CN217452731U - Positioning system of flexible carrying gripper and line side deformation clamp - Google Patents

Positioning system of flexible carrying gripper and line side deformation clamp Download PDF

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Publication number
CN217452731U
CN217452731U CN202220599236.1U CN202220599236U CN217452731U CN 217452731 U CN217452731 U CN 217452731U CN 202220599236 U CN202220599236 U CN 202220599236U CN 217452731 U CN217452731 U CN 217452731U
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axis
plate
sliding mechanism
axle
positioning
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CN202220599236.1U
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张涛
代巍
洪俊
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SAIC GM Wuling Automobile Co Ltd
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SAIC GM Wuling Automobile Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract

The utility model discloses a positioning system of flexible carrying tongs and line side deformation clamp, comprising a steel structure splicing table, a traveling clamp, a lifting positioning roller machine, a flexible carrying tongs and a line side deformation clamp, wherein the traveling clamp, the lifting positioning roller machine, the flexible carrying tongs and the line side deformation clamp are arranged on a steel structure platform; the lifting positioning roller machine and the following fixture are used for conveying and positioning the body in white, the flexible carrying gripper is used for finishing the loading of the inner plate of the threshold, and the deformation fixture beside the line is used for finishing the positioning of the inner plate of the threshold. The utility model discloses anchor clamps and tongs need not switch when can realizing the motorcycle type switches, practice thrift the place.

Description

Positioning system of flexible carrying gripper and line side deformation clamp
Technical Field
The utility model relates to a flexible production line technical field of automobile body specifically is a positioning system of other deformation anchor clamps of flexible transport tongs and line.
Background
And at a welding station of the upper part of the threshold inner plate of the white automobile body flexible main line, the upper part and the positioning of the threshold inner plate are realized through a handle of the threshold inner plate, the handle of the threshold inner plate grips the threshold inner plate from the material rest or the centering table, and the threshold inner plate is conveyed to a specified position on the white automobile body through a robot, so that the positioning of the threshold inner plate is completed. And in the welding process, the robot releases the gripper, the gripper is placed on the packing, and the gripper is positioned by the packing. When the vehicle types are switched, different grippers are required to be switched according to different vehicle types.
The problems existing in the prior art are as follows:
1) the threshold inner plates of different vehicle types are different in positioning and molded surfaces, and special grippers are required to be designed to position and carry the threshold inner plates;
2) due to different vehicle body structures, the positions of the white vehicle body on the main line may be different, and the DOCKING of the positioning gripper occupies the welding space, so that the welding efficiency is influenced;
3) and in the vehicle type switching process, a large number of places are needed for storing the switched handgrips.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a positioning system of flexible transport tongs and other deformation anchor clamps of line, anchor clamps and tongs need not switch when can realizing the motorcycle type and switch.
In order to achieve the purpose of the utility model, the positioning system of the flexible carrying gripper and the line side deformation fixture comprises a steel structure splicing table, a traveling fixture, a lifting and positioning roller bed, a flexible carrying gripper and a line side deformation fixture, wherein the traveling fixture, the lifting and positioning roller bed, the flexible carrying gripper and the line side deformation fixture are arranged on the steel structure splicing table; the lifting positioning roller machine and the following fixture are used for conveying and positioning the body in white, the flexible carrying gripper is used for finishing the loading of the inner plate of the threshold, and the deformation fixture beside the line is used for finishing the positioning of the inner plate of the threshold.
Further, the flexible carrying gripper comprises a gun changing plate, an X-axis sliding mechanism, a Y-axis sliding mechanism, a first sucker, a second sucker, an octagonal tube and a mounting seat, wherein the mounting seat is arranged on the gun changing plate, the X-axis sliding mechanism and the octagonal tube are fixedly arranged on the mounting seat, the Y-axis sliding mechanism is arranged on the X-axis sliding mechanism, the first sucker is arranged on the Y-axis sliding mechanism, one end of the octagonal tube is fixed on the mounting seat, and the second sucker is arranged at the other end of the octagonal tube;
further, the other deformation fixture mechanism of line includes: the device comprises an X-axis sliding mechanism, a Y-axis sliding mechanism, a Z-axis sliding mechanism and a threshold clamp, wherein the Y-axis sliding mechanism is installed above the X-axis sliding mechanism, the Z-axis sliding mechanism is installed above the Y-axis sliding mechanism, and the threshold clamp is installed on the Z-axis sliding mechanism;
the threshold clamp comprises a side plate, a top plate and a bottom plate which are arranged at two ends of one side of the side plate in parallel, a linear module A is arranged at the end, away from the side plate, of the bottom plate, a positioning block A is arranged in the middle of the bottom plate, a gun changing plate B is arranged at the bottom of the bottom plate, a linear module B and a linear module C which are arranged in parallel are arranged at the end, away from the side plate, of the top plate, a positioning block B is arranged in the middle of the top plate, a hook pin cylinder is arranged between the top plate and a lower plate and fixedly connected with the top plate, and a gun changing plate A is arranged at the other side of the side plate;
the Z-axis sliding mechanism comprises an installation bottom plate, an installation top plate, a servo motor, a lead screw guide rail assembly, a welding gun disc C, a clamping cylinder and a dustproof cover, wherein the installation bottom plate and the installation top plate are respectively installed at two ends of the lead screw guide rail assembly; the welding gun disk C is connected with the gun changing disk B;
the X-axis sliding mechanism comprises an X-axis sliding mechanism mounting plate, an X-axis servo motor, an X-axis guide rail, an X-axis lead screw and a Z-axis mounting plate, the X-axis guide rail and the X-axis lead screw are parallelly mounted on the X-axis sliding mechanism mounting plate, one end of the X-axis lead screw is connected with the X-axis servo motor, the other end of the X-axis lead screw is connected with the Z-axis mounting plate, and the Z-axis mounting plate can be slidably mounted on the X-axis guide rail; a mounting bottom plate of a Z-axis sliding mechanism is mounted on the Z-axis mounting plate;
y axle glide machanism includes base, Y axle guide rail, Y axle lead screw and Y axle servo motor, Y axle guide rail, Y axle lead screw parallel mount are on the base, and X axle glide machanism mounting panel is connected to the one end of Y axle lead screw, and Y axle servo motor is connected to the other end of Y axle lead screw, but X axle glide machanism mounting panel slidable mounting is on Y axle guide rail.
The utility model discloses
1) The part loading and positioning are completed by adopting a flexible carrying gripper and a side-line clamp;
2) the carrying gripper adapts to different vehicle types through self deformation, is only responsible for carrying and not responsible for part positioning, and has simple structure and convenient control;
3) the positioning and clamping of the line side clamp on different threshold inner plates are realized by deforming the positioning tool on the line side clamp
4) And when the vehicle type is switched, the clamp and the hand grab do not need to be switched, so that the field is saved.
Drawings
FIG. 1 is a schematic overall configuration of a positioning system for a flexible handling gripper and a line-side deforming clamp;
FIG. 2 is a schematic diagram of the carrying hand grip;
FIG. 3 is a schematic structural view of a deforming jig;
FIG. 4 is a schematic structural view of a Z-axis sliding mechanism;
FIG. 5 is a schematic view of a threshold clamp configuration;
in the figure, 1, a steel structure is spliced; 2. a pallet; 3. lifting and positioning the roller bed; 4. a body-in-white; 5. carrying the tongs flexibly; 6. a line side deformation clamp;
501. changing a gun plate; 502. X-axis glide mechanism a; a Y-axis glide mechanism a; 504. a first suction cup; 505. a second suction cup; 506. an octagonal tube; 507. a mounting seat;
601. an X-axis sliding mechanism B; a Y-axis sliding mechanism B; 603. a Z-axis sliding mechanism; 604. a threshold clamp;
6041. a side plate; 6042. a top plate; 6043. a base plate; 6044. a linear module A; 6045. positioning a block A; 6046. gun plate B; 6047. a linear module B; 6048. a linear module C; 6049. positioning a block B; 60410. a hooking cylinder; 60411. changing a gun plate A;
6031 mounting a bottom plate; 6032 mounting a top plate; 6033 servo motor; 6034 lead screw guide rail assembly, 6035 welding gun disc C, 6036 clamping cylinder; 6037 dust-proof cover;
6011X-axis sliding mechanism mounting plate; 6012X-axis servo motors; 6013X-axis guideway; 6014X-axis lead screw; 6015 mounting the Z-axis plate;
6021 a base; 6022Y-axis guide rail; 6023Y-axis screw; 6024Y-axis servomotor.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
As shown in fig. 1-5, the positioning system for the flexible carrying gripper and the line side deformation fixture of the present invention comprises a steel structure splicing table 1, a traveling fixture 2, a lifting and positioning rolling machine 3, a flexible carrying gripper 5 and a line side deformation fixture 6, wherein the traveling fixture 2, the lifting and positioning rolling machine 3, the flexible carrying gripper 5 and the line side deformation fixture 6 are mounted on the steel structure splicing table 1, the flexible carrying gripper 5 is mounted on the lifting and positioning rolling machine 3, and the line side deformation fixture 6 is mounted on the flexible carrying gripper 5; the lifting positioning roller machine 3 and the following fixture 2 are used for conveying and positioning the body-in-white 4, the flexible conveying gripper 5 is used for finishing the loading of the inner plate of the threshold, and the line-side deformation fixture 6 is used for finishing the positioning of the inner plate of the threshold.
In this embodiment, the flexible carrying gripper 5 includes a gun changing tray 501, an X-axis sliding mechanism a502, a Y-axis sliding mechanism a503, a first suction cup 504, a second suction cup 505, an octagonal tube 506 and a mounting seat 507, the mounting seat 507 is arranged on the gun changing tray 501, the X-axis sliding mechanism a502 and the octagonal tube 506 are fixedly mounted on the mounting seat 507, the Y-axis sliding mechanism a503 is mounted on the X-axis sliding mechanism a502, the first suction cup 504 is mounted on the Y-axis sliding mechanism a503, one end of the octagonal tube 506 is fixed on the mounting seat 507, and the second suction cup 505 is arranged at the other end of the octagonal tube 506;
in the present embodiment, the wire-side deforming jig mechanism 6 includes: the X-axis sliding mechanism B601, the Y-axis sliding mechanism B602, the Z-axis sliding mechanism 603 and the threshold clamp 604, wherein the Y-axis sliding mechanism 602 is installed above the X-axis sliding mechanism 601, the Z-axis sliding mechanism 603 is installed above the Y-axis sliding mechanism 602, and the threshold clamp 604 is installed on the Z-axis sliding mechanism 603;
the threshold clamp 604 comprises a side plate 6041, a top plate 6042 and a bottom plate 6043 which are arranged at two ends of one side of the side plate 6041 in parallel, a linear module A6044 is arranged at the end, away from the side plate, of the bottom plate 6043, a positioning block A6045 is arranged in the middle of the bottom plate, a gun changing plate B6046 is arranged at the bottom of the bottom plate 6043, a linear module B6047 and a linear module C6048 which are arranged in parallel are arranged at the end, away from the side plate, of the top plate 6042, a positioning block B6049 is arranged in the middle of the top plate, a hook pin cylinder 60410 is arranged between the top plate 6042 and the lower plate 6043, the hook pin cylinder 60410 is fixedly connected with the top plate 6042, and a gun changing plate A60411 is arranged at the other side of the side plate 6041;
the Z-axis sliding mechanism 603 includes a mounting bottom plate 6031, a mounting top plate 6032, a servo motor 6033, a lead screw guide rail assembly 6034, a welding gun tray C6035, a clamping cylinder 6036 and a dust cover 6037, wherein the mounting bottom plate 6031 and the mounting top plate 6032 are respectively mounted at two ends of the lead screw guide rail assembly 6034, the lead screw guide rail assembly 6034 is connected with the servo motor 6033, the welding gun tray C6035 is arranged above the mounting top plate 6032, the clamping cylinder 6036 is mounted on the side surface of the mounting top plate 6032, and the dust cover 6037 is mounted on the clamping cylinder 6036; the welding gun disk C6035 is connected with a gun changing disk B6046;
the X-axis sliding mechanism B601 comprises an X-axis sliding mechanism mounting plate 6011, an X-axis servo motor 6012, an X-axis guide rail 6013, an X-axis lead screw 6014 and a Z-axis mounting plate 6015, wherein the X-axis guide rail 6013 and the X-axis lead screw 6014 are mounted on the X-axis sliding mechanism mounting plate 6011 in parallel, one end of the X-axis lead screw 6014 is connected with the X-axis servo motor 6012, the other end of the X-axis lead screw 6014 is connected with the Z-axis mounting plate 6015, and the Z-axis mounting plate 6015 is slidably mounted on the X-axis guide rail 6013; a mounting base plate 6031 of a Z-axis sliding mechanism is mounted on the Z-axis mounting plate 6015;
the Y-axis sliding mechanism B602 comprises a base 6021, a Y-axis guide rail 6022, a Y-axis screw 6023 and a Y-axis servo motor 6024, wherein the Y-axis guide rail 6022 and the Y-axis screw 6023 are parallelly installed on the base 6021, one end of the Y-axis screw 6023 is connected with an X-axis sliding mechanism mounting plate 6011, the other end of the Y-axis screw 6023 is connected with the Y-axis servo motor 6024, and the X-axis sliding mechanism mounting plate 6011 is slidably installed on the Y-axis guide rail 6022.
All equipment of the station system is placed on a steel structure platform, a lifting positioning rolling machine and a following fixture are used for conveying and positioning a body in white, a flexible conveying gripper is used for finishing the loading of a doorsill inner plate, and a deformation fixture beside a line is used for finishing the positioning of the doorsill inner plate.
The structure of the carrying gripper is shown in fig. 2, the sponge suckers are used for sucking parts, two groups of sponge suckers are arranged, one group of sponge suckers is fixed on the octagonal tube, and the other group of sponge suckers is arranged on the sliding mechanism and can freely move in the X/Y directions. The suction cup can realize that two groups of suction cups select different suction positions according to different parts. The X/Y-axis sliding mechanism adopts a mode of a servo motor and a linear module, and can accurately control a group of suckers to be at different positions.
The structure of the deformation fixture is shown in fig. 3, and the threshold deformation fixture is composed of a set of Y-axis sliding mechanism, two sets of X-axis sliding mechanisms moving independently and two sets of Z-axis sliding mechanisms moving independently, so that the whole set of mechanism can move freely in X/Y/Z directions.
The Y-axis sliding mechanism is mainly used for enabling the whole mechanism to avoid the interference of the conveying direction of the vehicle body and compensate the Y direction of the positioning of a small number of threshold clamps. In the white vehicle body conveying process, the Y shaft slides outwards to avoid vehicle body conveying, meanwhile, a robot or a worker is adopted to install the threshold inner plate on the clamp, and after the white vehicle body is conveyed in place, the Y shaft slides inwards to position the threshold inner plate on the white vehicle body.
The two sets of X-axis sliding mechanisms and the two sets of Z-axis sliding mechanisms can move independently, the positioning and the molded surfaces of the inner doorsill plates of different vehicle types are different, and the inner doorsill plate clamp A/B moves to the positioning position of the corresponding vehicle type through the movement of the X-axis and the Z-axis.
The threshold inner plate clamps A/B are respectively provided with three Y-axis linear modules which can move independently. The clamp can position the inner plates of the doorsills of different vehicle types through the movement of the three groups of modules. The pin hooking cylinder is used for positioning and clamping the inner plate of the threshold, and the two groups of positioning blocks are used for positioning the inner plate of the threshold. The inner plate of the threshold is arranged on a Z shaft through the gun changing plate, and the other gun changing plate is arranged on the side surface of the clamp. The gun changing disc fixes the clamp on the Z axis and can be matched with the gun changing disc on the robot side for use. The whole switching of the threshold clamp is realized.
Although the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications and improvements are intended to be within the scope of this invention without departing from the spirit thereof.

Claims (3)

1. The utility model provides a positioning system of flexible transport tongs and other deformation anchor clamps of line which characterized in that: the device comprises a steel structure splicing table, a traveling fixture, a lifting positioning rolling machine, a flexible carrying gripper and a line side deformation fixture, wherein the traveling fixture, the lifting positioning rolling machine, the flexible carrying gripper and the line side deformation fixture are arranged on a steel structure splicing table; the lifting positioning roller machine and the following fixture are used for conveying and positioning the body in white, the flexible carrying gripper is used for finishing the loading of the inner plate of the threshold, and the deformation fixture beside the line is used for finishing the positioning of the inner plate of the threshold.
2. The positioning system for the flexible handling grip and the off-line deforming clamp of claim 1, wherein: flexible transport tongs, including trading rifle dish, X axle glide machanism A, Y axle glide machanism A, first sucking disc, second sucking disc, octagon pipe and mount pad, the mount pad sets up on trading the rifle dish, fixed mounting has X axle glide machanism A and octagon pipe on the mount pad, install Y axle glide machanism A on the X axle glide machanism A, install first sucking disc on the Y axle glide machanism A, the one end of octagon pipe is fixed on the mount pad, the other end of octagon pipe is provided with the second sucking disc.
3. The system of claim 1 for positioning the flexible handling grip and the off-line deforming gripper, wherein: the wire side deformation clamp mechanism comprises an X-axis sliding mechanism B, Y, an axis sliding mechanism B, Z and a threshold clamp, wherein a Y-axis sliding mechanism is installed above the X-axis sliding mechanism, a Z-axis sliding mechanism is installed above the Y-axis sliding mechanism, and the threshold clamp is installed on the Z-axis sliding mechanism;
the threshold clamp comprises a side plate, a top plate and a bottom plate which are arranged at two ends of one side of the side plate in parallel, a linear module A is arranged at the end, away from the side plate, of the bottom plate, a positioning block A is arranged in the middle of the bottom plate, a gun changing plate B is arranged at the bottom of the bottom plate, a linear module B and a linear module C which are arranged in parallel are arranged at the end, away from the side plate, of the top plate, a positioning block B is arranged in the middle of the top plate, a hook pin cylinder is arranged between the top plate and a lower plate and fixedly connected with the top plate, and a gun changing plate A is arranged at the other side of the side plate;
the Z-axis sliding mechanism comprises an installation bottom plate, an installation top plate, a servo motor, a lead screw guide rail assembly, a welding gun disc C, a clamping cylinder and a dustproof cover, wherein the installation bottom plate and the installation top plate are respectively installed at two ends of the lead screw guide rail assembly; the welding gun disk C is connected with the gun changing disk B;
the X-axis sliding mechanism B comprises an X-axis sliding mechanism B mounting plate, an X-axis servo motor, an X-axis guide rail, an X-axis lead screw and a Z-axis mounting plate, the X-axis guide rail and the X-axis lead screw are parallelly mounted on the X-axis sliding mechanism mounting plate, one end of the X-axis lead screw is connected with the X-axis servo motor, the other end of the X-axis lead screw is connected with the Z-axis mounting plate, and the Z-axis mounting plate can be slidably mounted on the X-axis guide rail; a mounting bottom plate of a Z-axis sliding mechanism is mounted on the Z-axis mounting plate;
y axle glide machanism B includes base, Y axle guide rail, Y axle lead screw and Y axle servo motor, Y axle guide rail, Y axle lead screw parallel mount are on the base, and X axle glide machanism mounting panel is connected to the one end of Y axle lead screw, and Y axle servo motor is connected to the other end of Y axle lead screw, but X axle glide machanism mounting panel slidable mounting is on Y axle guide rail.
CN202220599236.1U 2022-03-18 2022-03-18 Positioning system of flexible carrying gripper and line side deformation clamp Active CN217452731U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202220599236.1U CN217452731U (en) 2022-03-18 2022-03-18 Positioning system of flexible carrying gripper and line side deformation clamp

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202220599236.1U CN217452731U (en) 2022-03-18 2022-03-18 Positioning system of flexible carrying gripper and line side deformation clamp

Publications (1)

Publication Number Publication Date
CN217452731U true CN217452731U (en) 2022-09-20

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ID=83266226

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202220599236.1U Active CN217452731U (en) 2022-03-18 2022-03-18 Positioning system of flexible carrying gripper and line side deformation clamp

Country Status (1)

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CN (1) CN217452731U (en)

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