CN219443926U - Flexible section replacement positioning trolley and welding positioning system - Google Patents

Abstract

The embodiment of the application provides a flexible section replacement positioning trolley and a welding positioning system, and belongs to the technical field of welding production lines. The flexible section replacing and fine positioning trolley comprises a frame, a plurality of groups of floor positioning mechanisms and a threshold section replacing mechanism, wherein the plurality of groups of floor positioning mechanisms are sequentially and alternately distributed on the frame along a first direction and used for positioning the floor of the vehicle body; the floor positioning mechanism comprises a position adjusting unit and a positioning assembly, the positioning assembly is used for being matched with a positioning hole of the vehicle body floor to position the vehicle body floor, and the position adjusting unit is used for spatially adjusting the position of the positioning assembly; the threshold section replacing mechanism is used for clamping and positioning the threshold, and the threshold section replacing mechanism is matched with the floor positioning mechanism so as to realize positioning matching between the threshold and the floor of the vehicle body, and the threshold section replacing mechanism is detachably connected with the frame. The flexible section replacing positioning trolley can meet the connection positioning requirements of different floor structures, and can be shared by multiple vehicles.

Description

Flexible section replacement positioning trolley and welding positioning system

Technical Field

The application relates to the technical field of welding production lines, in particular to a flexible segment replacement positioning trolley and a welding positioning system.

Background

Along with the development of new energy automobile industry, in order to improve the range of new energy automobile, traditional pure steel automobile body is difficult to satisfy high range requirement, and the automobile body material gradually turns to aluminum alloy or steel aluminium and mixes to reach automobile body lightweight demand. Because pure steel floor and aluminium-containing floor manufacturing process difference, traditional location connection conveying mode uses rolling machine delivery trolley + NC location or fixed follower fixture, has following shortcoming, and the flexibility is poor, and motorcycle type is changed and is used with low efficiency after the money is being transferred, is applicable to single motorcycle type, and multi-vehicle type total investment is high, and single motorcycle type uses, and multi-vehicle type total occupation space is big, and multi-vehicle type unit sets up complicacy, welding efficiency is low.

Among the prior art automobile body floor welding jig, as the patent of publication number CN205309674U discloses a lower automobile body amalgamation jig device and welding production line suitable for two platform motorcycle types, include: the top of the bottom plate is sequentially provided with a rear floor positioning mechanism, a front floor positioning unit, a rear floor positioning unit, an engine cabin floor positioning unit and an engine cabin floor positioning mechanism; the rear floor positioning mechanism consists of a rear floor first positioning unit and a rear floor second positioning unit which are identical in structure and are symmetrically arranged; the front and rear floor positioning unit comprises a second turnover mechanism, a front and rear floor first positioning clamp and a front and rear floor second positioning clamp; the engine compartment floor positioning unit comprises a third turnover mechanism, an engine compartment floor first positioning clamp and an engine compartment floor second positioning clamp; the engine compartment floor positioning mechanism consists of an engine compartment first positioning unit and an engine compartment second positioning unit which are identical in structure and symmetrically arranged. In this scheme, although can be applicable to two kinds of motorcycle type anchor clamps and switch, satisfy the automobile body floor location of two kinds of different models, but can not satisfy the floor connection location demand of different structures, if the concatenation between threshold and the floor can not satisfy the location, and different platform motorcycle type quantity is comparatively limited still, can not be applicable to the motorcycle type anchor clamps of more than two kinds and use.

Disclosure of Invention

The embodiment of the application provides a flexible section is accurate positioning platform truck and welds dress positioning system, can satisfy the connection location demand of different floor structures, realizes that the same positioning platform truck is shared to multiple vehicle types.

In a first aspect, an embodiment of the present application provides a flexible segment replacement positioning trolley, where the flexible segment replacement positioning trolley includes a frame, a plurality of groups of floor positioning mechanisms and a threshold segment replacement mechanism, where the plurality of groups of floor positioning mechanisms are sequentially distributed on the frame at intervals along a first direction, so as to be used for positioning a floor of a vehicle body; the floor positioning mechanism comprises a position adjusting unit and a positioning assembly, the positioning assembly is used for being matched with a positioning hole of the floor of the vehicle body to position the floor of the vehicle body, the position adjusting unit is arranged between the frame and the positioning assembly, and the position adjusting unit is used for enabling the positioning assembly to carry out spatial position adjustment; the threshold section is replaced the mechanism and is set up in one side of frame second direction, and threshold section is replaced the mechanism and is used for carrying out clamping and positioning to the threshold, and threshold section is replaced the mechanism and is cooperateed with floor positioning mechanism to realize the location cooperation between threshold and the automobile body floor, second direction perpendicular to first direction setting, threshold section is replaced and is connected detachably between mechanism and the frame.

In this scheme, through be provided with multiunit floor positioning mechanism in the frame, the position adjustment unit in the multiunit positioning mechanism can supply the space position of locating component to carry out corresponding adjustment to this satisfies the location connection demand of the floor assembly of different platforms. More importantly, the threshold section replacing mechanism is arranged on one side of the floor positioning mechanism on the frame, the threshold section replacing mechanism can be used for meeting the positioning connection requirement of the aluminum floor threshold section, the threshold section replacing mechanism is detachably connected with the frame, the threshold section replacing mechanism can be assembled or disassembled at any time, the random switching of aluminum riveting and steel spot welding connection functions of multiple steel-aluminum floors is met, and the occupied area and the equipment cost are reduced.

In some embodiments, the threshold segment replacement mechanism comprises a mounting frame and a plurality of groups of positioning and clamping units, wherein the mounting frame is used for being connected with the frame, the plurality of groups of positioning and clamping units are distributed on the mounting frame at intervals along a first direction, and the plurality of groups of positioning and clamping units are used for clamping and positioning a plurality of points of the threshold.

Among the above-mentioned technical scheme, be connected through between mounting bracket and the frame, under multiunit location clamping unit joint action, realize pressing from both sides tight location to a plurality of locations of threshold section, it is better to the location effect of threshold, has guaranteed the positioning accuracy of threshold.

In some embodiments, the positioning and clamping unit comprises a support and a clamping assembly, the clamping assembly comprises a clamping cylinder and a clamping piece, the clamping piece is provided with a clamping surface matched with the outer contour of the threshold, and the clamping cylinder is used for driving the clamping piece to turn over so as to clamp and position the outer side of the threshold.

According to the technical scheme, the clamping cylinder in the clamping assembly is utilized to realize the position adjustment of the clamping piece, the clamping cylinder is utilized to drive the clamping piece to rotate to the avoiding position before the floor threshold section is placed in the threshold section replacing mechanism, when the floor threshold section is placed in the threshold section replacing mechanism, the inner side of the floor threshold section is in contact with the floor of the vehicle body, then the clamping cylinder drives the clamping piece to overturn to the working position, and the clamping piece is utilized to clamp and position the outer side of the threshold.

In some embodiments, a guide rail unit is further arranged between the mounting frame and the frame, the guide rail unit is used for guiding the mounting frame to move in the second direction on the frame, and a driving unit is further arranged between the mounting frame and the frame, and the driving unit is used for driving the mounting frame to move in the second direction on the frame so as to adjust the position of the threshold section replacing mechanism in the second direction on the frame.

Among the above-mentioned technical scheme, through being provided with the guide rail unit between mounting bracket and frame, the guide rail unit can supply the threshold section to replace the whole position adjustment that carries out the second direction in the frame of mechanism, utilizes drive unit to provide power, and the guide threshold section replaces the mechanism and carries out the ascending position adjustment of second direction in the frame for location clamping unit can be close to and support tightly in the threshold in the second direction, and the clamping assembly of being convenient for realizes the locate function to the threshold.

In some embodiments, in the floor positioning mechanism, the number of the positioning components is two, and the two positioning components are arranged at intervals in the position adjustment unit along the second direction.

In the above technical scheme, for the vehicle body floor, the number of the positioning holes in the transverse direction of the vehicle body is generally two, so that the two-point positioning function of the vehicle body floor in the second direction can be realized by setting the number of the positioning components into two groups and jointly matching the two groups of the positioning components.

In some embodiments, the position adjustment unit includes a first X-direction guiding component, a first fixing frame, a first Y-direction guiding component and two first Z-direction guiding components, the first X-direction guiding component is disposed on the frame, the first fixing frame is disposed on the first X-direction guiding component along a first direction, the first Y-direction guiding component is disposed on the first fixing frame, the two first Z-direction guiding components are movably disposed on the first Y-direction guiding component at intervals along a second direction, the two positioning components are movably disposed on the two first Z-direction guiding components along a third direction respectively, so as to realize the spatial position adjustment of the two positioning components, and the third direction is perpendicular to the first direction and the second direction.

In the above technical scheme, through including first X to guide subassembly, first mount, first Y to guide subassembly and two first Z to guide subassemblies in the position adjustment unit, first X to guide subassembly can supply first mount to carry out the position adjustment of first direction, first Y to guide subassembly can supply the position of adjustment second direction between two first Z to guide subassemblies, first Z to guide subassembly can supply the position of locating component adjustment third direction, therefore the position adjustment unit can supply the locating component in the multiunit floor positioning mechanism to realize the optional position adjustment in the space upper run, thereby satisfy the location connection demand of the floor assembly of different platforms.

In some embodiments, the first X-direction guide assembly includes a guide rail and a self-locking slider, the guide rail extends along a first direction and is disposed on the frame, the self-locking slider slides along the first direction and is connected with an air pipe, the self-locking slider has an unlocked state and a locked state on the guide rail, when the air pipe ventilates to the self-locking slider, the self-locking slider is in the unlocked state and can slide on the guide rail, and when the air pipe stops supplying air to the self-locking slider, the self-locking slider is in the locked state to be locked and positioned on the guide rail.

Among the above-mentioned technical scheme, through adopting the direction subassembly as the direction lock structure, utilize the auto-lock slider dress to inlay in the guide rail promptly, utilize the trachea to realize the auto-lock slider unblock to remove on the guide rail to the position of adjustment locating component is convenient for, when the control trachea is out of gas after the position adjustment is accomplished, makes the auto-lock slider lock in on the guide rail, thereby realizes the fixed position of locating component, adopts the unblock of the locking of pneumatic mode control position adjustment unit promptly, and the control mode is simple reliable, easily realizes.

In some embodiments, the first X-direction guide assembly, the first Y-direction guide assembly, and the first Z-direction guide assembly are identical in structure, wherein the rails in the first Y-direction guide assembly extend in the second direction and the rails in the first Z-direction guide assembly extend in the third direction.

Among the above-mentioned technical scheme, through adopting first X to guide subassembly, first Y to guide subassembly and first Z to guide the subassembly for the same structure, only the arrangement direction of guide rail is different, is convenient for realize unifying and provides air supply and power, and the structure is simpler, and control is more convenient.

In some embodiments, the second position adjusting unit includes a second fixing frame and a lateral guiding component, the second fixing frame is disposed on the frame, the lateral guiding component is disposed on the second fixing frame, the two lateral guiding components are movably disposed on the second fixing frame at intervals along the second direction, and the positioning component is disposed on the lateral guiding component. In this embodiment, the lateral guiding component adopts a cylinder and a sliding rail, and the positioning component is slidably arranged on the sliding rail, and drives the positioning component to adjust the position of the second direction under the action of the cylinder.

In some embodiments, the flexible segment replacement positioning trolley further comprises a connecting unit and a valve island control unit, wherein the connecting unit is communicated with an air source and a power source for providing the air source and the power source for the position adjusting unit, the connecting unit is connected with the valve island control unit, and the valve island control unit is used for controlling the opening and closing of the air source and the power source in the position adjusting unit so as to lock or unlock the position of the positioning component.

In the technical scheme, the connecting unit and the valve island control unit are arranged on the frame, the connecting unit provides air source and power supply for the position adjusting unit through the air pipe and the circuit, the valve island control unit plays a control role, and the air source and the power supply are controlled to be opened and closed after the electric signal transmitted by the robot is received.

In some embodiments, the flexible segment-replaced positioning trolley further comprises a switching handle, the switching handle is connected to the robot, the switching handle is used for being matched and clamped with a positioning assembly in the floor positioning mechanism, and the positioning assembly is driven to realize spatial position adjustment under the action of movement of the robot so as to be used for positioning vehicle body floors of different models.

Among the above-mentioned technical scheme, through being provided with the switching tongs, the switching tongs is used for cooperating with locating component, owing to switch the tongs and install on the robot, consequently, utilize behind the locating component among the switching tongs clamp floor positioning mechanism in this scheme, drive the adjustment of locating component realization space position under the orbit of robot, thereby satisfy the floor assembly location connection demand of different platforms, and switch the tongs and be controlled by the robot, compare in traditional positioning trolley self and utilize actuating mechanism to adjust the position of locating component, utilize the switching tongs to drive locating component and carry out position adjustment, can realize quick switch motorcycle type, realize high accuracy flexibility and switch.

In some embodiments, the switching gripper comprises a gripper frame, a second Y-direction guiding assembly and two clamping units, wherein the gripper frame is provided with a flange plate, the flange plate is used for being connected with the robot, the second Y-direction guiding assembly is arranged on the gripper frame, the two clamping units are movably arranged on the second Y-direction guiding assembly at intervals along the second direction, and the two clamping units are used for being in clamping fit with two groups of positioning assemblies in the floor positioning mechanism so as to drive the positioning assemblies to perform position adjustment on the position adjustment unit.

According to the technical scheme, the assembly between the switching handle and the robot can be realized through the flange, and the two clamping units in the switching handle are movably arranged on the second Y-direction guide assembly, so that the distance between the two groups of positioning assemblies in the second direction in the floor positioning mechanism is adjusted, the switching handle is utilized to drive the positioning assemblies to move, and the position adjustment of the first direction, the second direction and the third direction in the positioning assemblies can be realized.

In some embodiments, a guide wheel assembly is provided on the frame for mating with a locating pin on the roller bed to locate the frame.

According to the technical scheme, the guide wheel assembly is arranged on the frame, and the guide wheel assembly can be matched with the positioning pin of the rolling machine, so that the position of the frame on the rolling machine is fixed.

In a second aspect, an embodiment of the present application further provides a welding positioning system, where the welding positioning system includes a robot and the aforementioned flexible segment replacement positioning trolley, and the switching gripper is connected to the robot.

The beneficial effect of this scheme is: the robot is used for driving the servo gripper to clamp the positioning assembly in the floor positioning mechanism to carry out position movement and locking, and the positioning assembly is similar to an NC (numerical control) mobile switching trolley, so that the positioning connection requirements of floor assemblies of different platforms can be met. And the detachable aluminum floor threshold section replacing mechanism is arranged on the frame, so that the random switching of the steel-aluminum floor multi-vehicle type aluminum riveting and steel spot welding connection functions is realized, the precision consistency and switching flexibility of the conveying trolley are fundamentally ensured, and the occupied area and the equipment investment cost are reduced.

Additional features and advantages of the present application will be set forth in the detailed description which follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a flexible segment replacement positioning trolley provided in some embodiments of the present application;

fig. 2 is a schematic structural diagram of a fine positioning trolley according to some embodiments of the present disclosure;

FIG. 3 is a schematic view of the structure of the frame in the fine positioning trolley provided in FIG. 2;

FIG. 4 is a schematic view of a valve island holder on the frame of FIG. 3;

FIG. 5 is a schematic view of the frame of FIG. 4 in a bottom view;

FIG. 6 is a schematic diagram of a valve island control unit in the fine positioning trolley provided in FIG. 2;

FIG. 7 is a schematic view of the floor positioning mechanism in the fine positioning carriage provided in FIG. 2;

FIG. 8 is a schematic view of another angle of the floor positioning mechanism of FIG. 7;

FIG. 9 is a schematic view of the guide assembly of FIG. 7;

FIG. 10 is a schematic view of a second floor positioning mechanism in the fine positioning cart provided in FIG. 2;

fig. 11 is a schematic structural view of a threshold replacing mechanism according to some embodiments of the present disclosure;

FIG. 12 is a schematic view of a positioning and clamping unit in the threshold replacing mechanism provided in FIG. 11;

fig. 13 is a schematic structural view of a rail unit in the threshold replacing mechanism provided in fig. 11;

FIG. 14 is a schematic view of a supply unit of the threshold replacing mechanism of FIG. 11;

Fig. 15 is a schematic structural diagram of a switching gripper in a flexible segment replacement positioning trolley according to some embodiments of the present application;

fig. 16 is a schematic structural view of a clamping unit in the switching grip provided in fig. 15.

Icon: 100-fine positioning trolley; 10-a frame; 11-a clamp body; 12-a guide rail mounting plate; 13-valve island fixing frame; 14-a cross-shaped mounting plate; 15-a rectangular mounting plate; 20-floor positioning mechanism; 21-a first floor positioning mechanism; 22-a second floor positioning mechanism; 23-a third floor positioning mechanism; 24-a fourth floor positioning mechanism; 25-a fifth floor positioning mechanism; 26-a sixth floor positioning mechanism; 30-a first position adjustment unit; 31-a first X-direction guide assembly; 310-a guide rail; 311-a self-locking slide block; 32-a first fixing frame; 33-a first Y-guide assembly; 34-a first Z-directed assembly; 35-pipeline tank chain; 40-positioning assembly; 41-positioning seats; 42-connecting blocks; 43-floor dowel pins; 50-a second position adjustment unit; 51-a second fixing frame; 52-a transverse guide assembly; a 60-valve island control unit; 61-a breather valve island; 62-module; 63-tracheal tube connection; 64-an air pressure display module; 70-a connection unit; 81-four-way guide wheels; 82-a bidirectional guide wheel; 200-threshold section replacing mechanism; 201-mounting rack; 202-positioning and clamping units; 2021-stand; 2022-clamping assembly; 2022 a-clamping cylinder; 2022 b-clip; 203-a rail unit; 2031-a slider; 2032-a rail bracket; 204-a drive unit; 205-a supply unit; 2050-energy plate male side; 2051-energy panel parent side; 300-switching grippers; 301-a grip frame; 3010-a flange plate; 302-a second Y-direction guide assembly; 303-a valve island unit; 304-a clamping unit; 3040-cylinder support; 3041-a strong clamping cylinder; 3042-briquetting; x-a first direction; y-a second direction; z-third direction.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the embodiments of the present application, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is conventionally put when the product of the application is used, which is merely for convenience in describing the present application and simplifying the description, and is not indicative or implying that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Examples

The embodiment of the application also provides a welding positioning system, which comprises a robot and a flexible segment replacement positioning trolley.

Specifically, referring to fig. 1 and 2, the flexible segment replacement positioning trolley includes a frame 10, a plurality of groups of floor positioning mechanisms 20 and a threshold segment replacement mechanism 200, wherein the plurality of groups of floor positioning mechanisms 20 are sequentially and alternately distributed on the frame 10 along a first direction X for positioning a floor of a vehicle body; the floor positioning mechanism 20 comprises a position adjusting unit and a positioning assembly 40, wherein the positioning assembly 40 is used for being matched with a positioning hole of a vehicle body floor to position the vehicle body floor, the position adjusting unit is arranged between the frame 10 and the positioning assembly 40, and the position adjusting unit is used for spatially adjusting the position of the positioning assembly 40; the threshold section replacing mechanism 200 is arranged at one side of the frame 10 in the second direction Y, the threshold section replacing mechanism 200 is used for clamping and positioning the threshold, the threshold section replacing mechanism 200 is matched with the floor positioning mechanism 20 to realize positioning matching between the threshold and the floor of the vehicle body, the second direction Y is perpendicular to the first direction X, and the threshold section replacing mechanism 200 is detachably connected with the frame 10.

In this scheme, through being provided with multiunit floor positioning mechanism 20 on frame 10, the position adjustment unit in multiunit positioning mechanism can supply the space position of locating component 40 to carry out corresponding adjustment to this satisfies the location connection demand of the floor assembly of different platforms. More importantly, the threshold section replacing mechanism 200 is arranged on one side of the floor positioning mechanism 20 on the frame 10, the threshold section replacing mechanism 200 can be used for meeting the positioning connection requirement of an aluminum floor threshold section, the threshold section replacing mechanism 200 is detachably connected with the frame 10, the threshold section replacing mechanism 200 can be assembled or disassembled at any time, the random switching of aluminum riveting and steel spot welding connection functions of multiple steel-aluminum floors is met, and the occupied area and the equipment cost are reduced.

In the present embodiment, the frame 10 and the floor positioning mechanism 20 on the frame 10 form a fine positioning trolley 100, and the fine positioning trolley 100 is mainly used for positioning a vehicle body floor assembly. Because the floor structures of different platform motorcycle types are different, the floor assemblies of some motorcycle types are provided with threshold sections, and the floor assemblies of some motorcycle types are not provided with threshold sections. When the floor with the threshold section is positioned and connected, the threshold section replacing mechanism 200 is installed on the frame to be matched with the plurality of groups of floor positioning mechanisms 20, so that the positioning requirement of multiple steel-aluminum floor models is met. When the floor without the threshold section is positioned and connected, the threshold section replacing mechanism 200 is disassembled, the floor positioning mechanism 20 is utilized to position the floor of the vehicle body, and the interference phenomenon during positioning of the flexible section replacing positioning trolley is avoided. The threshold section replacing mechanism 200 is detachably connected with the frame 10, and it can be understood that the threshold section replacing mechanism 200 can be flexibly detached and installed on the frame 10, when a floor and threshold splitting mode is needed, the threshold section replacing mechanism 200 is carried and installed on the frame 10 by using a robot, and when the threshold section splitting mode is not needed, the threshold section replacing mechanism 200 can be detached.

It is to be understood that the first direction X is actually the longitudinal direction of the vehicle body, and can be understood as the front-rear direction as well; the second direction Y is the width direction of the vehicle body, and can be understood as the lateral direction or the left-right direction; the third direction Z is the height direction of the vehicle body and can also be understood as vertical.

Referring to fig. 3 and 4, the frame 10 includes a clamp body 11, a rail mounting plate 12 and a valve island fixing frame 13, where the clamp body 11 is a mounting substrate for the floor positioning mechanisms 20, and is a frame structure, each floor positioning mechanism 20 is mounted on the clamp body 11, the rail mounting plate 12 is mounted on the clamp body 11 through bolts, and the levelness of the rail mounting plate 12 in the third direction Z on the clamp body 11 can be adjusted through a gasket, so as to ensure the mounting accuracy of each floor positioning mechanism 20 in the third direction Z. The valve island fixing frame 13 is assembled into a frame by angle irons and is installed on the clamp main body 11 for the installation of a subsequent valve island control unit 60.

In some embodiments, referring to fig. 5, a guide wheel assembly is provided on the frame 10 for engaging a locating pin on a roller (not shown) to locate the frame 10. The guide wheel assembly is arranged on the frame 10, and the guide wheel assembly can be matched with a positioning pin of the rolling machine, so that the position of the frame 10 on the rolling machine is fixed.

The guide wheel assembly comprises a four-way guide wheel 81 and a two-way guide wheel 82, wherein the four-way guide wheel 81 is arranged on the cross-shaped mounting plate 14 by utilizing four steel guide wheels, and is fixed on the clamp main body 11 through bolts, so that positioning pins on a rolling machine are guided to position in a first direction X and a second direction Y. The bidirectional guide wheels 82 are mounted on the rectangular mounting plate 15 by two steel guide wheels, and are mounted and fixed on the clamp main body 11 by bolts, so that the positioning pins on the rolling machine are guided to position in the second direction Y. The frame 10 is also provided with a grating ruler, and the grating ruler is fixedly arranged on the clamp main body 11 through bolts, so that the straightness of the grating ruler is ensured.

In some embodiments, referring to fig. 6, in the floor positioning mechanism 20, the number of positioning assemblies 40 is two, and the two positioning assemblies 40 are disposed at intervals along the second direction Y in the position adjustment unit. Since the number of positioning holes in the lateral direction of the vehicle body is generally two for the vehicle body floor, by setting the number of positioning members 40 to two, the two sets of positioning members 40 cooperate together, so that the two-point positioning function of the vehicle body floor in the second direction Y can be achieved.

The number of groups in the top plate positioning mechanism can be five groups, six groups or seven groups. In the present embodiment, the number of the floor positioning mechanisms 20 is set to six groups, which are the first floor positioning mechanism 21, the second floor positioning mechanism 22, the third floor positioning mechanism 23, the fourth floor positioning mechanism 24, the fifth floor positioning mechanism 25, and the sixth floor positioning mechanism 26, respectively. In addition, the specific structure of each position adjustment unit may or may not be identical among the position adjustment units of the plurality of sets of floor positioning mechanisms 20. For example, in the present embodiment, since the accuracy of the first direction X of the second group of positioning holes of the lower vehicle body floor can be ensured to be uniform, the first floor positioning mechanism 21, the third floor positioning mechanism 23, the fourth floor positioning mechanism 24, the fifth floor positioning mechanism 25 and the sixth floor positioning mechanism 26 are identical in structure, the second floor positioning mechanism 22 is different, the positions of the first direction X of the two groups of positioning assemblies 40 in the second floor positioning mechanism 22 do not need to be adjusted, and thus the six position adjustment units are divided into five first position adjustment units 30 and one second position adjustment unit 50, that is, the second position adjustment unit 50 in the second floor positioning mechanism 22, the first position adjustment unit 30 can be used for adjusting the positions of the positioning assemblies 40 in the first direction X, the second direction Y and the third direction Z, and the second position adjustment unit 50 in the second floor positioning mechanism 22 is used for adjusting the positions of the positioning assemblies 40 in the second direction Y and/or the third direction Z. Each group of position adjustment units is fixed to the frame 10 by bolts and positioning pins.

Here, when the six sets of floor positioning mechanisms 20 are disposed on the frame 10, since each set of floor positioning mechanisms 20 has spatial position adjustment, when the positions of the floor positioning mechanisms 20 are disposed, corresponding avoiding strokes are required to be set according to different movable strokes of the floor positioning mechanisms 20, so as to avoid a collision phenomenon during the position switching process of the floor positioning mechanisms 20.

In some embodiments, referring to fig. 7 and 8, the first position adjusting unit 30 includes a first X-direction guiding component 31, a first fixing frame 32, a first Y-direction guiding component 33 and two first Z-direction guiding components 34, wherein the first X-direction guiding component 31 is disposed on the frame 10, the first fixing frame 32 is disposed on the first X-direction guiding component 31 along a first direction X, the first Y-direction guiding component 33 is disposed on the first fixing frame 32, the two first Z-direction guiding components 34 are movably disposed on the first Y-direction guiding component 33 at intervals along a second direction Y, the two positioning components 40 are movably disposed on the two first Z-direction guiding components 34 along a third direction Z respectively, and the third direction Z is perpendicular to the first direction X and the second direction Y.

The first position adjusting unit 30 includes a first X-direction guiding component 31, a first fixing frame 32, a first Y-direction guiding component 33 and two first Z-direction guiding components 34, the first X-direction guiding component 31 can be used for the first fixing frame 32 to adjust the position of the first direction X, the first Y-direction guiding component 33 can be used for adjusting the position of the second direction Y between the two first Z-direction guiding components 34, the first Z-direction guiding component 34 can be used for the positioning component 40 to adjust the position of the third direction Z, so that the first position adjusting unit 30 can be used for realizing any position adjustment in a space upstroke by the positioning component 40 in the multi-group floor positioning mechanism 20, and the positioning connection requirements of floor assemblies of different platforms are met.

The guiding components of the first X-guiding component 31, the first Y-guiding component 33 and the first Z-guiding component 34 may be various guiding mechanisms, for example, the guiding components may be a screw nut pair mechanism, a cylinder, a hydraulic cylinder, an electric push rod or a pneumatic guide rail 310 lock mechanism, etc. The specific structure of the guide assembly can be selected according to actual conditions.

In some embodiments, referring to fig. 9, the first X-direction guiding assembly 31 includes a guide rail 310 and a self-locking slider 311, the guide rail 310 is extended along the first direction X and disposed on the rack 10, the self-locking slider 311 is slidably disposed on the guide rail 310 along the first direction X, the self-locking slider 311 is connected with an air pipe, the self-locking slider 311 has an unlocked state and a locked state on the guide rail 310, when the air pipe ventilates the self-locking slider 311, the self-locking slider 311 is in the unlocked state and can slide on the guide rail 310, and when the air pipe stops supplying air to the self-locking slider 311, the self-locking slider 311 is in the locked state to be locked and positioned on the guide rail 310. The guide assembly is of a guide lock structure, namely, the guide assembly is embedded in the guide rail 310, the self-locking sliding block 311 can be unlocked by air supply from the air pipe to the self-locking sliding block 311 and can move on the guide rail 310, so that the position of the positioning assembly 40 can be conveniently adjusted, when the air pipe is controlled to be out of air after the position adjustment is finished, the self-locking sliding block 311 is locked on the guide rail 310, the position of the positioning assembly 40 is fixed, namely, the unlocking of the locking of the position adjustment unit is controlled in a pneumatic mode, and the control mode is simple and reliable and easy to realize.

In some embodiments, the first X-direction guide assembly 31, the first Y-direction guide assembly 33, and the first Z-direction guide assembly 34 are identical in structure, wherein the guide rail 310 in the first Y-direction guide assembly 33 is disposed to extend in the second direction Y, and the guide rail 310 in the first Z-direction guide assembly 34 is disposed to extend in the third direction Z. By adopting the first X-direction guide assembly 31, the first Y-direction guide assembly 33 and the first Z-direction guide assembly 34 as the same structure, only the arrangement direction of the guide rail 310 is different, so that the unified supply of air source and power supply is facilitated, the structure is simpler, and the control is more convenient.

In some embodiments, referring to fig. 2 and 6, the flexible segment replacement positioning trolley further includes a connection unit 70 and a valve island control unit 60, the connection unit 70 is connected with an air source and a power source for providing the air source and the power source to the position adjustment unit, the connection unit 70 is connected with the valve island control unit 60, and the valve island control unit 60 is used for controlling the opening and closing of the air source and the power source in the position adjustment unit so as to lock or unlock the position of the positioning assembly 40. The connection unit 70 and the valve island control unit 60 are arranged on the frame 10, the connection unit 70 provides air source and power supply for the position adjusting unit through an air pipe and a circuit, the valve island control unit 60 plays a control role, and the air source and the power supply are controlled to be opened and closed after receiving the electric signal transmitted by the robot.

The valve island control unit 60 comprises a ventilation valve island 61, a module 62, an air pipe connecting piece 63 and an air pressure display module 64, wherein the ventilation valve island 61 and the module 62 are fixed on a valve island fixing frame 13 of the frame 10 through bolts, the air pipe connecting piece 63 is fixed on the clamp main body 11 through bolts, and the air pressure display module 64 is used for displaying air pressure of air supply and is connected with the ventilation valve island 61 and the module 62 through an air pipe.

The first X-direction guide assembly 31, the first Y-direction guide assembly 33, and the first Z-direction guide assembly 34 are all the same in structure, and are all guide rail 310 lock mechanisms. It may be appreciated that the guide rail 310 lock mechanism includes a self-locking slider 311 and a guide rail 310, the self-locking slider 311 is embedded on the guide rail 310, the self-locking slider 311 is connected with an air pipe in the valve island control unit 60, when the position of the positioning component 40 needs to be adjusted, the valve island control unit 60 is utilized to ventilate the self-locking slider 311 to unlock the self-locking, at this time, each self-locking slider 311 in the position adjustment unit is in an unlock state, that is, the positioning component 40 can be driven to move in the position adjustment unit under the action of the external force of the switching gripper 300, when the position of the positioning component 40 is adjusted in place by the manipulator through the switching gripper 300, the self-locking slider 31 is locked through the valve island control unit 60, that is, the position of the positioning component 40 in the position adjustment unit is locked and fixed.

Wherein, the position adjustment unit still includes pipeline tank chain 35, and pipeline tank chain 35 is used for the cable wiring such as air supply pipe and sensor to use.

Referring to fig. 7, the positioning assembly 40 includes a positioning seat 41 and a floor positioning pin 43, wherein the floor positioning pin 43 is mounted on the positioning seat 41, and the floor positioning pin 43 is used for being matched with a positioning hole of a vehicle body floor to position the vehicle body floor.

In some embodiments, referring to fig. 10, the second position adjusting unit 50 includes a second fixing frame 51 and a lateral guiding assembly 52, the second fixing frame 51 is disposed on the frame 10, the lateral guiding assembly 52 is disposed on the second fixing frame 51, the two lateral guiding assemblies 52 are movably disposed on the second fixing frame 51 at intervals along the second direction Y, and the positioning assembly 40 is disposed on the lateral guiding assembly 52. In this embodiment, the lateral guiding component 52 is a cylinder and a sliding rail, and the positioning component 40 is slidably disposed on the sliding rail, and drives the positioning component 40 to adjust the position in the second direction Y under the action of the cylinder.

In some embodiments, referring to fig. 11, the threshold replacing mechanism 200 includes a mounting frame 201 and a plurality of groups of positioning and clamping units 202, the mounting frame 201 is used for being connected with the frame 10, the plurality of groups of positioning and clamping units 202 are distributed on the mounting frame 201 at intervals along a first direction X, and the plurality of groups of positioning and clamping units 202 are used for clamping and positioning a plurality of points of a threshold. Through being connected between mounting bracket 201 and the frame 10, under the combined action of multiunit location clamping unit 202, realize pressing from both sides tight location to a plurality of locations of threshold section, it is better to the location effect of threshold, has guaranteed the positioning accuracy of threshold.

In some embodiments, referring to fig. 12, the positioning and clamping unit 202 includes a support 2021 and a clamping assembly 2022, the clamping assembly 2022 includes a clamping cylinder 2022a and a clamping member 2022b, the clamping member 2022b has a clamping surface adapted to an outer contour of the threshold, and the clamping cylinder 2022a is used to drive the clamping member 2022b to turn over so as to clamp and position an outer side of the threshold. The clamping cylinder 2022a in the clamping assembly 2022 is utilized to realize the position adjustment of the clamping piece 2022b, before the floor threshold section is placed in the threshold section replacing mechanism 200, the clamping cylinder 2022a is utilized to drive the clamping piece 2022b to rotate to the avoiding position, when the floor threshold section is placed in the threshold section replacing mechanism 200, the inner side of the floor threshold section is in contact with the floor of a vehicle body, then the clamping cylinder 2022a drives the clamping piece 2022b to overturn to the working position, and the clamping face of the clamping piece 2022b is utilized to clamp and position the outer side of the threshold.

In some embodiments, referring to fig. 11 and 13, a guide rail unit 203 is further disposed between the mounting frame 201 and the frame 10, the guide rail unit 203 is used for guiding the mounting frame 201 to move along the second direction Y on the frame 10, and a driving unit 204 is further disposed between the mounting frame 201 and the frame 10, and the driving unit 204 is used for driving the mounting frame 201 to move along the second direction Y on the frame 10, so as to adjust the position of the threshold replacing mechanism 200 on the frame 10 in the second direction Y. Through being provided with the guide rail unit 203 between mounting bracket 201 and frame 10, guide rail unit 203 can supply threshold section to replace the mechanism 200 wholly and carry out the position adjustment of second direction Y in frame 10, utilizes drive unit 204 to provide power, and guide threshold section to replace the mechanism 200 and carry out the position adjustment in second direction Y in frame 10 for location clamping unit 202 can be close to and support tightly in the threshold in second direction Y, is convenient for press from both sides tight subassembly 2022 and realizes the locate function to the threshold.

The guide rail unit 203 comprises a sliding block 2031 and a guide rail bracket 2032, the guide rail bracket 2032 is installed on the frame 10, and the installation frame 201 is slidably installed on the guide rail bracket 2032 through the sliding block 2031 and fastened, so that the sliding block 2031 can move in the stroke of the guide rail bracket 2032. The mounting frame 201 is used as a mounting reference surface of the threshold section replacing mechanism 200, the driving unit 204 comprises two parts, the first part is mounted on the mounting frame 201 through bolts, the other part is mounted on the frame 10 through bolts, and the two parts are respectively clamped and fixed by using air cylinders, so that the precision guarantee of the threshold section replacing mechanism 200 in the second direction Y is realized.

In addition, referring to fig. 14, a supply unit 205 is further provided on the rack 10, where the supply unit 205 includes an energy board male side 2050 and an energy board female side 2051, the energy board male side 2050 is fastened on the mounting frame 201 by a positioning pin and a bolt, the energy board female side 2051 is fastened on the rack 10 by a bolt, and when the energy board female side 2051 is connected to the energy board male side 2050, the power-on and ventilation functions of the floor positioning mechanism 20 and the threshold replacing mechanism 200 can be realized. In the present embodiment, the two sets of the supply units 205 are provided for use in the floor positioning mechanism 20 and the threshold replacing mechanism 200, respectively.

In some embodiments, referring to fig. 15 and 16, the flexible segment replacement positioning trolley further includes a switching gripper 300, where the switching gripper 300 is connected to a robot (not shown in the drawings), and the switching gripper 300 is used to coordinate and clamp with the positioning component 40 in the floor positioning mechanism 20, and drive the positioning component 40 to implement spatial position adjustment under the action of the movement of the robot, so as to adapt to positioning of the floor of the vehicle body with different models. Through being provided with switching tongs 300, switching tongs 300 is used for cooperating with locating component 40, owing to switch tongs 300 installs on the robot, consequently, utilize behind the locating component 40 in the tight floor positioning mechanism 20 of switching tongs 300 clamp in this scheme, drive the adjustment of locating component 40 realization space position under the orbit of robot, thereby satisfy the floor assembly location connection demand of different platforms, and switch tongs 300 are controlled by the robot, compare in traditional positioning trolley itself and utilize actuating mechanism to adjust the position of locating component 40, utilize switching tongs 300 to drive locating component 40 and carry out position adjustment, can realize quick switch-over motorcycle type, realize high accuracy flexible switching.

Specifically, when the switching gripper 300 is used to drive the positioning assembly 40 to adjust the position, the robot sends a signal to the control module, the control module transmits the signal to the valve island control unit 60, the valve island control unit 60 is enabled to open an air source and a power source, the guide lock mechanism in the position adjustment unit is in an unlocking state, the switching gripper 300 can drive the positioning assembly 40 to adjust the position, after the robot adjusts the position of the positioning assembly 40 in place, the robot sends a signal value control module, the control module transmits the signal to the valve island control unit 60, the valve island control unit 60 is enabled to close the air source and the power source, and the guide lock mechanism in the position adjustment unit is enabled to be in a locking state, so that the position adjustment of the group of floor positioning mechanisms 20 is completed. Likewise, other sets of floor positioning mechanisms 20 are similarly positionally adjustable to accommodate floor assembly positioning connection requirements of different platforms.

In some embodiments, the switching gripper 300 includes a gripper frame 301, a second Y-direction guiding assembly 302, and two clamping units 304, the gripper frame 301 has a flange 3010 thereon, the flange 3010 is used to connect with a robot, the second Y-direction guiding assembly 302 is disposed on the gripper frame 301, the two clamping units 304 are movably disposed on the second Y-direction guiding assembly at intervals along the second direction Y, and the two clamping units 304 are used to clamp and cooperate with the two sets of positioning assemblies 40 in the floor positioning mechanism 20 to drive the positioning assemblies 40 to perform position adjustment on the position adjustment unit. The assembly between the switching grip 300 and the robot can be realized through the flange 3010, and the two clamping units 304 in the switching grip 300 are movably arranged on the second Y-direction guiding assembly 302, so that the distance between the two groups of positioning assemblies 40 in the floor positioning mechanism 20 in the second direction Y is adjusted, the switching grip 300 is utilized to drive the positioning assemblies 40 to move, and the position adjustment of the first direction X, the second direction Y and the third direction Z in the positioning assemblies 40 can be realized.

Wherein, for the switching grip 300, the grip frame 301 is mounted and locked to the robot through the flange 3010, so that the switching grip 300 follows the track of the robot. The switching grip 300 further comprises a valve island unit 303, and the valve island unit 303 realizes a motion communication function between the robot and the switching grip 300 through an air pipe and a signal line. For the second Y-direction guiding assembly 302, various linear driving mechanisms, such as a cylinder, a linear motor, a screw-nut pair mechanism, or a hydraulic mechanism, may be used, and in this embodiment, the second Y-direction guiding assembly 302 is used as a servo motor to cooperate with a screw, that is, a screw-nut pair mechanism is used, so as to implement position adjustment of the two clamping units 304 in the second direction Y on the gripper frame 301, so that position adjustment of the two positioning assemblies 40 in the floor positioning mechanism 20 in the second direction Y may be performed, and then overall position adjustment of the positioning assemblies 40 in the first direction X, the second direction Y, and the third direction Z may be implemented by using a motion track of the robot, so as to implement position switching of the positioning assemblies 40 in each direction.

Specifically, referring to fig. 16, the clamping unit 304 includes a cylinder support 3040, a powerful clamping cylinder 3041, and a pressing block 3042, the cylinder support 3040 is mounted on a nut seat of the second Y-direction guiding assembly 302, the powerful clamping cylinder 3041 is mounted on the cylinder support 3040, and the powerful clamping cylinder 3041 drives the pressing block 3042 to turn over and then clamp the pressing block 3042 of the positioning assembly 40, so as to drive the positioning assembly 40 in the floor positioning mechanism 20 to move along with a movement track of the robot, and achieve position adjustment of the positioning assembly 40. The positioning unit comprises a connecting block 42, the connecting block 42 is arranged on the positioning seat 41, the connecting block 42 is provided with a mounting hole, a positioning pin matched with the positioning hole on the connecting block 42 is correspondingly arranged on the cylinder support 3040, and after the positioning pin passes through the mounting hole, the clamping unit 304 is tightly pressed by a pressing block 3042 to realize the clamping of the connecting block 42 on the positioning assembly 40.

It should be noted that, without conflict, features in the embodiments of the present application may be combined with each other.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (13)

1. A flexible segment replacement positioning trolley, comprising:

a frame;

the plurality of groups of floor positioning mechanisms are sequentially and alternately distributed on the rack along the first direction and used for positioning the floor of the vehicle body; the floor positioning mechanism comprises a position adjusting unit and a positioning assembly, wherein the positioning assembly is used for being matched with a positioning hole of the vehicle body floor to position the vehicle body floor, the position adjusting unit is arranged between the frame and the positioning assembly, and the position adjusting unit is used for enabling the positioning assembly to carry out spatial position adjustment;

the threshold section is replaced the mechanism, set up in one side of frame second direction, threshold section is replaced the mechanism and is used for pressing from both sides tight location to the threshold, threshold section replace the mechanism with floor positioning mechanism both cooperate, in order to realize the threshold with the location cooperation between the automobile body floor, the second direction perpendicular to first direction sets up, threshold section replace the mechanism with detachably connects between the frame.

2. The flexible segment replacement positioning trolley of claim 1, wherein the threshold segment replacement mechanism comprises a mounting frame and a plurality of groups of positioning and clamping units, the mounting frame is used for being connected with the frame, the plurality of groups of positioning and clamping units are distributed on the mounting frame at intervals along the first direction, and the plurality of groups of positioning and clamping units are used for clamping and positioning a plurality of points of the threshold.

3. The flexible segment replacement positioning trolley according to claim 2, wherein the positioning and clamping unit comprises a support and a clamping assembly, the clamping assembly comprises a clamping cylinder and a clamping piece, the clamping piece is provided with a clamping surface matched with the outer contour of the doorsill, and the clamping cylinder is used for driving the clamping piece to turn over so as to clamp and position the outer side of the doorsill.

4. The flexible segment replacement positioning trolley of claim 2, wherein a guide rail unit is further arranged between the mounting frame and the frame, the guide rail unit is used for guiding the mounting frame to move along the second direction on the frame, and a driving unit is further arranged between the mounting frame and the frame, and is used for driving the mounting frame to move along the second direction on the frame so as to adjust the position of the threshold segment replacement mechanism on the frame.

5. The flexible segment replacement positioning trolley according to claim 1, wherein in the floor positioning mechanism, the number of the positioning components is set to two, and the two positioning components are arranged at intervals in the position adjustment unit along the second direction.

6. The flexible segment replacement positioning trolley of claim 5, wherein the position adjustment unit comprises a first X-direction guide assembly, a first fixing frame, a first Y-direction guide assembly and two first Z-direction guide assemblies, the first X-direction guide assembly is arranged on the frame, the first fixing frame is arranged on the first X-direction guide assembly along the first direction, the first Y-direction guide assembly is arranged on the first fixing frame, the two first Z-direction guide assemblies are movably arranged on the first Y-direction guide assembly at intervals along the second direction, the two positioning assemblies are movably arranged on the two first Z-direction guide assemblies along a third direction respectively, and the third direction is perpendicular to the first direction and the second direction.

7. The flexible segment replacement positioning trolley of claim 6, wherein the first X-direction guide assembly comprises a guide rail and a self-locking slider, the guide rail is arranged on the frame in the first direction in an extending manner, the self-locking slider is arranged on the guide rail in a sliding manner along the first direction, the self-locking slider is connected with an air pipe, the self-locking slider is provided with an unlocking state and a locking state on the guide rail, the self-locking slider is in the unlocking state and can slide on the guide rail when the air pipe ventilates to the self-locking slider, and the self-locking slider is in the locking state to be locked and positioned on the guide rail when the air pipe stops supplying air to the self-locking slider.

8. The flexible segment replacement positioning trolley of claim 7, wherein the first X-guide assembly, the first Y-guide assembly, and the first Z-guide assembly are identical in structure, wherein the guide rail in the first Y-guide assembly extends in the second direction and the guide rail in the first Z-guide assembly extends in the third direction.

9. The flexible segment replacement positioning trolley according to claim 1, further comprising a connection unit and a valve island control unit, wherein the connection unit is communicated with an air source and a power source for providing the air source and the power source for the position adjustment unit, the connection unit is connected with the valve island control unit, and the valve island control unit is used for controlling the opening and closing of the air source and the power source in the position adjustment unit so as to lock or unlock the position of the positioning component.

10. The flexible segment replacement positioning cart of claim 5, further comprising:

the switching tongs are connected to the robot and are used for being matched and clamped with the positioning components in the floor positioning mechanism, and the positioning components are driven to realize spatial position adjustment under the action of movement of the robot so as to be used for being matched with the positioning of the floor of the vehicle body in different models.

11. The flexible segment replacement positioning trolley according to claim 10, wherein the switching gripper comprises a gripper frame, a second Y-direction guiding assembly and two clamping units, wherein the gripper frame is provided with a flange plate, the flange plate is used for being connected with the robot, the second Y-direction guiding assembly is arranged on the gripper frame, the two clamping units are movably arranged on the second Y-direction guiding assembly at intervals along the second direction, and the two clamping units are used for being in clamping fit with two groups of positioning assemblies in the floor positioning mechanism so as to drive the positioning assemblies to perform position adjustment on the position adjustment unit.

12. The flexible segment replacement positioning trolley of claim 11, wherein a guide wheel assembly is provided on the frame for mating with a locating pin on a roller bed to position the frame.

13. A welding positioning system comprising a robot and a flexible segment replacement positioning trolley according to any one of claims 1-12, the switching grip being connected to the robot.