as well as transferring the workpieces, a rolling bed unit that is used for locating and clamping the sled-type support locating units and leading the sled-type support locating units to move along a production line, a fixture used for locating and clamping the robot and releasing the robot on the working position of the fixture, a bottom plate locating, clamping and locking unit used for locating and clamping the workpieces, a workpiece storage unit used for storing the workpieces and feeding back detection signals showing the applicable vehicle types corresponding to the stored workpieces, and an electrical automation control unit. By virtue of the whole process control of the electrical automation control unit, the flexible welding system realizes the automatic rapid exchange in-position of the workpieces and the fixture, and the flexible capability of the multi-vehicle type mixed line production is enhanced.
Description
Technical field
The utility model relates to the automobile body welding flexible production equipment technology field in the automobile making equipment, exactly be that a kind of robot that is installed on the motion slide unit stores feed unit snatch anchor clamps from fixed goods shelf formula anchor clamps, realize that the workpiece of multi-vehicle-type and the automatic quick change of the anchor clamps robot flexibility that the multi-vehicle-type swinging cross is produced that is applicable in place weld production system.
Background technology
In current automobile welding jig field, for enhancing productivity, improve welding quality, improve working environment, reduce labour intensity and production cost, the robotic welding technology is widely used.And in automobile market day by day in the keen competition, the diversity of vehicle is the one side that shows the powerful synthesized competitiveness of automobile enterprise.Now, no matter be that ew line starts, still old line transformation is all pointed to same sensitive direction one multi-vehicle-type swinging cross robot flexibility welding and is produced.
At same or approximate vehicle body platform, realize multiple vehicle swinging cross production, satisfy swinging cross production, relate generally to quick replacing bottom frock, gusset frock (top frock).Identical or change not quite because of body bottom section, the switching of bottom frock can switch fast automatically that local positioning supports and clamping unit is realized.The positioning supports and the clamping of various vehicle gusset shapes differ greatly, and generally can't support the location realization with providing for simple replacement of, and need integral replacing gusset frock to realize.
At present, the principal mode that adopts of coachbuilt body welding flexible production line has: the quick-changing type master pieces together that anchor clamps, tetrahedron swinging master are pieced together anchor clamps, multiple tracks trouble butterfly master pieces together anchor clamps, the built-in main anchor clamps etc. of piecing together automatically.
In recent years, there are gusset frock and bottom frock to form the mode that the monoblock type clamp structure realizes that the multi-vehicle-type swinging cross is produced abroad by the various vehicles of robot snatch.But introduction of foreign technology expense height, and be not suitable for some specific occasion that domestic manufacturer produces.
Li Wenzhong has introduced German KUKA company at the world car sealing wire in " the flexible welding production line manufacturing technology of simple analysis automobile mixed flow " literary composition, realize 10 kinds of replacings that attach together anchor clamps by 8 loading frames and 3 tracks, adapts to the mixed flow production of 10 kinds of vehicles.Attach together anchor clamps from Japan and Korea S's import drum-type, its principle is to rotate the replacing that realizes the gusset anchor clamps by the cylinder that can horizontally rotate, and 4 cover gusset anchor clamps can be installed in the cylinder four sides, can adapt to the conversion of 4 kinds of vehicles.This technology has been filled up the domestic blank that is applicable to the robot flexibility welding production system technology that the multi-vehicle-type swinging cross is produced.But in specific different occasions, for satisfying different needs, therefore technique scheme is also not exclusively suitable, is necessary to provide another kind to be different from the robot flexibility welding production system that the multi-vehicle-type swinging cross is produced that is applicable to of technique scheme, with further abundant and develop this technology.
The utility model content
For solving the problems of the technologies described above, the utility model proposes a kind of robot flexibility welding production system that the multi-vehicle-type swinging cross is produced that is applicable to characteristics such as omnidistance controlled, high energy storage, high accuracy, high speed and high stables, the utility model relies on the whole process control of electric automatization control module, realized that the automatic quick change of multi-vehicle-type workpiece and anchor clamps is in place, the multi-vehicle-type swinging cross is produced flexible ability and is got a promotion.
The utility model is achieved by the following technical solution:
A kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to is characterized in that: comprise the fixed goods shelf formula anchor clamps storage feed unit that is used to store many anchor clamps; Be installed in and be used for the described anchor clamps of snatch on the motion slide unit and realize that workpiece and the automatic quick change of anchor clamps are in place, and be used for the robot that snatch robot welding gun is carried out welding operation; Be used to support a plurality of Sledge types supporting positioning units of locating workpiece and being used to transport workpiece; Be used to locate and clamp Sledge type supporting positioning unit and make it roll bed unit along what production line moved; Be used for the base plate location clamping locking unit that the positioning and locking robot is discharged into the anchor clamps of anchor clamps working position and is used for the locating clip clamping of workpieces; Be used to store workpiece and feed back the workpiece memory cell that stored workpiece is suitable for the detection signal of corresponding vehicle; The motion flow that be used to receive the described robot of control, fixed goods shelf formula anchor clamps storage feed unit, Sledge type supporting positioning unit after the vehicle production information that host computer transmits, roll bed unit, the base plate location clamps locking unit and workpiece memory cell realizes that the automatic quick change of all workpiece and anchor clamps is in place etc., thereby realizes the electric automatization control module of multi-vehicle-type swinging cross flexible production.
Described fixed goods shelf formula anchor clamps storage feed unit comprises many anchor clamps, a plurality of storage rack mechanism and is used to control described many anchor clamps and the electric automatization control subelement of the motion flow of a plurality of storage rack mechanism.Described storage rack mechanism comprises a plurality of positioning and locking devices and a plurality of protective device.Described positioning and locking device is made up of the system at zero point of 2 standards at least; Described zero point, system was the universal reference interface, and its English standard name is Zero-Point-Systems; Described zero point, system comprised cylinder body, was arranged on steel ball in the cylinder body and the piston jacking block that cooperates with described steel ball.Described protective device comprises cylinder block, cylinder piston rod and the lever arm that is connected with cylinder piston rod.Be equipped with a plurality of hydraulic quick couplers that are used for electric automatization control that link with anchor clamps in the described storage rack mechanism, described hydraulic quick coupler is the rapid realization electrical communication common in this area and the joint of disconnection.Described storage rack mechanism is provided with a plurality of storage rack that are used to store anchor clamps.Positioning and locking device, protective device and hydraulic quick coupler are arranged on each storage rack respectively.
The artificial common on the market welding robot of described machine.
Described Sledge type supporting positioning unit is that this area is common, by ski rack, be installed in the supporting positioning device that guide pad, alignment pin, rest pad and sense switch on the ski rack are formed.
The described bed unit of rolling is that this area is common, by rolling a body, be installed in the motor, bearing block, cylinder, clamping arm, limited block, slide block, the sense switch that roll on the body, be installed in turning cylinder on the bearing block, be installed in pivoted arm, roller and the sprocket wheel on the turning cylinder and be connected motor and transmission positioning clamping device that the chain of sprocket wheel is formed.
It is that this area is common that described base plate location clamps locking unit, by base plate, mount pad, be installed in the location clamping locking device that alignment pin on the mount pad, rest pad, cylinder, clamping arm, zero point system, hydraulic quick coupler and sense switch are formed.
Described workpiece memory cell is the workpiece storage rack that is used to store multiple vehicle workpiece.Described workpiece memory cell is fed back the detection signal that stored workpiece is suitable for corresponding vehicle.
Described electric automatization control module and electric automatization control subelement are Programmable Logic Controller.
Advantage compared with prior art of the present utility model shows:
The utility model adopts fixed goods shelf formula anchor clamps storage feed unit, robot, Sledge type supporting positioning unit, roll bed unit, the base plate location clamps locking unit, workpiece memory cell and electric automatization control module are formed is applicable to the robot flexibility welding production system that the multi-vehicle-type swinging cross is produced, and fixed goods shelf formula anchor clamps storage feed unit adopts the system at zero point of standard to make that this cellular construction is succinct, function is effective, has the advantage of high energy storage, high accuracy, high speed and high stable.The base plate location clamps locking unit and also is equipped with the system at zero point.The anchor clamps of plugging into mutually with fixed goods shelf formula anchor clamps storage feed unit and base plate location clamping locking unit hold its characteristics, realize lightweight, for robot has created favourable technical conditions.Originally the robot flexibility welding production system that is applicable to multi-vehicle-type swinging cross production is integrated above-mentioned multiple advantage, rely on the whole process control of electric automatization control module, realize that workpiece and the automatic quick change of anchor clamps are in place, its multi-vehicle-type swinging cross is produced flexible ability and is significantly improved.On robot mounted movable slide unit, can carry out setting movement quick and precisely, the working range that its working range fixedly mounts robot enlarges at double, thereby in the specific occasion the when robot that can satisfy the demand slides, further abundant and developed this class technology.
Description of drawings
The utility model is described in further detail below in conjunction with specification drawings and specific embodiments, wherein:
Fig. 1 is theory of constitution figure of the present utility model
Fig. 2 is the theory of constitution figure of fixed goods shelf formula anchor clamps storage feed unit
Fig. 3 is the mechanism principle figure of fixed goods shelf formula anchor clamps storage feed unit
The specific embodiment
Embodiment 1
With reference to Figure of description 1, the utility model discloses a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to.Native system comprises the fixed goods shelf formula anchor clamps storage feed unit 2 that is used to store many anchor clamps 1; Be installed in and be used for the described anchor clamps of snatch 1 on the motion slide unit and realize that workpiece and anchor clamps 1 automatic quick change are in place, and the robot 3 that is used for the welding gun execution welding operation of snatch robot; Be used to support the Sledge type supporting positioning unit 4 of locating workpiece and being used to transport workpiece; Be used to locate and clamp Sledge type supporting positioning unit 4 and make it roll bed unit 5 along what production line moved; Be used for the base plate location clamping locking unit 6 that positioning and locking robot 3 is discharged into the anchor clamps 1 of anchor clamps working position and is used for the locating clip clamping of workpieces; Be used to store workpiece and feed back the workpiece memory cell 7 that stored workpiece is suitable for the detection signal of corresponding vehicle; The motion flow that be used to receive the described robot 3 of control, fixed goods shelf formula anchor clamps storage feed unit 2, Sledge type supporting positioning unit 4 after the vehicle production information that host computer transmits, roll bed unit 5, the base plate location clamps locking unit 6 and workpiece memory cell 7 realizes that the automatic quick change of all workpiece and anchor clamps 1 is in place etc., thereby realizes the electric automatization control module 8 of multi-vehicle-type swinging cross flexible production.
With reference to Figure of description 2 and 3, described fixed goods shelf formula anchor clamps storage feed unit comprises a plurality of anchor clamps 1, and a plurality of storage rack mechanism 9 and being used to controls the electric automatization control subelement 10 of the motion flow of described anchor clamps 1 and storage rack mechanism 9.Described storage rack mechanism 9 comprises a plurality of positioning and locking devices and a plurality of protective device.Described positioning and locking device is made up of the system at zero point of 2 standards at least; Described zero point, system comprised cylinder body 11, was arranged on steel ball 12 in the cylinder body and the piston jacking block 13 that cooperates with described steel ball 12; Described protective device comprises cylinder block 14, cylinder piston rod 15 and the lever arm 16 that is connected with cylinder piston rod 15.A plurality of hydraulic quick couplers that are used for electric automatization control that link with anchor clamps 1 are equipped with in the described storage rack mechanism 9.Described storage rack mechanism 9 is provided with a plurality of storage rack that are used to store anchor clamps 1.Positioning and locking device, protective device and hydraulic quick coupler are arranged on each storage rack respectively.
As a better embodiment of the present utility model, its concrete scheme is as follows:
See Fig. 1, composition of the present utility model:
1, comprise a fixed goods shelf formula anchor clamps storage feed unit 2;
2, comprise a robot 3;
3, comprise a plurality of Sledge type supporting positioning units 4;
4, comprise that is rolled a bed unit 5;
5, comprise that a base plate location clamps locking unit 6;
6, comprise a workpiece memory cell 7;
7, comprise a cover electric automatization control module 8.
Top each part is done following brief description:
Fixed goods shelf formula anchor clamps storages feed unit 2 is a kind of unit that are used to store whole vehicle anchor clamps 1 that this station should the zone.This unit is provided with 3 storage rack mechanisms 9.The bank bit of anchor clamps 1 in fixed goods shelf formula anchor clamps storage feed unit 2 just its anchor clamps switches the position, and they are corresponding one by one.Robot 3 is required anchor clamps 1 of grasping system on the anchor clamps switching position of the required anchor clamps 1 of system.The theory of constitution of this unit and mechanism principle will describe in detail in the back.
Robot 3 is installed on the motion slide unit, carries out setting movement quick and precisely, and its working range fixedly mounts the expansion at double of robot 3.But robot 3 both snatch anchor clamps 1 realizes that workpiece and anchor clamps 1 automatic quick change are in place, but also snatch robot welding gun is carried out and welded.
Sledge type supporting positioning unit 4 is a kind of supporting positioning devices, is used for supporting location workpiece and is used to transport workpiece.Its quantity is according to the difference each other of different automobile types and welding procedure and decide.Native system is provided with 2 Sledge type supporting positioning units 4, and each unit can realize that wherein 3 kinds of vehicles are shared, so native system can realize that at most 6 kinds of vehicles are shared.This unit arrives the desired location of each station on the production line successively under the effect of rolling bed unit 5, and then the carrying workpiece is transported to exact position on each station.This unit is without any the action executive component.
Rolling bed unit 5 is a kind of transmission positioning clamping devices, is used for the location and clamps Sledge type supporting positioning unit 4 and it is moved along production line.
It is that a kind of location clamps locking device that the base plate location clamps locking unit 6, is used for positioning and locking robot 3 and is discharged into the anchor clamps 1 of anchor clamps working position and is used for the locating clip clamping of workpieces.
Workpiece memory cell 7 is a kind of workpiece storage rack, is used to store the workpiece of multiple vehicle, and feeds back the detection signal that stored workpiece is applicable to corresponding vehicle.
Electric automatization control module 8 is Programmable Logic Controllers, this unit is after receiving the vehicle production information of host computer by the Ethernet transmission, by control robot 3, fixed goods shelf formula anchor clamps storage feed unit 2, Sledge type supporting positioning unit 4, roll motion flow that bed unit 5, base plate location clamp locking unit 6 and workpiece memory cell 7 etc. and realize that the automatic quick change of all workpiece and anchor clamps 1 is in place etc., thereby realize multi-vehicle-type swinging cross flexible production.
Originally the operation principle that is applicable to the robot flexibility welding production system that the multi-vehicle-type swinging cross is produced is as follows:
● electric automatization control module 8 is accepted vehicle and is produced instruction, roll bed unit 5 location clampings and support positioning unit 4 from the Sledge type of going up station workpiece (start bit may not have workpiece) that carrying that last station transmission comes, the station workpiece is in the accurate location of this station in the realization;
● if any the vehicle switching command, corresponding storage feed mechanism is opened the protection to anchor clamps 1 in the fixed goods shelf formula anchor clamps storage feed unit 2, be installed in the location, the resident position of robot that robot 3 on the slide unit moves to corresponding storage feed mechanism, switch position snatch anchor clamps 1 at anchor clamps, feed mechanism to be stored playbacks after untiing locking to anchor clamps 1; As not having the vehicle switching command, anchor clamps storage feed unit maintains the original state;
● if any grabbing part technological requirement on the part, the location, the resident position of robot that anchor clamps 1 move to workpiece memory cell 7 from the resident position of current robot in robot 3 snatches, after treating that anchor clamps 1 are finished picking up work piece, move to robot working position location again, then anchor clamps 1 are discharged into the anchor clamps working position that the base plate location clamps locking unit 6, treat that the base plate location clamps the 1 back playback of locking unit 6 positioning and locking anchor clamps; As not grabbing part technological requirement on the part, robot 3 snatches anchor clamps 1 and are moved to robot working position location from the resident position of current robot, release clip 1 treats that to anchor clamps 1 working position of the tight locking unit 6 of base plate locating clip the base plate location clamps the 1 back playback of locking unit 6 positioning and locking rear jigs then;
● anchor clamps 1 clamping work pieces; The base plate location clamps locking unit 6 clamping work pieces; Robot 3 finishes the playback of welding back jointly with other robot 3.In particular cases, robot 3 can only be used for snatch anchor clamps 1.
● anchor clamps 1 unclamp workpiece; The base plate location clamps locking unit 6 and unclamps workpiece;
● robot 3 is to the anchor clamps working position.If any the vehicle switching command, robot 3 snatches clamp the anchor clamps 1 on the locking unit 6 anchor clamps working positions in the base plate location, treat that base plate location clamps and playback after locking unit 6 is untied locking to anchor clamps 1, manually do the location, the resident position of robot that the position moves to former anchor clamps storage feed mechanism from machine, return release clip 1 and switch the position, feed mechanism positioning and locking anchor clamps 1 back playback to be stored to former anchor clamps; As not having a vehicle switching command, robot 3 snatches clamp the anchor clamps 1 in 1 work of locking unit 6 anchor clamps in the base plate location, treat that the base plate location clamps to playback after locking unit 6 is untied locking to anchor clamps 1;
● roll bed unit 5 and untie the location clamping of Sledge type being supported positioning unit 4, the Sledge type supporting positioning unit 4 that will carry this station workpiece then is to next station transmission.
Introduce fixed goods shelf formula anchor clamps storage feed unit 2 in detail.
See Fig. 2, be the theory of constitution figure of fixed goods shelf formula anchor clamps storage feed unit 2:
1, comprise many anchor clamps 1;
2, comprise a plurality of storage rack mechanism 9;
3, comprise a cover electric automatization control subelement 10.
Top each part is done following explanation:
Anchor clamps 1 are the anchor clamps that are used for the production different automobile types.The quantity of its kind is according to the difference each other of the data of different automobile types and welding procedure and decide.Every kind of anchor clamps 1 all are equipped with same level rotary clamp storage feed unit, base plate location and clamp positioning and locking device that the relevant anchor clamps 1 with other of locking unit 6 plug into mutually and the hydraulic quick coupler that is used for electric automatization control.Every kind of anchor clamps 1 all are equipped with robot 3 joining robot tool fast replacing devices, and described robot tool fast replacing device is the common ability machine fast replacing device that automatic replacing end effector or other peripheral tools are provided to robot on the market.Every kind of anchor clamps 1 all are equipped with the device of locating clip clamping of workpieces.
Storage rack mechanism 9 is the mechanisms that are used to store many anchor clamps 1.Described storage rack mechanism comprises a plurality of positioning and locking devices and a plurality of protective device.Positioning and locking device has interchangeability, and the interchangeability of protective device is limited.Positioning and locking device is minimum can be made up of 2 normal zero systems, generally adopts 4.Zero point, the operation principle of system was under the effect of air pressure and spring force, realized location and locking by the alignment pin that steel ball 12 is locked the band tapering on the anchor clamps 1 that put in place, came release by the loosening steel ball 12 of air pressure.Zero point system repeatable accuracy＜0.005mm, and guiding accuracy is 12mm; Zero point, the strength of holding tightly of system can be up to 55KN, and tightening force can be up to 17KN, its locking and all about time-consuming 0.5s of release.Zero point, the utilization of system also made the anchor clamps 1 of plugging into it simple for structure, realized lightweight.System can export and lock the detection signal that the reconciliation that puts in place is locked into the position zero point.This positioning and locking device is succinctly effective, have high accuracy, at a high speed, high stability and detectable characteristics.A plurality of hydraulic quick couplers that are used for electric automatization control that link with anchor clamps 1 are equipped with in the described storage rack mechanism 9.The anchor clamps memory space of this unit is the result according to the actual conditions flexible arrangement storage rack mechanism 9 of anchor clamps 1.This unit is provided with 3 storage rack mechanisms 9, and each storage rack mechanism 9 all is provided with 2 storage rack that are used to store anchor clamps 1, so 6 anchor clamps 1 can be stored in this unit.Positioning and locking device, protective device and hydraulic quick coupler are arranged on each storage rack respectively.Whole storage rack mechanism 9 can realize omnidistance electric automatization control.
The robot 3 in the plane system is just gone up by robot 3, and electric automatization control subelement 10 is the electric automatization control modules 8 that are under the jurisdiction of in the plane system.
Fig. 3 is the mechanism principle figure of fixed goods shelf formula anchor clamps storage feed unit 2.
The mechanism of whole unit is made up of cylinder body 11, steel ball 12, piston jacking block 13, cylinder block 14, cylinder piston rod 15, lever arm 16 and the anchor clamps 1 etc. of system at zero point.There are four motors in the mechanism of whole unit, and A and B are the pneumatic slide motors, in order to realize positioning and locking and the release of positioning and locking device to anchor clamps 1; C is the pneumatic slide motor, in order to realize that protective device is to the protection of anchor clamps 1 and open protection; D is robot 3 translational motion sources, in order to realize robot 3 snatch anchor clamps, 1 translation turnover positioning and locking device.
The mechanism principle of fixed goods shelf formula anchor clamps storage feed unit 2 supplying jigs 1 is as follows:
Pneumatic slide motor C driving cylinder piston rod 15 slides in cylinder block 14 and returns, and protection is opened in lever arm 16 rotations; Piston jacking block 13 is return under the effect of pneumatic slide motor A and B, unties the locking by the alignment pin of 12 pairs of anchor clamps of steel ball, 1 band tapering; Anchor clamps 1 withdraw from the cylinder body 11 cancellation location of system at zero point by the 3 translational motion source D of robot.
The mechanism principle of fixed goods shelf formula anchor clamps storage feed unit 2 storage anchor clamps 1 is as follows:
Anchor clamps 1 are realized the location by the cylinder body 11 that the 3 translational motion source D of robot enter the system at zero point; Piston jacking block 13 skids off the alignment pin by the band tapering of steel ball 12 locking fixtures 1 under the effect of pneumatic slide motor A and B; Pneumatic slide motor C driving cylinder piston rod 15 slides in cylinder block 14 and stretches out, and drives lever arm 16 rotations, realizes protection.
The operation principle of this fixed goods shelf formula anchor clamps storage feed unit 2 supplying jigs 1 is as follows:
● under the control of electric automatization control module 10, storage rack mechanism 9 protects anchor clamps 1 by its location locking mechanism and protection mechanism positioning and locking;
● robot 3 is in place;
● the protection to anchor clamps 1 is untied by storage rack mechanism 9;
● robot 3 snatch anchor clamps 1, after storage rack mechanism 9 unties the locking of anchor clamps 1, anchor clamps 1 are removed.
The operation principle of this fixed goods shelf formula anchor clamps storage feed unit 2 storage anchor clamps 1 is as follows:
● under the control of electric automatization control module 10, robot 3 snatch anchor clamps 1 are returned the anchor clamps that are discharged into storage rack mechanism 9 and are switched the position;
● storage rack mechanism 9 positioning and locking anchor clamps 1;
● robot 3 playback;
● 9 pairs of anchor clamps of storage rack mechanism 1 are implemented protection.
Claims (10)
1, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to is characterized in that: comprise fixed goods shelf formula anchor clamps storage feed unit (2); Be installed in and be used for the described anchor clamps of snatch (1) on the motion slide unit and realize that workpiece and anchor clamps (1) automatically switch, and be used for the robot (3) that the snatch welding gun is carried out welding operation; Be used to support a plurality of Sledge types supporting positioning units (4) of locating workpiece and being used to transport workpiece; Being used for the location clamps Sledge type supporting positioning unit (4) and makes it roll bed unit (5) along what production line moved; The base plate location that is used for the locating clip clamping of workpieces clamps locking unit (6); Be used to store workpiece and feed back the workpiece memory cell (7) that stored workpiece is suitable for the detection signal of corresponding vehicle; Be used to receive control described robot (3) after the vehicle production information that host computer transmits; fixed goods shelf formula anchor clamps storage feed unit (2); Sledge type supporting positioning unit (4); roll bed unit (5); the motion flow of base plate location clamping locking unit (6) and workpiece memory cell (7) is realized the automatic quick change electric automatization control module (8) in place of all workpiece and anchor clamps (1); described fixed goods shelf formula anchor clamps storage feed units (2) comprise anchor clamps (1); storage rack mechanism (9) and being used to controls the electric automatization control subelement (10) of described anchor clamps (1) and storage rack mechanism (9) action; described storage rack mechanism (9) comprises a plurality of positioning and locking devices and a plurality of protective device; described positioning and locking device is made up of the system at zero point of 2 standards at least; the hydraulic quick coupler that is used for electric automatization control that is equipped with a plurality of same anchor clamps (1) to link in the described storage rack mechanism (9); described protective device comprises cylinder block (14), cylinder piston rod (15) and the lever arm (16) that is connected with cylinder piston rod (15).
2, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1, it is characterized in that: described zero point, system comprised cylinder body (11), be arranged on steel ball (12) in the cylinder body (11) and the piston jacking block (13) that cooperates with described steel ball (12).
3, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 and 2 is characterized in that: described zero point, system was 4.
4, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 and 2; it is characterized in that: described fixed goods shelf formula anchor clamps storage feed units (2) are provided with 3 storage rack mechanisms (9); each storage rack mechanism (9) is provided with 2 storage rack, and positioning and locking device, protective device and hydraulic quick coupler are arranged on each storage rack respectively.
5, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 is characterized in that: described robot (3) is common on the market welding robot.
6, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 is characterized in that: described Sledge type supporting positioning unit (4) for welding field common by ski rack, be installed in the supporting positioning device that guide pad, alignment pin, rest pad and sense switch on the ski rack are formed.
7, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 is characterized in that: described roll bed unit (5) be this area common by rolling a body, be installed in the motor, bearing block, cylinder, clamping arm, limited block, slide block, the sense switch that roll on the body, be installed in turning cylinder on the bearing block, be installed in pivoted arm, roller and the sprocket wheel on the turning cylinder and be connected motor and transmission positioning clamping device that the chain of sprocket wheel is formed.
8, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 is characterized in that: it is the common base plate in this area, mount pad that described base plate location clamps locking unit (6), be installed in alignment pin on the mount pad, rest pad, cylinder, clamping arm, zero point system, hydraulic quick coupler and the location formed of sense switch clamp locking device.
9, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 is characterized in that: described workpiece memory cell (7) is the workpiece storage rack that is used to store multiple vehicle workpiece.
10, a kind of automotive body robot flexible welding system for mixed line production of multiple vehicle types that is applicable to according to claim 1 is characterized in that: described electric automatization control module (8) and electric automatization control subelement (10) are Programmable Logic Controller.
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| CN200920080565U CN201385191Y (en) | 2009-05-05 | 2009-05-05 | Flexible welding system applicable to producing automobile body robot by multi-vehicle type mixed line |
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| CN200920080565U CN201385191Y (en) | 2009-05-05 | 2009-05-05 | Flexible welding system applicable to producing automobile body robot by multi-vehicle type mixed line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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2009
- 2009-05-05 CN CN200920080565U patent/CN201385191Y/en not_active Expired - Lifetime
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| CN104859754A (en) * | 2014-02-25 | 2015-08-26 | 库卡系统有限责任公司 | Interchanging apparatus |
| CN106061673A (en) * | 2014-02-25 | 2016-10-26 | 库卡系统有限责任公司 | Interchanging apparatus and interchanging method for clamping frames supporting vehicle body parts between a clamping frame transport device and a frame conveyor by means of clamping frame magazines |
| US10272962B2 (en) | 2014-02-25 | 2019-04-30 | Kuka Systems Gmbh | Changing apparatus and changing method for clamping frames supporting vehicle body parts between a clamping frame transport device and a frame conveyor by means of clamping frame magazines |
| CN106061673B (en) * | 2014-02-25 | 2019-06-18 | 库卡系统有限责任公司 | For passing through the more changing device and replacing options of clamping frames material library clamping frames of bearing vehicle body component between clamping frames transport device and frame conveyer |
| CN104859754B (en) * | 2014-02-25 | 2019-08-20 | 库卡系统有限责任公司 | More changing device |
| CN108453767A (en) * | 2018-03-09 | 2018-08-28 | 东风设计研究院有限公司 | A kind of i.e. integrated handgrip grip device of multi-vehicle-type mixes line production method |
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Owner name: SICHUAN CHENGHAN BAOMA WELDING EQUIPMENT ENGINEERI Free format text: NEW ADDRESS: NO.B26-27, GANGZHANGJIANG ROAD, WENJIAJIAOLONG INDUSTRY, QINGYANG DISTRICT, CHENGDU CITY, SICHUAN PROVINCE, ZIP CODE:610091 |
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Address after: Qingyang District of Chengdu City, Sichuan Province, the Yangtze River Road B2627 Wenjia Jiaolong industrial port number, zip code: 610091 Patentee after: Sichuan BMT ITI Welding Equipment & Engineering Co., Ltd. Address before: Longtan City Industrial Zone, two ring road, East Three Ring Road, Chengdu, Sichuan, Chenghua District Province, China: 610052 Patentee before: Sichuan BMT ITI Welding Equipment & Engineering Co., Ltd. |
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