WO2021134840A1 - 汽车抓手总拼系统 - Google Patents

汽车抓手总拼系统 Download PDF

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Publication number
WO2021134840A1
WO2021134840A1 PCT/CN2020/072434 CN2020072434W WO2021134840A1 WO 2021134840 A1 WO2021134840 A1 WO 2021134840A1 CN 2020072434 W CN2020072434 W CN 2020072434W WO 2021134840 A1 WO2021134840 A1 WO 2021134840A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
gripper
automobile
pin
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/072434
Other languages
English (en)
French (fr)
Inventor
董学羽
周江奇
雷志华
代巍
陈力捷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SAIC GM Wuling Automobile Co Ltd
Original Assignee
SAIC GM Wuling Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SAIC GM Wuling Automobile Co Ltd filed Critical SAIC GM Wuling Automobile Co Ltd
Publication of WO2021134840A1 publication Critical patent/WO2021134840A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B23K37/0443—Jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/006—Vehicles

Definitions

  • This application relates to the technical field of automobile manufacturing, and in particular to an automobile gripper total assembly system.
  • the main forms of the current automotive gripper assembly system include side frame technology and robot gripper assembly technology.
  • the side frame type general assembly technology generally consists of upper body positioning tooling and lower body positioning tooling. By switching the upper body tooling to achieve the alignment of different models, the side frame type general assembly technology is limited by the requirements of platformization. Only for vehicles with similar wheelbases, it has a certain flexibility.
  • Robotic gripper assembly technology usually consists of upper car body positioning and lower car body positioning tooling.
  • the upper car body positioning fixture is picked up by the robot and placed next to the line or between the grippers to form an interlock. Different models are switched by the robot. .
  • the flexibility of robot gripper assembly technology is limited by platform requirements, and it only has a certain degree of flexibility for vehicles with similar wheelbases.
  • the gripper positioning system relies on robot positioning (the handling robot before and after welding is always configured for gripper positioning) Or the gripper is docked to form a frame structure, but the positioning accuracy of the system is low.
  • the main purpose of this application is to propose a car gripper total assembly system, which aims to solve the technical problems of poor flexibility and low positioning accuracy of the car gripper total assembly system in the prior art.
  • a car gripper total assembly system proposed in this application includes:
  • the side gripper includes a left gripper and a right gripper, the left gripper is configured to position and clamp the left side of the car, and the right gripper is configured to position and clamp the right side of the car tight;
  • the rear gripper is configured to position and clamp the rear of the car
  • the lower car body positioning device is configured to position the bottom of the car
  • the positioning structure includes a first sliding device and two second sliding devices arranged on opposite sides of the first sliding device.
  • the lower vehicle body positioning device is installed on the first sliding device, so
  • the second sliding device includes a first upright post and a second upright that are arranged at intervals and can be relatively far away or close to each other, and two ends of the left hand grip are respectively connected to one of the first upright posts of the second sliding device. Is connected to the second upright post, the two ends of the right hand grip are respectively connected to the first upright post and the second upright post of the other second sliding device, and the two ends of the rear gripper are respectively connected to two The second uprights are connected.
  • the first sliding device includes a base and a conveying sled slidably arranged on the base, and the lower car body positioning device is installed on the conveying sled.
  • the second sliding device further includes a first driving assembly, a first connecting seat, a supporting bottom plate, and a Y-direction moving plate arranged above the supporting bottom plate, and the supporting bottom plate faces the Y direction.
  • a first guide rail is provided to one side of the moving plate, the first guide rail extends along the Y direction, and the Y-direction moving plate is provided with a sliding block that is in sliding contact and cooperates with the first guide rail; the first drive assembly and The first connecting seat is connected, the first upright column and the second upright column are connected to the first connecting seat through the Y-direction moving plate, and the first driving assembly is configured to drive the first connecting seat and the first connecting seat.
  • the Y-direction moving plate moves along the first guide rail, so that the first and second upright columns move along the Y direction.
  • the first drive assembly includes a first mounting plate, a first drive motor and a first ball screw mounted on the first mounting plate, and the first mounting plate is disposed on the support.
  • the bottom plate, the first ball screw extends in the Y direction; the first connecting seat is sleeved on the first ball screw and meshes with the first ball screw, and the first drive motor is connected to the One end of the first ball screw drives the ball screw to rotate.
  • the second sliding device further includes a second mounting plate, an X-direction moving plate, and a second drive assembly arranged on the second mounting plate, and the second mounting plate is connected to the Y
  • the second mounting plate is provided with a second guide rail, the second guide rail extends in the X direction, and the X-direction movable plate is provided with a sliding groove configured to be in sliding contact and cooperation with the second guide rail,
  • the second upright post is installed on the X-direction moving plate, and the second drive assembly is configured to drive the X-direction moving plate to move along the second guide rail, so that the second upright post moves away from or close to the The first column.
  • the second drive assembly includes a second drive motor, a second ball screw and a screw nut seat, the second ball screw extends in the X direction, and the screw nut seat is sleeved On the second ball screw and engaged with the second ball screw, the screw nut seat is connected to the X-direction moving plate, and the second drive motor is connected to one end of the second ball screw And can drive the second ball screw to rotate.
  • a first positioning area is provided on the second upright post, and the rear grip is abutted with the two first positioning areas on the second sliding device, and the rear grip It includes a connecting frame and a first positioning pin arranged on the connecting frame.
  • the second upright column includes a supporting pillar located in the first positioning area, and a first positioning hole and a first positioning hole arranged on the supporting pillar.
  • a clamping member, the first positioning pin is matched with the first positioning hole, and the first clamping member is configured to press the connecting frame against the supporting column.
  • a first positioning and clamping mechanism and a second positioning and clamping mechanism are installed on the side of the rear gripper facing the automobile, and the first positioning and clamping mechanism is configured to be connected to the automobile.
  • the side wall tailgate holes are correspondingly arranged and configured to locate and clamp the side wall tailgate holes, and the second positioning and clamping mechanism is configured to correspond to the roof rear cross beam of the automobile and is configured to position and clamp Support the rear cross beam of the top cover.
  • the first positioning and clamping mechanism includes a first mounting seat, a first driving cylinder, an abutting block, a pin seat, and a second positioning pin; the first mounting seat and the rear gripper Hand connection; the abutment block and the first drive cylinder are both provided on the first mounting seat, and the second positioning pin is connected to the output shaft of the first drive cylinder through the pin seat,
  • the abutting block is configured to abut against the side wall of the automobile, and the second positioning pin is matched with the first pin hole on the side wall of the automobile.
  • a fixing plate is provided on the rear gripper, and the second positioning and clamping mechanism includes:
  • the second mounting seat is arranged on the fixed plate
  • the first clamping assembly includes a second drive cylinder arranged on the second mounting seat, a third mounting plate connected with the output shaft of the second drive cylinder, and a first mounting plate hinged on the third mounting plate.
  • a first positioning component comprising a first positioning block, a second positioning block and a third positioning pin arranged on the third mounting plate;
  • the second driving cylinder is configured to drive the third mounting plate to reciprocate, so that the third positioning pin is inserted into or separated from the second pin hole of the rear cross beam of the top cover, and drives the first clamping arm Approach or move away from the first positioning block to clamp or loosen one side of the rear cross beam of the top cover, and also drive the second clamping arm to approach or move away from the second positioning block to hold the top cover The other side of the rear beam is clamped or loosened.
  • a second positioning area and a third positioning area are provided at intervals on the first column, and a fourth positioning area and a fifth positioning area are provided at intervals on the second column, so
  • the second positioning area and the fourth positioning area have the same structure
  • the third positioning area and the fifth positioning area have the same structure
  • the left hand grip is similar to the second sliding device of one of the second sliding devices.
  • the positioning area, the third positioning area, the fourth positioning area, and the fifth positioning area are docked, and the right hand grip is connected to the second positioning area, the third positioning area, and the fourth positioning area of the other second sliding device Docking with the fifth positioning area.
  • a third positioning block and a second positioning hole are provided on the first upright column, and a second clamping member is provided close to the third positioning block, and the side gripper is provided with A fourth positioning pin, the second positioning hole is configured to cooperate with the fourth positioning pin, and the second clamping member is configured to press the side grip against the third positioning block ;
  • the second positioning area includes a third positioning block and a second clamping member, and the third positioning area includes a third positioning block, a second clamping member and a second positioning hole.
  • a third positioning and clamping mechanism and a fourth positioning and clamping mechanism are installed on the side of the side gripper facing the automobile, and the number of the third positioning and clamping mechanisms is three, and three
  • the third positioning and clamping mechanisms are respectively arranged corresponding to the lower mounting plate, the top cover front cross beam, and the top cover middle cross beam of the automobile, and are respectively configured to connect the lower mounting plate, the top cover front cross beam, and the top cross beam.
  • the middle beam of the top cover is positioned and clamped; the fourth positioning and clamping mechanism is configured to position and clamp the side panel assembly of the automobile.
  • the third positioning and clamping mechanism includes a second positioning component and a rotating component connected to the second positioning component, the rotating component is installed on the side grip, and the second The positioning assembly includes a fifth positioning pin, the automobile is provided with a third pin hole corresponding to the fifth positioning pin, and the rotating assembly is configured to drive the fifth positioning pin close to or away from the third pin hole to The fifth positioning pin is inserted into the positioning hole or separated from the third pin hole.
  • the rotating assembly includes a third drive cylinder, a main body support and a rotating arm, the main body support is mounted on the side grip, and one end of the rotating arm is hinged to the arm through a hinge shaft.
  • the main body support, the other end of the rotating arm is connected to the positioning assembly, the cylinder of the third driving cylinder is hinged to the main body support, and the output shaft of the third driving cylinder is hinged to the rotating arm
  • the third driving cylinder is configured to drive the rotating arm to rotate around the hinge axis to drive the fifth positioning pin to approach or move away from the third pin hole.
  • the corresponding side gripper, rear gripper and lower body positioning device are selected for different models, and the first column can be adjusted according to the size and type of the side gripper
  • the distance between the second upright and the second upright can be used to position the molding with a large difference in wheelbase, which has good compatibility and a wide range of applications;
  • the rear gripper is connected to the two second uprights respectively, and the left gripper is respectively connected to the first
  • the column and the second column are butted, and the right hand grip is respectively butted with the first column and the second column on the other side to form an overall high-load-bearing, high-precision gripper assembly system to ensure the total assembly accuracy of body manufacturing.
  • Fig. 1 is a schematic diagram of the structure of a car gripper assembly system according to an embodiment of the application
  • FIG. 2 is a schematic structural diagram of a first sliding device of an automobile gripper assembly system according to an embodiment of the application;
  • FIG. 3 is a schematic structural diagram of a second sliding device of an automobile gripper total assembly system according to an embodiment of the application;
  • FIG. 4 is a schematic diagram of a part of the structure of the second sliding device of the automobile gripper assembly system according to an embodiment of the application;
  • FIG. 5 is a schematic diagram of another part of the structure of the second sliding device of the automobile gripper assembly system according to an embodiment of the application;
  • FIG. 6 is a schematic diagram of another part of the structure of the second sliding device of the automobile gripper assembly system according to an embodiment of the application;
  • FIG. 7 is a schematic diagram of assembling the second sliding device and the rear gripper of the automobile gripper assembly system according to an embodiment of the application;
  • FIG. 8 is a schematic diagram of an assembly of a second sliding device and a side grip of an automobile gripper assembly system according to an embodiment of the application;
  • FIG. 9 is a schematic structural diagram of the rear gripper of the automobile gripper assembly system according to an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a second column of an automobile gripper assembly system according to an embodiment of the application.
  • FIG. 11 is a schematic diagram of a part of the structure of the second column of the automobile gripper assembly system according to an embodiment of the application.
  • FIG. 12 is a schematic diagram of another part of the structure of the second column of the automobile gripper assembly system according to an embodiment of the application.
  • FIG. 13 is a schematic structural diagram of a first positioning and clamping mechanism of an automobile gripper assembly system according to an embodiment of the application;
  • FIG. 14 is a schematic structural diagram of a second positioning and clamping mechanism of the automobile gripper assembly system according to an embodiment of the application;
  • 15 is a schematic structural diagram of a fifth positioning and clamping mechanism of the automobile gripper assembly system according to an embodiment of the application;
  • 16 is a schematic structural diagram of a sixth positioning and clamping mechanism of the automobile gripper assembly system according to an embodiment of the application;
  • FIG. 17 is a schematic diagram of assembling the side grip and the first post and the second post of the car grip assembly system according to an embodiment of the application;
  • 18 is a schematic diagram of the structure of the first column of the automobile gripper assembly system according to an embodiment of the application.
  • 19 is a schematic diagram of a part of the structure of the first column of the automobile gripper assembly system according to an embodiment of the application;
  • FIG. 20 is a schematic structural diagram from another angle of the first column of the automobile gripper assembly system according to an embodiment of the application.
  • FIG. 21 is a schematic diagram of the side gripper and car positioning of the car gripper assembly system according to an embodiment of the application.
  • FIG. 22 is a schematic structural diagram of a third positioning and clamping mechanism of an automobile gripper assembly system according to an embodiment of the application.
  • FIG. 23 is a schematic structural diagram from another angle of the third positioning and clamping mechanism of the automobile gripper assembly system according to an embodiment of the application.
  • This application proposes a total assembly system for car grippers, as shown in Figures 1 to 3 and Figure 21, including:
  • the side gripper 100 includes a left gripper 110 and a right gripper 120.
  • the left gripper 110 is configured to position and clamp the left side of the car 600
  • the right gripper 120 is configured to position the right side of the car 600 Positioning and clamping;
  • the rear gripper 400 is configured to position and clamp the rear of the car 600;
  • the lower car body positioning device 200 is configured to position the bottom of the car 600;
  • the positioning structure 300 includes a first sliding device 310 and two second sliding devices 320 arranged on opposite sides of the first sliding device 310.
  • the lower vehicle body positioning device 200 is installed on the first sliding device 310.
  • the second sliding device 320 includes a first upright 330 and a second upright 340 which are arranged at intervals and can be relatively far away or close to each other. Both ends of the left hand grip 110 are respectively connected to the first upright 330 and the second upright column 330 and the second one of the second sliding device 320.
  • the two uprights 340 are connected, the two ends of the right grip 120 are respectively connected to the first upright 330 and the second upright 340 of the other second sliding device 320, and the two ends of the rear gripper 400 are respectively connected to the two second uprights 340 connections.
  • the first column 330 and the second column 340 of the present application can move along the X and Y axes. It should be noted that the X direction in the present application is the front and rear direction of the car, and the Y direction is the left and right direction of the car. Generally, the side gripper 100 is fixed on the first column 330 and the second column 340 of the second sliding device 320.
  • the car 600 When the car 600 needs to be welded, the car 600 is placed on the first sliding device 310, The bottom of the car 600 is positioned by the lower car body positioning device 200, and then the first sliding device 310 transports the car 600 to the welding position, and adjusts the distance between the first pillars 330 on opposite sides according to the width of the car 600 (the same side The first upright 330 and the second upright 340 move synchronously), adjust the distance between the first upright 330 and the second upright 340 on the same side according to the wheelbase of the car 600, and then move the rear gripper 400 closer to the first The two uprights 340 connect the rear gripper 400 with the two second uprights 340 to complete the positioning between the second sliding device 320 and the side gripper 100 and the rear gripper 400.
  • the automobile gripper assembly system of the present application can accurately position any position in a "well"-shaped area, with positioning accuracy (within 0.1mm), and has the ability to position across platforms, variable wheelbases, and vehicle models of different widths.
  • the "well-type" mobile column is matched with the least intensive (i.e. three-piece) vehicle positioning grip system (left grip 110, right grip 120 and rear grip 400) and the lower body positioning device 200 A total assembly system for car grippers has been formed.
  • the rear gripper 400 and the two second uprights 340 are butted to form an overall high-load-bearing, high-precision gripper assembly system to ensure the overall assembly accuracy of body manufacturing.
  • This application satisfies the technical characteristics of layered welding of the inner and outer panels of the side panels in the body assembly, and is also suitable for being configured as the overall assembly positioning of the side panel assembly as a whole, with the lowest cost, the least area, and superior quality.
  • This application has more advantages in the mixed-flow production mode.
  • the gripping work and retreat of the same vehicle type are driven by the first column 330 and the second column 340 of the second sliding device 320, without the intervention of a handling robot, which is required only when the vehicle is mixed-flow production.
  • the handling robot switches the gripper, and in the rest of the time, the handling robot is welded with welding tongs, so as to increase the total number of positioning welding points of the body and the manufacturing accuracy of the body, and improve the utilization rate of the equipment.
  • This application has strong flexibility, low investment cost for line construction, small footprint, high positioning accuracy, and is convenient for demolition and conversion.
  • the side gripper 100, the rear gripper 400 and the lower body positioning device 200 are selected corresponding to different models.
  • the first column 330 and the lower body positioning device 200 can be adjusted according to the size and type of the side gripper 100
  • the distance between the second uprights 340 can position the molding with a large difference in wheelbase, with good compatibility and a wide range of applications;
  • the rear gripper 400 is connected to the two second uprights 340, and the left gripper 110 is respectively It is docked with the first column 330 and the second column 340, and the right grip 120 is connected with the first column 330 and the second column 340 on the other side, forming an overall high-load, high-precision gripper assembly system, ensuring Total precision of body manufacturing.
  • the first sliding device 310 includes a base 311 and a conveying skid 312 slidably disposed on the base 311, and the lower vehicle body positioning device 200 is installed on the conveying skid 312.
  • the first sliding device 310 is mainly positioned for the assembled lower car body assembly.
  • the conveying skid 312 slides along the X axis relative to the base. It has the characteristics of interline conveying and vehicle positioning. The production of different vehicle models only supports the first slide.
  • the lower vehicle body positioning device 200 of the moving device 310 can be switched to solve the flexibility problem.
  • the second sliding device 320 further includes a first driving assembly 321, a first connecting seat 322, a supporting base plate 323, and a Y-direction moving plate 324 arranged above the supporting base plate 323.
  • the supporting base plate 323 faces A first guide rail 325 is provided on one side of the Y-direction moving plate 324, the first guide rail 325 extends along the Y-direction, and the Y-direction moving plate 324 is provided with a sliding block that is in sliding contact with the first guide rail 325;
  • a connecting seat 322 is connected.
  • the first column 330 and the second column 340 are connected to the first connecting seat 322 through the Y-direction moving plate 324.
  • the first driving assembly 321 is configured to drive the first connecting seat 322 and the Y-direction moving plate 324 along the first A guide rail 325 moves so that the first upright 330 and the second upright 340 move along the Y direction.
  • the first driving assembly 321 drives the first column 330 and the second column 340 to move to the working position in the direction close to the car 600, so that the side gripper 100 can position and clamp the car 600.
  • the first The driving assembly 321 drives the first upright 330 and the second upright 340 to return to their initial positions in a direction away from the car 600, so as to avoid the positioning device from interfering with other parts during the transportation of the car 600.
  • This embodiment can not only drive the first column 330 and the second column 340 to move synchronously through the first drive assembly 321, avoid interference between the positioning device and other parts, thereby ensuring safe production, but also freely adjust the first column 330 and the second column.
  • the spacing between the columns 340 avoids manual handling while improving production efficiency. It can also be applied to different 600 models of automobiles, with good compatibility and a wide range of applications.
  • the number of the first guide rails 325 in this embodiment is three, the three first guide rails 325 are arranged on the supporting bottom plate 323 at intervals along the X direction, the three first guide rails 325 are arranged on the upper side of the supporting bottom plate 323 at intervals, and the first upright 330 Both the second upright post 340 and the second upright post 340 are arranged on the supporting base plate 323.
  • the supporting base plate 323 can not only support the first upright post 330 and the second upright post 340, but the three first guide rails 325 can also ensure the movement trajectory of the first upright post 330 and the second upright post 340. .
  • Only relying on the sliding contact cooperation between the sliding block of the Y-direction moving plate 324 and the first guide rail 325 can realize the synchronous movement of the first column 330 and the second column 340, and the structure is simple and ingenious.
  • the first driving assembly 321 includes a first mounting plate 3211, a first driving motor 3212 and a first ball screw 3213 mounted on the first mounting plate 3211, the first mounting plate 3211 is disposed on the supporting bottom plate 323, and the first ball screw 3213 Extending along the Y direction; the first connecting seat 322 is sleeved on the first ball screw 3213 and meshes with the first ball screw 3213, the first drive motor 3212 is connected to one end of the first ball screw 3213 and drives the ball screw to rotate .
  • the first driving motor 3212 in this embodiment can be a servo motor in the prior art. When the car 600 needs to be welded, the first driving motor 3212 drives the first ball screw 3213 to rotate.
  • the ball screw 3213 is engaged by threads, and the first connecting seat 322 moves along the first ball screw 3213 with the rotation of the first ball screw 3213, so that the first upright 330 and the second upright 340 connected to the first connecting seat 322 Moving close to the car 600 in the Y direction can complete the synchronized movement of the first column 330 and the second column 340, and realize the automation of the transportation of the first column 330 and the second column 340.
  • the second sliding device 320 also includes a second mounting plate 326, an X-direction moving plate 327, and a second drive assembly 328 arranged on the second mounting plate 326.
  • the second mounting plate 326 is connected to the Y-direction moving plate 324, and the second mounting plate 326 is provided with a second guide rail 329, the second guide rail 329 extends along the X direction, the X-direction moving plate 327 is provided with a sliding groove configured to be in sliding contact with the second guide rail 329, and the second upright 340 is installed on the X-direction moving plate 327
  • the second driving assembly 328 is configured to drive the X-direction moving plate 327 to move along the second guide rail 329 so as to move the second upright 340 away from or close to the first upright 330.
  • the second drive assembly 328 drives the X-direction moving plate 327 to move along the second guide rail 329, so that the second upright 340 on the X-direction moving plate 327 moves away in the X direction Or close to the first upright 330, the distance between the first upright 330 and the second upright 340 can be adjusted freely, and the structure is simple and easy to control.
  • the positions of the first column 330 and the second column 340 in the Y direction and the relative distance between the first column 330 and the second column 340 in the X direction can be adjusted arbitrarily, which solves the problem of flexible collinear production of any vehicle type.
  • the second driving assembly 328 includes a second driving motor 3281, a second ball screw 3282, and a screw nut base 3283.
  • the second ball screw 3282 extends along the X direction, and the screw nut base 3283 is sleeved on the second ball screw 3282
  • the screw nut seat 3283 is connected to the X-direction moving plate 327, and the second driving motor 3281 is connected to one end of the second ball screw 3282 and can drive the second ball screw 3282 to rotate.
  • the second drive motor 3281 in this embodiment can be a servo motor in the prior art. When the corresponding side gripper 100 needs to be switched for different car 600 models, the second drive motor 3281 drives the second ball screw 3282 to rotate.
  • the second sliding device 320 drives the first column 330 and the second column 340 to be accurately positioned at any position in the X and Y axis movement area through the servo motor driving the precision screw rod.
  • the movement area is characterized by a "well type".
  • the gripper assembly system is the common positioning basis of the production line.
  • the second sliding device 320 provides positioning interfaces for the side and rear positioning grippers to ensure that the side and rear positioning grip systems of different models are fully positioned.
  • the rear grip 400 and the two second uprights 340 Butt the car body to form an overall frame, which improves the positioning accuracy and carrying capacity of the car body.
  • the second guide rail 329 is covered with a telescopic dust cover 3291 extending in the X direction, and the X-direction moving plate 327 abuts against the dust cover 3291 and is close to the first column 330 One end.
  • the telescopic dust cover 3291 can not only prevent the sundries from falling and affect the safety of production, when the second column 340 on the X-moving plate 327 moves away from the first column 330, the telescopic dust cover of this embodiment
  • the 3291 is flexible, and the X-direction moving plate 327 can compress the telescopic dust cover 3291 so as not to affect the normal movement of the X-direction moving plate 327.
  • the second mounting plate 326 is also provided with a first stop block and a second stop configured to restrict the X-direction moving plate 327.
  • the X-direction moving plate 327 is arranged between the first limit block and the second limit block.
  • the second column 340 is provided with a first positioning area 350
  • the rear grip 400 is butted with the two first positioning areas 350 on the second sliding device 320
  • the rear The gripper 400 includes a connecting frame 410 and a first positioning pin 411 arranged on the connecting frame 410.
  • the second upright 340 includes a supporting pillar 341 located in the first positioning area 350 and a first positioning hole 342 arranged on the supporting pillar 341 With the first clamping member 343, the first positioning pin 411 is matched with the first positioning hole 342, and the first clamping member 343 is configured to press the connecting frame 410 against the supporting column 341.
  • the prior art gripper interlocking form has interactive influence and unstable positioning accuracy, while relying on robot-assisted positioning requires high quality of product parts and occupies robot equipment.
  • the robot only plays a role in handling and positioning during the entire work process, increasing manufacturing Low cost and equipment utilization.
  • a high column is used to fully position the gripper to avoid the mutual influence of interlocking between grippers.
  • the rear gripper 400 is connected with the first and second columns 330 and 340 on the left and right sides to form a frame as a whole , Improve the load-carrying capacity of the system, can better correct the fluctuation of body parts, and further improve the system accuracy and the accuracy of body manufacturing.
  • This application does not need to rely on robot-assisted positioning, reduces equipment occupancy, optimizes process layout and equipment utilization, and only needs to move the robot to switch the gripper when different models need to be switched.
  • the side gripper 100 and the rear gripper The hand 400 is connected with the column to ensure the stability and positioning accuracy of the system.
  • the handling robot moves the rear gripper 400 and can directly transport the rear gripper 400 to the first positioning area 350.
  • the handling robot does not need to avoid or need to increase the multi-point transition trajectory to shorten the handling time and improve the overall welding efficiency;
  • the direction of movement will not be restricted, that is, the rear gripper 400 can move in a direction close to the rear of the car 600, and the rear gripper 400 is directly at the welding position.
  • the first clamping member 343 includes a fourth driving cylinder 5323 and a first clamping block connected to the output shaft of the fourth driving cylinder 5323.
  • the fourth driving cylinder 5323 is installed on the second column 340. The extension and retraction of the output shaft of the 5323 drives the first clamping block to relax or press against the rear grip 400.
  • the connecting frame 410 is also provided with a fourth positioning block 412 arranged on the same side as the first positioning pin 411, and the supporting column 341 is further provided with a fifth positioning block 344 and a fifth positioning block 344 arranged on the same side as the first positioning hole 342. It is configured to abut the fourth positioning block 412.
  • the first positioning pin 411 cooperates with the first positioning hole 342 for positioning, and when the rear grip 400 moves toward the second upright 340, when the fourth positioning block 412 abuts the fifth positioning block 344, it is determined At this time, the rear grip 400 is completely in place, and at this time, the fourth driving cylinder 5323 is retracted to make the connecting frame 410 abut the supporting column 341.
  • a guide mechanism 343 is provided on the support column 341, and the guide mechanism 343 includes a support 3431 arranged on the second column 340 and two guide rollers 3432 arranged on the support 3431.
  • the two guide rollers 3432 run along the first
  • the positioning pins 411 are arranged side by side in the axial direction; the connecting frame 410 is provided with a height docking block 3433, and two guide rollers 3432 support the height docking block 3433.
  • the handling robot transports the rear gripper 400 so that the height docking block 3433 is placed on the two guide rollers 3432. At this time, the first positioning pin 411 is facing the first positioning pin 411.
  • the handling robot continues to push the first positioning pin 411 into the first positioning hole 342, and the height docking block 3433 slides on the guide roller 3432.
  • the guide roller 3432 can convert the sliding friction force into rotational friction force.
  • the insertion process of a positioning pin 411 is smoother, and the two guide rollers 3432 jointly support the height docking block 3433 to prevent the height docking block 3433 from shaking and affecting the positioning accuracy.
  • the connecting frame 410 includes a first connecting rod 413 and a second connecting rod 414 that are connected.
  • the free end of the second connecting rod 414 is provided with a first positioning pin 411, and the first connecting rod 413 is arranged on a side facing the first positioning pin 411
  • the second upright 340 has already supported the rear grip 400 through the first connecting rod 413, reducing the bearing pressure of the external transport mechanism, and the first connecting rod 413 faces
  • a height docking block 3433 is provided on one side of the first positioning pin 411 to ensure that when the height docking block 3433 is placed on the guide roller 3432, the first positioning pin 411 is facing the first positioning hole 342.
  • the side of the rear grip 400 facing the car 600 is equipped with a first positioning and clamping mechanism 510 and a second positioning and clamping mechanism 520.
  • the first positioning and clamping mechanism 510 is configured to be aligned with the side of the car 600.
  • the tailgate hole is correspondingly arranged and configured to locate and clamp the side tailgate hole
  • the second positioning and clamping mechanism 520 is configured to correspond to the roof rear cross beam of the automobile 600 and is configured to locate and clamp the roof rear cross beam .
  • a fifth positioning and clamping mechanism 530 and a sixth positioning and clamping mechanism 540 are also installed on the side of the rear grip 400 facing the car 600.
  • the fifth positioning and clamping mechanism 530 is arranged and configured corresponding to the center beam of the tailgate of the car 600.
  • the sixth positioning and clamping mechanism 540 is arranged corresponding to the rear end plate of the automobile 600 and is configured to position and clamp the rear end plate; the first positioning and clamping mechanism 510, the second positioning The clamping mechanism 520, the fifth positioning clamping mechanism 530 and the sixth positioning clamping mechanism 540 are all installed on the side of the rear grip 400 facing the automobile 600.
  • the positioning and clamping of the side wall tailgate hole, the rear cross beam of the top cover, the middle cross beam of the tailgate, and the rear end plate can be completed at one time.
  • It can be configured as a car 600 of different models, and it can also avoid the use of multiple splitting platforms in the prior art to position and clamp the side wall tailgate hole, the roof rear crossbeam, the tailgate middle crossbeam, and the rear end plate. In this case, the equipment and total assembly stations used in the welding process of the automobile 600 are reduced, and the production cost of the automobile 600 is reduced.
  • the first positioning and clamping mechanism 510 includes a first mounting seat 511, a first driving cylinder 512, a first abutting block 513, a pin seat 514, and a second positioning pin 515; the first mounting seat 511 and the rear The grip 400 is connected; the first abutting block 513 and the first driving cylinder 512 are both provided on the first mounting seat 511, the second positioning pin 515 is connected to the output shaft of the first driving cylinder 512 through the pin seat 514, and the first abutting block 513 is connected to the output shaft of the first driving cylinder 512.
  • the connecting block 513 is configured to abut against the side wall of the automobile 600, and the second positioning pin 515 is matched with the first pin hole on the side wall of the automobile 600.
  • the first abutting block 513 is configured to abut the rear of the car 600, and the first driving cylinder 512 extends so that the second positioning pin 515 is inserted into the rear of the car 600 At this time, the side wall and tailgate hole of the car 600 is completely positioned and tightened.
  • the rear gripper 400 includes a first cross beam 420 and a fixing plate 430 connected to the first cross beam 420. Both ends of the first cross beam 420 are connected to the first positioning area 350 of the second column 340.
  • the rear grip 400 also includes a fixing plate 430 connected to the first cross beam 420.
  • the second positioning and clamping mechanism 520 includes a second mounting seat 521, a first clamping assembly 522 and a first positioning assembly 523, and a second mounting seat 521 Set on the fixed plate 430
  • the first clamping assembly 522 includes a second drive cylinder 5221 provided on the second mounting seat 521, a third mounting plate 5222 connected to the output shaft of the second drive cylinder 5221, and a third mounting plate 5222 hinged to the third The first clamping arm 5223 and the second clamping arm 5224 on the mounting plate 5222
  • the first positioning assembly 523 includes a first positioning block 5231, a second positioning block 5232, and a third positioning pin 5233 provided on the third mounting plate 5222
  • the second driving cylinder 5221 is configured to drive the third mounting plate 5222 to reciprocate, so that the third positioning pin 5233 is inserted into or separated from the second pin hole of the rear cross beam of the top cover, and drives the first clamping arm 5223 to approach or move away from the first positioning Block 5231 is used to clamp or loosen one
  • the output shaft of the second driving cylinder 5221 extends, and the output shaft pushes the third mounting plate 5222, and the third mounting plate 5222 drives the third positioning pin 5233 to be inserted into the top cover
  • the third mounting plate 5222 drives the first clamping arm 5223 to approach the first positioning block 5231 to clamp one side of the rear cross beam of the top cover
  • the third mounting plate 5222 drives the second clamping arm 5224 is close to the first positioning block 5231 to clamp the other side of the rear cross beam of the top cover, thereby completing the positioning and clamping of the rear cross beam of the top cover.
  • first connecting rod 5234 and the second connecting rod 5235 are respectively hinged on both sides of the third mounting plate 5222, the first clamp arm 5223 is hinged with the first connecting rod 5234, and the first clamp arm 5223 is close to the first connecting rod.
  • 5234 is hinged with the second mounting base 521;
  • the second clamp arm 5224 is hinged with the second connecting rod 5235, and the second clamp arm 5224 is hinged with the second mounting base 521 near the second connecting rod 5235.
  • the first position is the position of the third mounting plate 5222 when the second positioning and clamping mechanism 520 clamps the rear cross beam of the top cover
  • the second position is the position of the third mounting plate 5222 in the initial state of the second positioning and clamping mechanism 520 Position
  • the third mounting plate 5222 reciprocates between the first position and the second position to drive the first clamping arm 5223 and the second clamping arm 5224 to cooperate with the first positioning block 5231 and the second positioning block 5232 to clamp the top Cover the back beam or release the clamp.
  • the third positioning pin 5233 is aligned with the second pin hole on the rear cross beam of the top cover, and the output shaft of the second driving cylinder 5221 pushes the third mounting plate 5222 moves from the first position to the second position.
  • the third positioning pin 5233 is inserted into the second pin hole on the rear cross beam of the top cover.
  • the third mounting plate 5222 drives the first clamp arm 5223 through the first connecting rod 5234 Rotate relative to the hinge joint between the first clamping arm 5223 and the bracket, so that the free end of the first clamping arm 5223 moves toward the first positioning block 5231 until one side of the cross beam behind the top cover is clamped between the first clamping arm 5223 and the first clamping arm 5223.
  • the third mounting plate 5222 drives the second clamping arm 5224 through the second link 5235 to rotate relative to the hinged joint between the second clamping arm 5224 and the bracket, so that the free end of the second clamping arm 5224 approaches the first
  • a positioning block 5231 moves in the direction until the other side of the rear cross beam of the top cover is clamped between the second clamping arm 5224 and the first positioning block 5231; thus, the positioning and clamping of the rear cross beam of the top cover is realized.
  • the second driving cylinder 5221 drives the third mounting plate 5222 from the second position to the first position, the first clamping arm 5223 moves away from the first positioning block 5231, and the second clamping arm 5224 moves away from the first positioning block 5231.
  • the second positioning and clamping mechanism 520 is configured as the next wheel set top cover Positioning and clamping of the rear cross beam. Moreover, when the third mounting plate 5222 is in the second position, the free end of the first clamping arm 5223 is located on the lower side of the rear cross beam of the top cover, and the free end of the second clamping arm 5224 is located on the upper side of the rear cross beam of the top cover, so that A sufficient escape space is formed between the first clamping arm 5223 and the second clamping arm 5224.
  • the rear grip 400 further includes a connecting beam 440 connected to the first cross beam 420 and extending downward
  • the fifth positioning and clamping mechanism 530 includes a third mounting seat 531 and a second clamping assembly 532 and the fourth positioning pin 533
  • the third mounting seat 531 is provided on the connecting beam 440
  • the number of the second clamping assembly 532 is two, and the two second clamping assemblies 532 are arranged oppositely
  • the second clamping assembly 532 includes The connecting plate 5321, the sixth positioning block 5322, the fourth driving cylinder 5323, and the third clamping arm 5324
  • the connecting plate 5321 is arranged on the third mounting seat 531
  • the sixth positioning block 5322 is arranged on the connecting plate 5321
  • the cylinder of the 5323 is hinged with the connecting plate 5321
  • the output shaft of the fourth driving cylinder 5323 is hinged with the third clamp arm 5324
  • the third clamp arm 5324 is hinged with the connecting plate 5321
  • the fourth driving cylinder 5323 drives the third clamp
  • the sixth positioning pin is inserted into the fourth pin hole on the cross beam of the tailgate, and the output shaft of the fourth driving cylinder 5323 extends to drive the third clamp arm 5324 Move in a direction close to the sixth positioning block 5322 until the third clamping arm 5324 and the sixth positioning block 5322 clamp the tailgate middle beam together to complete the positioning and clamping of the tailgate middle beam.
  • the first cross beam 420 further includes a second cross beam 450 disposed on the lower side of the first cross beam 420 and connected to the connecting beam 440
  • the sixth positioning and clamping mechanism 540 includes a second cross beam 450 disposed on the second cross beam 450.
  • the seventh positioning block 543 and the eighth positioning block 545 jointly abut the rear end plate of the automobile 600, and the seventh positioning pin 544 is inserted into the fifth pin hole on the rear end plate , Thereby completing the tightening and positioning of the rear end plate.
  • the numbers of the first positioning and clamping mechanism 510, the second positioning and clamping mechanism 520, the fifth positioning and clamping mechanism 530, and the sixth positioning and clamping mechanism 540 are all symmetrically distributed in two one-to-one correspondence. Since the rear structure of the automobile 600 is a symmetrical structure, it corresponds to the corresponding first positioning and clamping mechanism 510, second positioning and clamping mechanism 520, fifth positioning and clamping mechanism 530, and sixth positioning and clamping mechanism 540 one-to-one. The symmetrical distribution can better clamp the rear of the car 600. When two positioning and clamping mechanisms simultaneously position and clamp a component, the positioning progress of the component can be better guaranteed.
  • the first upright 330 is provided with a second positioning area 360 and a third positioning area 370 that are spaced apart
  • the second upright 340 is provided with a fourth positioning area 380 and a fifth positioning area 390 that are spaced apart.
  • the left grip 110 is docked with the second positioning area 360, the third positioning area 370, the fourth positioning area 380 and the fifth positioning area 390 of one of the second sliding devices 320, and the right grip 120 is connected to the other second positioning area.
  • the second positioning area 360, the third positioning area 370, the fourth positioning area 380, and the fifth positioning area 390 of the sliding device 320 are connected to each other.
  • the rear grip 400 is docked with the positioning structure 300 through two first positioning areas 350, and the left grip 110 passes through four positioning points (the second positioning area 360, the third positioning area 370, the fourth positioning area 380, and the fifth positioning area).
  • the positioning area 390 is docked with the positioning structure 300, and the right grip 120 also passes through four positioning points (the second positioning area 360, the third positioning area 370, the fourth positioning area 380, and the fifth positioning area 390) and the positioning structure 300. Docking.
  • This embodiment uses a high-stability column to locate the gripper, instead of the direct interconnection of the gripper, solves the problem of poor interconnection and docking, improves the positioning accuracy of the gripper system, does not need to occupy the handling robot to position the gripper all the time, and reduces the occupation of the robot. .
  • the rear grip 400 is interconnected with the positioning columns on both sides so that the entire grip system forms a high-rigidity frame structure, which solves the problem of low body manufacturing accuracy.
  • the first column 330 is provided with a third positioning block 331 and a second positioning hole 332, and a second clamping member 333 arranged close to the third positioning block 331, on the side grip 100
  • a fourth positioning pin 533 is provided, the second positioning hole 332 is configured to cooperate with the fourth positioning pin 533, and the second clamping member 333 is configured to press the side grip 100 against the third positioning block 331;
  • the second positioning area 360 includes a third positioning block 331, a second clamping member 333 and a second positioning hole 332, and the third positioning area 370 includes a third positioning block 331 and a second clamping member 333.
  • the second positioning area 360 may also include a third positioning block 331 and a second clamping member 333
  • the third positioning area 370 may include a third positioning block 331, a second clamping member 333, and The second positioning hole 332.
  • the structure of the fourth positioning area 380 may be the same as the structure of the second positioning area 360 or the structure of the third positioning area 370.
  • the structure of the fifth positioning area 390 may be the same as the structure of the second positioning area 360 or The structure is the same as that of the third positioning area 370, which can be set according to specific needs, and is not specifically limited here.
  • the second clamping member 333 can press the side grip 100 against the third positioning block 331, and the second positioning hole 332 can cooperate with the fourth positioning pin 533 of the side grip 100, so that the second clamping The member 333 presses the side grip 100 against the third positioning block 331 to realize the surface positioning of the side grip 100, and realizes the alignment through the cooperation of the second positioning hole 332 and the fourth positioning pin 533 of the side grip 100
  • the hole positioning of the side gripper 100 that is, by distributing the hole positioning and surface positioning of the side gripper 100, avoid the unstable state of the side gripper 100 due to the positioning of the integrated pin seat 514, and improve the side
  • the positioning stability of the gripper 100 can further prevent the positioning stability of the side gripper 100 from affecting the positioning accuracy of the welded parts during the assembling process of the vehicle body.
  • the third positioning block 331 is provided with a set of first mounting holes, the first column 330 is provided with a plurality of sets of second mounting holes 334 arranged at intervals, and the first mounting hole and any set of second mounting holes 334 pass through the first fastener 335 connections.
  • the number of a group of first mounting holes on the third positioning block 331 may be, but is not limited to, 2, 4, or 6, and the corresponding number of a group of second mounting holes 334 opened on the first column 330 is the same as the third positioning
  • the number of the first mounting holes on the block 331 can be kept the same, and the number of groups of the second mounting holes 334 opened by the first column 330 can be, but not limited to, 2 groups or 3 groups.
  • the third positioning block 331 can be adjusted to be different from each other.
  • the second mounting holes 334 of the group are connected to abut different parts of the side gripper 100, and can also adapt to different sizes of the side gripper 100, improving the compatibility of the positioning and locking device of the side gripper 100 .
  • the first fastener 335 may be, but is not limited to, a threaded fastener.
  • a ninth positioning block 336 is provided on the first upright 330, a second positioning hole 332 is formed on the ninth positioning block 336, a bushing that cooperates with the fourth positioning pin 533 is provided in the second positioning hole 332, and the ninth positioning block A pressing ring 337 is provided on the corresponding shaft sleeve on 336.
  • the second positioning hole 332 is provided with a shaft sleeve that cooperates with the fourth positioning pin 533.
  • the ninth positioning block 336 is provided with a pressing ring 337 for pressing the sleeve in the second positioning hole 332, so as to ensure the stability of the sleeve and the fourth positioning pin 533 of the side gripper 100, and avoid the appearance of the sleeve. The phenomenon of loosening and falling off.
  • the second positioning hole 332 can be arranged differently according to the arrangement of the fourth positioning pin 533 of the side grip 100, and the second positioning hole 332 can also be directly opened on the first column 330, without the need for the ninth post.
  • the positioning block 336 may also be provided with a counterbore corresponding to the second positioning hole 332 on the ninth positioning block 336 on the first column 330.
  • the present application is not limited to the arrangement of the second positioning hole 332.
  • the second sliding device 320 also includes two adjustment blocks 3381.
  • the two adjustment blocks 3381 are respectively correspondingly arranged on two adjacent sides of the ninth positioning block 336.
  • An adjustment shim is provided between the adjustment block 3381 and the ninth positioning block 336.
  • 3382, the adjustment block 3381 and the ninth positioning block 336 are connected by a second fastener 3383.
  • the adjustment washer 3382 can also be pierced on the second fastener 3383.
  • the second fastener 3383 can be, but is not limited to, a threaded fastener, that is, the second fastener 3383 can be adjusted to increase or decrease
  • the pressing force of the adjustment block 3381 and the ninth positioning block 336 on the adjustment pad 3382 is used to control the gap between the adjustment block 3381 and the ninth positioning block 336, thereby ensuring that the second positioning hole 332 on the ninth positioning block 336 is in contact with each other.
  • the alignment accuracy between the fourth positioning pins 533 of the side gripper 100 is used to control the gap between the adjustment block 3381 and the ninth positioning block 336, thereby ensuring that the second positioning hole 332 on the ninth positioning block 336 is in contact with each other.
  • the second clamping member 333 includes a first bracket 3331 installed on the first column 330, a fifth drive cylinder 3332 arranged on the first bracket 3331, and a fourth drive cylinder 3332 arranged on the fifth drive cylinder 3332.
  • the clamping arm 3333 and the fifth driving cylinder 3332 are configured to drive the fourth clamping arm 3333 to press the side grip 100 against the third positioning block 331. More specifically, one end of the fourth clamping arm 3333 is connected to the output shaft of the fifth drive cylinder 3332, the other end of the fourth clamping arm 3333 is provided with a second abutting block 3334, and the second abutting block 3334 is located on the side gripper.
  • the fifth driving cylinder 3332 drives the second abutment block 3334 to approach the side gripper 100 through the fourth clamping arm 3333, and presses the side of the side gripper 100 against the first Three positioning blocks 331 on.
  • the positioning surface of the side grip 100 abuts the third positioning block 331, and the fourth positioning pin 533 of the side grip 100 is in contact with the second
  • the positioning hole 332 is matched and installed, and the fifth driving cylinder 3332 can drive the fourth clamping arm 3333 to move toward the direction in which the side grip 100 is set, until the second abutment block 3334 on the fourth clamping arm 3333 is away from the side grip 100
  • One side of the third positioning block 331 abuts to press the side grip 100 against the third positioning block 331; when the side grip 100 needs to be removed from the second sliding device 320, the fifth drive The air cylinder 3332 can drive the fourth clamping arm 3333 to move away from the side gripper 100.
  • the side gripper 100 loses the function of the second clamping member 333 to press it against the third positioning block 331, and it can smoothly Remove the side gripper 100.
  • the second clamping member 333 further includes a guide rod 3335 arranged on the fifth drive cylinder 3332, one end of the fourth clamping arm 3333 is provided with a guide plate 3336, and the guide plate 3336 is sleeved on the guide rod 3335 And can slide along the guide rod 3335.
  • One end of the guide rod 3335 is arranged on the cylinder body of the fifth driving cylinder 3332, and the other end is sleeved on the guide plate 3336.
  • the guide plate 3336 is arranged on the end of the fourth clamping arm 3333 away from the second abutment block 3334, and the fifth The output shaft of the driving cylinder 3332 also passes through the guide plate 3336 and is connected to the fourth clamping arm 3333.
  • the output shaft of the fifth driving cylinder 3332 drives the fourth clamping arm 3333 to move, and the guide plate 3336 provided on the fourth clamping arm 3333 slides along the guide rod 3335 to ensure the stability of the movement of the fourth clamping arm 3333, thereby ensuring the first
  • the second abutment block 3334 on the four-clamp arm 3333 accurately positions the side gripper 100.
  • the side of the side grip 100 facing the car 600 is equipped with a third positioning and clamping mechanism 550 and a fourth positioning and clamping mechanism.
  • the number of the third positioning and clamping mechanism 550 is three, and the number of the third positioning and clamping mechanism 550 is three.
  • the three positioning and clamping mechanisms 550 are respectively arranged corresponding to the lower mounting plate 610a, the top cover front cross beam 610b, and the top cover middle cross beam 610c of the automobile 600, and are respectively configured to place the lower mounting plate 610a, the top cover front cross beam 610b and the top cover in the middle.
  • the beam 610c is positioned and clamped.
  • the side gripper 100 is located on one side of the car 600.
  • the positions of the front cross beam, the middle cross beam and the lower mounting plate 610a of the car 600 are respectively Correspondingly, there is a third positioning and clamping mechanism 550.
  • the three third positioning and clamping mechanisms 550 work at the same time, respectively positioning and clamping the lower mounting plate 610a, the front cross beam and the middle cross beam of the car 600.
  • the three third positioning and clamping mechanisms 550 cooperate with each other to complete the alignment of the side of the car 600. Positioning and clamping.
  • the positioning and clamping of the lower mounting plate 610a, the front cross beam and the middle cross beam can be completed at one time.
  • the four-position clamping mechanism locates and clamps the side panel assembly of the car.
  • This embodiment can not only be configured as a car 600 of a different model, but also can avoid the use of multiple splitting and splitting platforms in the prior art to install separately.
  • the positioning and clamping of the plate 610a, the front cross beam and the middle cross beam reduces the equipment used in the welding process of the automobile 600 and reduces the production cost of the automobile 600.
  • the third positioning and clamping mechanism 550 includes a second positioning component 551 and a rotating component 552 connected to the second positioning component 551.
  • the rotating component 552 is mounted on the side gripper 100, and the second positioning component
  • the 551 includes a fifth positioning pin 5511.
  • the automobile 600 has a third pin hole corresponding to the fifth positioning pin 5511.
  • the rotating assembly 552 is configured to drive the fifth positioning pin 5511 closer to or away from the third pin hole, so that the fifth positioning pin 5511 Insert the positioning hole or detach from the third pin hole.
  • the fourth positioning and clamping mechanism may be a conventional positioning and clamping mechanism for clamping the side panel assembly of the automobile in the prior art, and the specific structure of the fourth positioning and clamping mechanism is not limited here.
  • the car 600 Before positioning and clamping the beam 610 of the car 600, the car 600 is transported to the first sliding device 310, the lower car body positioning device 200 positions the bottom of the car 600, and the third positioning and clamping mechanism 550 is in the open position At this time, the fifth positioning pin 5511 of the second positioning assembly 551 is far away from the third pin hole of the vehicle beam 610 to avoid interference with components on the automobile 600.
  • the rotating assembly 552 drives the second positioning assembly 551 to rotate around the rotating assembly 552, and the second positioning assembly 551 is now approaching
  • the third pin hole movement of the car beam 610 uses the instantaneous linear velocity direction of the rotational movement to be the tangential direction of the circular motion, so that the fifth positioning pin 5511 enters the third pin hole to complete the positioning of the second positioning assembly 551 and the car beam 610.
  • the second positioning component 551 is in the working position.
  • the rotating assembly 552 drives the second positioning assembly 551 to rotate away from the beam 610, and the instantaneous linear velocity direction of the rotational motion is the tangential direction of the circular motion, so that the fifth positioning pin 5511 is separated from the first
  • the three-pin hole is far away from the car 600 and the second positioning component 551 is restored to the open position to avoid interference between the second positioning component 551 and the car 600.
  • the side gripper 100 can complete the positioning of the side of the automobile 600 by only relying on the rotation process of the second positioning component 551, and the structure design is clever and simple.
  • the rotating assembly 552 includes a third driving cylinder 5521, a main body support 5522, and a rotating arm 5523.
  • the main body support 5522 is installed on the side grip 100.
  • One end of the rotating arm 5523 is hinged to the main body support 5522 through a hinge shaft.
  • the other end is connected to the second positioning assembly 551, the cylinder of the third driving cylinder 5521 is hinged to the main body support 5522, the output shaft of the third driving cylinder 5521 is hinged to the rotating arm 5523, and the third driving cylinder 5521 is configured to drive the rotating arm 5523 Rotate around the hinge axis to drive the fifth positioning pin 5511 to approach or move away from the third pin hole.
  • the third positioning and clamping mechanism 550 When the car 600 is transported to the first sliding device 310, the third positioning and clamping mechanism 550 is in the open position.
  • the output shaft of the third drive cylinder 5521 contracts, and the drive is hinged with the output shaft
  • the rotating arm 5523 rotates around the main body support 5522, driving the second positioning assembly 551 connected to the rotating arm 5523, so that the fifth positioning pin 5511 of the third positioning clamping mechanism 550 approaches and is inserted into the third pin hole of the vehicle beam 610, At this time, the third positioning and clamping mechanism 550 is in the working position.
  • the output shaft of the third driving cylinder 5521 extends, so that the fifth positioning pin 5511 of the third positioning and clamping mechanism 550 is separated from the third pin hole of the beam 610, and the third positioning The clamping mechanism 550 returns to the open position.

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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
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  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

一种汽车抓手总拼系统，左侧抓手（110）被配置为将汽车（600）左侧定位及夹紧，右侧抓手（120）被配置为将汽车（600）右侧定位及夹紧；后部抓手（400）被配置为将汽车（600）后部定位及夹紧；下车体定位装置（200）被配置为将汽车（600）底部定位及夹紧；定位结构（300）包括第一滑移装置（310）以及设置在第一滑移装置（310）相对两侧的两个第二滑移装置（320），下车体定位装置（200）安装在第一滑移装置（310）上，第二滑移装置（320）包括间隔设置且能够相对远离或靠近的第一立柱（330）和第二立柱（340），左侧抓手（110）的两端分别与其中一个第二滑移装置（320）的第一立柱（330）和第二立柱（340）连接，右侧抓手（120）的两端分别与另一个第二滑移装置（320）的第一立柱（330）和第二立柱（340）连接，后部抓手（400）的两端分别与两个第二立柱（340）连接，确保了车身制造总拼系统的精度。

Description

汽车抓手总拼系统
本申请要求于2019年12月31日提交中国专利局、申请号为201911426228.6、发明名称为“汽车抓手总拼系统”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请涉及汽车制造技术领域，特别涉及一种汽车抓手总拼系统。
背景技术
随着技术的发展以及人们生活水平的提升，对日常用车的要求越来越多样化，车型的多样化主要体现在白车身的差异化，而白车身生产线上最复杂、柔性最困难的工艺集中在车身外侧的总拼，目前汽车抓手总拼系统主要形式有侧框式技术以及机器人抓手式总拼技术。其中，侧框式总拼技术一般由上车体定位工装和下车体定位工装组成，通过切换上车体工装实现不同车型的共线，但是侧框式总拼技术受限于平台化要求，仅对轴距相似的车型具备一定柔性能力。机器人抓手总拼技术通常由上车体定位和下车体定位工装组成，上车体定位夹具由机器人抓取放到线旁定位或抓手之间形成互锁，不同车型由机器人进行切换夹具。机器人抓手总拼技术的柔性能力受限于平台化要求，也仅对轴距相似的车型具备一定柔性能力，抓手定位系统依赖于机器人定位(焊接前后搬运机器人始终被配置为抓手定位)或抓手对接形成框架结构，但系统定位精度低。
发明内容
本申请的主要目的是提出一种汽车抓手总拼系统，旨在解决现有技术中的汽车抓手总拼系统柔性差且定位精度低的技术问题。
为实现上述目的，本申请提出的一种汽车抓手总拼系统，包括：
侧部抓手，包括左侧抓手和右侧抓手，所述左侧抓手被配置为将汽车左侧定位及夹紧，所述右侧抓手被配置为将汽车右侧定位及夹紧；
后部抓手，被配置为将汽车后部定位及夹紧；
下车体定位装置，被配置为将所述汽车底部定位；
定位结构，包括第一滑移装置以及设置在所述第一滑移装置相对两侧的两个第二滑移装置，所述下车体定位装置安装在所述第一滑移装置上，所述第二滑移装置包括间隔设置且能够相对远离或靠近的第一立柱和第二立柱，所述左侧抓手的两端分别与其中一个所述第二滑移装置的所述第一立柱和第二立柱连接，所述右侧抓手的两端分别与另一个所述第二滑移装置的所述第一立柱和第二立柱连接，所述后部抓手的两端分别与两个所述第二立柱连接。
在一种实施例中，所述第一滑移装置包括基座以及可滑动地设置在所述基座上的输送滑橇，所述下车体定位装置安装在所述输送滑橇上。
在一种实施例中，所述第二滑移装置还包括第一驱动组件、第一连接座、支撑底板和设置于所述支撑底板上方的Y向移动板，所述支撑底板面向所述Y向移动板的一侧设置有第一导轨，所述第一导轨沿Y向延伸，所述Y向移动板设置有与所述第一导轨滑动接触配合的滑块；所述第一驱动组件与所述第一连接座连接，所述第一立柱和第二立柱通过所述Y向移动板连接所述第一连接座，所述第一驱动组件被配置为驱动所述第一连接座及所述Y向移动板沿所述第一导轨运动，以使所述第一立柱和第二立柱沿Y向运动。
在一种实施例中，所述第一驱动组件包括第一安装板以及安装于所述第一安装板的第一驱动电机和第一滚珠丝杆，所述第一安装板设置于所述支撑底板，所述第一滚珠丝杆沿Y向延伸；所述第一连接座套设于所述第一滚珠丝杆上并与所述第一滚珠丝杆啮合，所述第一驱动电机连接所述第一滚珠丝杆的一端并驱动所述滚珠丝杆转动。
在一种实施例中，所述第二滑移装置还包括第二安装板、X向移动板以及设置于所述第二安装板的第二驱动组件，所述第二安装板连接所述Y向移动板，所述第二安装板设置有第二导轨，所述第二导轨沿X向延伸，所述X向移动板开设有被配置为与所述第二导轨滑动接触配合的滑槽，所述第二立柱安装于所述X向移动板，所述第二驱动组件被配置为驱动所述X向移动板沿所述第二导轨运动，以使所述第二立柱远离或靠近所述第一立柱。
在一种实施例中，所述第二驱动组件包括第二驱动电机、第二滚珠丝杆以及丝杆螺母座，所述第二滚珠丝杆沿X向延伸，所述丝杆螺母座套设于所述第二滚珠丝杆上并与所述第二滚珠丝杆啮合，所述丝杆螺母座连接所述X向移动板，所述第二驱动电机连接所述第 二滚珠丝杆的一端并能够驱动所述第二滚珠丝杆转动。
在一种实施例中，第二立柱上设有第一定位区域，所述后部抓手与所述第二滑移装置上的两个所述第一定位区域对接，所述后部抓手包括连接架和设置在所述连接架上的第一定位销，所述第二立柱包括位于所述第一定位区域内的支撑柱以及设置在所述支撑柱上的第一定位孔和第一夹紧件，所述第一定位销与所述第一定位孔配合，所述第一夹紧件被配置为将所述连接架抵紧于所述支撑柱上。
在一种实施例中，所述后部抓手面向汽车的一侧安装有第一定位夹紧机构和第二定位夹紧机构，所述第一定位夹紧机构被配置为与所述汽车的侧围尾门洞对应布置且被配置为定位及夹持所述侧围尾门洞，所述第二定位夹紧机构被配置为与所述汽车的顶盖后横梁对应布置且被配置为定位及夹持所述顶盖后横梁。
在一种实施例中，所述第一定位夹紧机构包括第一安装座、第一驱动气缸、抵接块、销座以及第二定位销；所述第一安装座与所述后部抓手连接；所述抵接块和所述第一驱动气缸均设于所述所述第一安装座上，所述第二定位销通过所述销座与所述第一驱动气缸输出轴连接，所述抵接块被配置为抵接所述汽车的侧围，所述第二定位销与所述汽车侧围上的第一销孔配合。
在一种实施例中，所述后部抓手上设有固定板，所述第二定位夹紧机构包括：
第二安装座，设于所述固定板上；
第一夹紧组件，包括设于所述第二安装座上的第二驱动气缸、与所述第二驱动气缸的输出轴连接的第三安装板以及铰接于所述第三安装板上的第一夹臂和第二夹臂；
第一定位组件，所述第一定位组件包括设置在所述第三安装板上的第一定位块、第二定位块及第三定位销；
所述第二驱动气缸被配置为驱动所述第三安装板往复运动，以使所述第三定位销插入或脱离所述顶盖后横梁的第二销孔，并带动所述第一夹臂靠近或远离所述第一定位块，以将所述顶盖后横梁的一侧夹紧或放松，还带动所述第二夹臂靠近或远离所述第二定位块，以将所述顶盖后横梁的另一侧夹紧或放松。
在一种实施例中，所述第一立柱上设有间隔设置的第二定位区域和第三定位区域，所述第二立柱上设有间隔设置的第四定位区域和第五定位区域，所述第二定位区域与第四定位区域的结构相同，所述第三定位区域与所述第五定位区域的结构相同，所述左侧抓手与其中一个所述第二滑移装置的第二定位区域、第三定位区域、第四定位区域和第五定位区域对接，所述右侧抓手与另一个所述第二滑移装置的第二定位区域、第三定位区域、第四定位区域和第五定位区域对接。
在一种实施例中，所述第一立柱上设有第三定位块和第二定位孔，以及靠近所述第三定位块设置的第二夹紧件，所述侧部抓手上设有第四定位销，所述第二定位孔被配置为与所述第四定位销配合，所述第二夹紧件被配置为将所述侧部抓手抵紧于所述第三定位块上；所述第二定位区域内包括一个所述第三定位块和第二夹紧件，所述第三定位区域内包括一个所述第三定位块、第二夹紧件和第二定位孔。
在一种实施例中，所述侧部抓手面向汽车的一侧安装有第三定位夹紧机构和第四定位夹紧机构，所述第三定位夹紧机构的数量为三个，三个所述第三定位夹紧机构分别与所述汽车的下安装板、顶盖前横梁以及顶盖中横梁对应布置，并分别被配置为将所述下安装板、所述顶盖前横梁以及所述顶盖中横梁定位及夹紧；所述第四定位夹紧机构被配置为对所述汽车的侧围总成定位及夹紧。
在一种实施例中，所述第三定位夹紧机构包括第二定位组件以及与所述第二定位组件连接的旋转组件，所述旋转组件安装于所述侧部抓手，所述第二定位组件包括第五定位销，所述汽车对应所述第五定位销开设有第三销孔，所述旋转组件被配置为驱动所述第五定位销靠近或远离所述第三销孔，以使所述第五定位销插入所述定位孔或脱离所述第三销孔。
在一种实施例中，所述旋转组件包括第三驱动气缸、主体支座以及旋转臂，所述主体支座安装于所述侧部抓手，所述旋转臂的一端通过铰接轴铰接于所述主体支座，所述旋转臂的另一端连接所述定位组件，所述第三驱动气缸的缸体铰接于所述主体支座，所述第三驱动气缸的输出轴铰接于所述旋转臂，所述第三驱动气缸被配置为驱动所述旋转臂绕所述铰接轴旋转，以带动所述第五定位销靠近或远离所述第三销孔。
本申请的技术方案中，当汽车需要焊接时，对应不同的车型选择对应的侧部抓手、后部抓手和下车体定位装置，根据侧部抓手的尺寸和类型可调整第一立柱与第二立柱之间的距离，能够对轴距差异较大的成型进行定位，兼容性好、应用范围广；后部抓手分别与两 个第二立柱对接，左侧抓手分别与第一立柱和第二立柱对接，右侧抓手分别与另一侧的第一立柱和第二立柱对接，形成整体高承载、高精度的抓手总拼系统，确保了车身制造总拼精度。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请一实施例汽车抓手总拼系统的结构示意图；
图2为本申请一实施例汽车抓手总拼系统的第一滑移装置的结构示意图；
图3为本申请一实施例汽车抓手总拼系统的第二滑移装置的结构示意图；
图4为本申请一实施例汽车抓手总拼系统的第二滑移装置的部分结构示意图；
图5为本申请一实施例汽车抓手总拼系统的第二滑移装置的另一部分结构示意图；
图6为本申请一实施例汽车抓手总拼系统的第二滑移装置的又一部分结构示意图；
图7为本申请一实施例汽车抓手总拼系统的第二滑移装置与后部抓手的装配示意图；
图8为本申请一实施例汽车抓手总拼系统的第二滑移装置与侧部抓手的装配示意图；
图9为本申请一实施例汽车抓手总拼系统的后部抓手的结构示意图；
图10为本申请一实施例汽车抓手总拼系统的第二立柱的结构示意图；
图11为本申请一实施例汽车抓手总拼系统的第二立柱的部分结构示意图；
图12为本申请一实施例汽车抓手总拼系统的第二立柱的另一部分结构示意图；
图13为本申请一实施例汽车抓手总拼系统的第一定位夹紧机构的结构示意图；
图14为本申请一实施例汽车抓手总拼系统的第二定位夹紧机构的结构示意图；
图15为本申请一实施例汽车抓手总拼系统的第五定位夹紧机构的结构示意图；
图16为本申请一实施例汽车抓手总拼系统的第六定位夹紧机构的结构示意图；
图17为本申请一实施例汽车抓手总拼系统的侧部抓手与第一立柱和第二立柱的装配示意图；
图18为本申请一实施例汽车抓手总拼系统的第一立柱的结构示意图；
图19为本申请一实施例汽车抓手总拼系统的第一立柱的部分结构示意图；
图20为本申请一实施例汽车抓手总拼系统的第一立柱的另一角度的结构示意图；
图21为本申请一实施例汽车抓手总拼系统的侧部抓手与汽车定位的示意图；
图22为本申请一实施例汽车抓手总拼系统的第三定位夹紧机构的结构示意图；
图23为本申请一实施例汽车抓手总拼系统的第三定位夹紧机构另一角度的结构示意图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
另外，若本申请实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅被配置为描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请中对“上”、“下”、“左”、“右”、“前”、“后”等方位的描述以图1至图所示的方位为基准，仅被配置为解释在图1所示姿态下各部件之间的相对位置关系，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
本申请提出一种汽车抓手总拼系统，如图1～图3和图21所示，包括：
侧部抓手100，包括左侧抓手110和右侧抓手120，左侧抓手110被配置为将汽车600左侧定位及夹紧，右侧抓手120被配置为将汽车600右侧定位及夹紧；
后部抓手400，被配置为将汽车600后部定位及夹紧；
下车体定位装置200，被配置为将汽车600底部定位；
定位结构300，包括第一滑移装置310以及设置在第一滑移装置310相对两侧的两个第二滑移装置320，下车体定位装置200安装在第一滑移装置310上，第二滑移装置320包括间隔设置且能够相对远离或靠近的第一立柱330和第二立柱340，左侧抓手110的两端分别与其中一个第二滑移装置320的第一立柱330和第二立柱340连接，右侧抓手120的两端分别与另一个第二滑移装置320的第一立柱330和第二立柱340连接，后部抓手400的两端分别与两个第二立柱340连接。
本申请的第一立柱330和第二立柱340能沿X、Y轴移动，需要说明的是，本申请中的X向为汽车的前后方向，Y向为汽车的左右方向。一般情况下，侧部抓手100固定在第二滑移装置320的第一立柱330和第二立柱340上，当需要对汽车600焊接时，将汽车600放置在第一滑移装置310上，通过下车体定位装置200对汽车600的底部定位，然后第一滑移装置310将汽车600输送至焊接位置，根据汽车600的宽度调整相对两侧第一立柱330之间的距离(同侧的第一立柱330和第二立柱340同步移动)，根据汽车600的轴距调整同侧的第一立柱330和第二立柱340之间的距离，然后通过搬运机器人将后部抓手400搬运靠近第二立柱340，将后部抓手400与两个第二立柱340对接，即完成第二滑移装置320与侧部抓手100以及后部抓手400之间的定位。只有在切换车型的情况下，才需要将侧部抓手100从第一立柱330和第二立柱340取下，以更换侧部抓手。本申请的汽车抓手总拼系统能在“井”型区域内任意位置精密定位，定位精度(0.1mm以内)，具备跨平台、变距轴距、不同宽窄车型定位能力。同时该“井式”移动立柱与集约化最少量(即三片)车型定位抓手系统(左侧抓手110、右侧抓手120和后部抓手400)、下车体定位装置200配合形成了汽车抓手总拼系统。后部抓手400与两个第二立柱340对接形成整体高承载、高精度的抓手总拼系统，确保车身制造总拼精度。本申请满足车身总拼中侧围内外板分层焊也适被配置为侧围总成整体上总拼定位的成本最小及占地最少、质量较优的技术特点。本申请在混流生产模式上有更多优势，同一车型的抓手工作与退回由第二滑移装置320的第一立柱330和第二立柱340带动，无需搬运机器人介入，车型混流生产时方需搬运机器人对抓手进行切换，其余时间搬运机器人带焊钳焊接，以此提高车身总拼定位焊点数量及车身制造精度，提高设备利用率。本申请柔性能力强，建线投资成本低，占地小，定位精度高，方便拆迁及转产。
当汽车600需要焊接时，对应不同的车型选择对应的侧部抓手100、后部抓手400和下车体定位装置200，根据侧部抓手100的尺寸和类型可调整第一立柱330与第二立柱340之间的距离，能够对轴距差异较大的成型进行定位，兼容性好、应用范围广；后部抓手400分别与两个第二立柱340对接，左侧抓手110分别与第一立柱330和第二立柱340对接，右侧抓手120分别与另一侧的第一立柱330和第二立柱340对接，形成整体高承载、高精度的抓手总拼系统，确保了车身制造总拼精度。
如图2所示，第一滑移装置310包括基座311以及可滑动地设置在基座311上的输送滑橇312，下车体定位装置200安装在输送滑橇312上。第一滑移装置310主要针对合拼后的下车体总成进行定位，输送滑橇312相对基座沿X轴滑动，具备线间输送，车型定位的特点，不同车型生产仅对第一滑移装置310的下车体定位装置200切换即可解决柔性问题。
如图3～图6所示，第二滑移装置320还包括第一驱动组件321、第一连接座322、支撑底板323和设置于支撑底板323上方的Y向移动板324，支撑底板323面向Y向移动板324的一侧设置有第一导轨325，第一导轨325沿Y向延伸，Y向移动板324设置有与第一导轨325滑动接触配合的滑块；第一驱动组件321与第一连接座322连接，第一立柱330和第二立柱340通过Y向移动板324连接第一连接座322，第一驱动组件321被配置为驱动第一连接座322及Y向移动板324沿第一导轨325运动，以使第一立柱330和第二立柱340沿Y向运动。
第一驱动组件321驱动第一立柱330和第二立柱340沿靠近汽车600的方向运动到工作位置，使得侧部抓手100能对汽车600进行定位夹紧，当汽车600完成焊接时，第一驱动组件321驱动第一立柱330和第二立柱340沿远离汽车600的方向恢复到初始位置，避免定位装置在汽车600的输送过程中与其他零部件产生干涉。本实施例不仅能通过第一驱动组件321驱动第一立柱330和第二立柱340同步运动，避免定位装置与其他零部件产生干涉，从而保证安全生产，还能够自由调节第一立柱330和第二立柱340之间的间距，避免人工搬运的同时提高生产效率，还可以适用不同的汽车600车型、兼容性好、应用范围广。
本实施例的第一导轨325的数量为三个，三个第一导轨325沿X向间隔设置于支撑底板323，三个第一导轨325间隔设置在支撑底板323的上侧，第一立柱330和第二立柱340均设置在支撑底板323上，支撑底板323不仅能支撑第一立柱330和第二立柱340，三个第一导轨325还能保证第一立柱330和第二立柱340的运动轨迹。并且仅依靠Y向移动板324的滑块与第一导轨325之间的滑动接触配合就能实现第一立柱330和第二立柱340的同步运动，结构简单且巧妙。
第一驱动组件321包括第一安装板3211以及安装于第一安装板3211的第一驱动电机3212和第一滚珠丝杆3213，第一安装板3211设置于支撑底板323，第一滚珠丝杆3213沿Y向延伸；第一连接座322套设于第一滚珠丝杆3213上并与第一滚珠丝杆3213啮合，第一驱动电机3212连接第一滚珠丝杆3213的一端并驱动滚珠丝杆转动。本实施例中的第一驱动电机3212可采用现有技术中的伺服电机，当汽车600需要焊接时，第一驱动电机3212驱动第一滚珠丝杆3213转动，由于第一连接座322与第一滚珠丝杆3213通过螺纹啮合，第一连接座322随着第一滚珠丝杆3213的转动沿第一滚珠丝杆3213运动，使得与第一连接座322连接的第一立柱330和第二立柱340沿Y向靠近汽车600运动，就能完成第一立柱330和第二立柱340的同步运动，实现了对第一立柱330和第二立柱340搬运自动化。
第二滑移装置320还包括第二安装板326、X向移动板327以及设置于第二安装板326的第二驱动组件328，第二安装板326连接Y向移动板324，第二安装板326设置有第二导轨329，第二导轨329沿X向延伸，X向移动板327开设有被配置为与第二导轨329滑动接触配合的滑槽，第二立柱340安装于X向移动板327，第二驱动组件328被配置为驱动X向移动板327沿第二导轨329运动，以使第二立柱340远离或靠近第一立柱330。针对不同汽车600车型需要切换相应的侧部抓手100时，第二驱动组件328驱动X向移动板327沿第二导轨329运动，使得X向移动板327上的第二立柱340沿X向远离或靠近第一立柱330，就能自由调节第一立柱330和第二立柱340之间的间距，结构简单且便于控制。本实施例的第一立柱330和第二立柱340在Y向的位置，以及第一立柱330和第二立柱340在X向的相对距离可任意调整，解决了任意车型的柔性共线生产问题。
第二驱动组件328包括第二驱动电机3281、第二滚珠丝杆3282以及丝杆螺母座3283，第二滚珠丝杆3282沿X向延伸，丝杆螺母座3283套设于第二滚珠丝杆3282上并与第二滚珠丝杆3282啮合，丝杆螺母座3283连接X向移动板327，第二驱动电机3281连接第二滚珠丝杆3282的一端并能够驱动第二滚珠丝杆3282转动。本实施例中的第二驱动电机3281可采用现有技术中的伺服电机，针对不同汽车600车型需要切换相应的侧部抓手100时，第二驱动电机3281驱动第二滚珠丝杆3282转动，由于丝杆螺母座3283与第二滚珠丝杆3282通过螺纹啮合，丝杆螺母座3283随着第二滚珠丝杆3282的转动沿第二滚珠丝杆3282运动，使得与X向移动板327连接的第二立柱340远离或靠近第一立柱330，实现汽车600总拼抓手定位系统针对不同汽车600车型的高兼容性。第二滑移装置320通过伺服电机驱动精密丝杆带动第一立柱330和第二立柱340在在X、Y轴的移动区域内任意位置精确定位，移动区域呈“井型”特点，因此本申请兼备长短轴距，不同车身宽度柔性共线定位特点，该抓手总拼系统属生产线的共用定位基础。同时该第二滑移装置320为侧部、后部定位抓手提供定位接口，确保不同车型的侧部、后部定位抓手系统得到充分定位，后部抓手400与两个第二立柱340对接车身形成整体框架，提高车身定位精度及承载能力。
为防止工人踩踏或者杂物掉落而影响正常安全生产，第二导轨329外套设有沿X向延伸的伸缩防尘罩3291，X向移动板327抵接于防尘罩3291靠近第一立柱330的一端。伸缩防尘罩3291不仅能避免杂物掉落影响安全生产的情况，在X向移动板327上的第二立柱340在向远离第一立柱330的方向运动时，本实施例的伸缩防尘罩3291具有可伸缩性性，X向移动板327能将伸缩防尘罩3291压缩，从而不影响X向移动板327的正常运动。并且，本实施例中为保证将X向移动板327限位到指定位置，第二安装板326还设置有被配置为对X向移动板327限位的第一限位块和第二限位块，X向移动板327设置于第一限位块和第二限位块之间。
如图7、图9～图12所示，第二立柱340上设有第一定位区域350，后部抓手400与第二滑移装置320上的两个第一定位区域350对接，后部抓手400包括连接架410和设置在连接架410上的第一定位销411，第二立柱340包括位于第一定位区域350内的支撑柱341以及设置在支撑柱341上的第一定位孔342和第一夹紧件343，第一定位销411与第一定位孔342配合，第一夹紧件343被配置为将连接架410抵紧于支撑柱341上。现有技术的抓手互锁形式存在交互影响且定位精度不稳定，而依靠机器人辅助定位则对产品零件质量 要求高且对机器人设备占用，整个工作过程机器人仅起到搬运及定位作用，增加制造成本及设备利用率低。本申请以高立柱对抓手进行定位充分定位，避免抓手之间互锁的交互影响，通过后部抓手400与左右侧的第一立柱330和第二立柱340进行连接，使整体形成框架，提高系统承载能力，可更好对车身零件波动进行纠错，进一步提升系统精度及车身制造精度。本申请不需要依靠机器人辅助定位，减少设备占用，优化工艺布局及设备利用率，仅当不同车型需要切换时方需搬运机器人对抓手进行切换，切换后的侧部抓手100及后部抓手400通过与立柱对接确保系统的稳定性及定位精度。
搬运机器人搬运后部抓手400运动，可直接将后部抓手400搬运至第一定位区域350，搬运机器人无需进行避让或需要增加多点过渡轨迹，以缩短搬运时间，提高总拼焊接效率；并且后部抓手400与第二立柱340对接后，运动方向不会被限制，即后部抓手400能够向靠近汽车600后部的方向运动，且在到达焊接位置时后部抓手400直接对汽车600后部进行定位及夹紧，无需增设额外的伸缩机构以提供水平方向的运动，简化整体结构，减轻后部抓手400的重量。具体地，第一夹紧件343包括第四驱动气缸5323以及与第四驱动气缸5323的输出轴连接的第一夹紧块，第四驱动气缸5323安装于第二立柱340上，第四驱动气缸5323的输出轴伸出和缩回带动第一夹紧块放松或抵紧后部抓手400。
连接架410上还设有与第一定位销411同侧布置的第四定位块412，支撑柱341还设有与第一定位孔342同侧布置的第五定位块344，第五定位块344被配置为与第四定位块412抵接。第一定位销411与第一定位孔342进行配合定位，后部抓手400向靠近第二立柱340的方向移动的过程中，当第四定位块412与第五定位块344抵接，则判断此时后部抓手400已完全到位，此时第四驱动气缸5323缩回使连接架410抵紧于支撑柱341上。
此外，支撑柱341上设有导向机构343，导向机构343包括设置在第二立柱340上的支座3431、以及设置在支座3431上的两个导向滚轮3432，两个导向滚轮3432沿第一定位销411的轴向并列设置；连接架410上设有高度对接块3433，两个导向滚轮3432支撑高度对接块3433。在第一定位销411与第一定位孔342进行配合定位之前，搬运机器人搬运后部抓手400，使高度对接块3433放置于两个导向滚轮3432上，此时第一定位销411正对第一定位孔342，搬运机器人继续推动第一定位销411插入第一定位孔342，则高度对接块3433在导向滚轮3432上滑动，采用导向滚轮3432能够将滑动摩擦力转换为转动摩擦力，使第一定位销411插入过程更加顺畅，且两个导向滚轮3432共同支撑高度对接块3433，防止高度对接块3433发生晃动影响定位精度。
连接架410包括相连接的第一连接杆413和第二连接杆414，第二连接杆414的自由端设置有第一定位销411，第一连接杆413面向第一定位销411的一侧设置有高度对接块3433。当高度对接块3433放置在导向滚轮3432上时，第二立柱340已经通过第一连接杆413对后部抓手400起到支撑作用，减轻外部搬运机构的承载压力，且第一连接杆413面向第一定位销411的一侧设置有高度对接块3433以保证高度对接块3433放置在导向滚轮3432上时，第一定位销411正对于第一定位孔342。
如图9所示，后部抓手400面向汽车600的一侧安装有第一定位夹紧机构510和第二定位夹紧机构520，第一定位夹紧机构510被配置为与汽车600的侧围尾门洞对应布置且被配置为定位及夹持侧围尾门洞，第二定位夹紧机构520被配置为与汽车600的顶盖后横梁对应布置且被配置为定位及夹持顶盖后横梁。后部抓手400面向汽车600的一侧还安装有第五定位夹紧机构530和第六定位夹紧机构540，第五定位夹紧机构530与汽车600的尾门中横梁对应布置且被配置为定位及夹持尾门中横梁；第六定位夹紧机构540与汽车600的后端板对应的布置且被配置为定位及夹持后端板；第一定位夹紧机构510、第二定位夹紧机构520、第五定位夹紧机构530以及第六定位夹紧机构540均安装于后部抓手400面向汽车600的一侧。本实施例中通过一个后部抓手400上集成多个定位夹紧机构，就能完成一次性完成侧围尾门洞、顶盖后横梁、尾门中横梁以及后端板的定位夹紧，不仅能应被配置为不同车型的汽车600，还能避免现有技术中采用多个分拼拼台分别对侧围尾门洞、顶盖后横梁、尾门中横梁以及后端板进行定位夹紧的情况，减少了汽车600焊接过程中采用的设备及总拼工位，降低了汽车600的生产成本。
如图13所示，第一定位夹紧机构510包括第一安装座511、第一驱动气缸512、第一抵接块513、销座514以及第二定位销515；第一安装座511与后部抓手400连接；第一抵接块513和第一驱动气缸512均设于第一安装座511上，第二定位销515通过销座514与第一驱动气缸512输出轴连接，第一抵接块513被配置为抵接汽车600的侧围，第二定位销515与汽车600侧围上的第一销孔配合。第二立柱340及后部抓手400到达焊接位置时， 第一抵接块513被配置为抵接汽车600的后部，第一驱动气缸512伸出以使第二定位销515插入汽车600后部的第一销孔，此时汽车600的侧围尾门洞被完全定位并抵紧。
如图9和图14所示，后部抓手400包括第一横梁420以及与第一横梁420连接的固定板430，第一横梁420的两端与第二立柱340的第一定位区域350对接，后部抓手400还包括与第一横梁420连接的固定板430第二定位夹紧机构520包括第二安装座521、第一夹紧组件522和第一定位组件523，第二安装座521设于固定板430上，第一夹紧组件522包括设于第二安装座521上的第二驱动气缸5221、与第二驱动气缸5221的输出轴连接的第三安装板5222以及铰接于第三安装板5222上的第一夹臂5223和第二夹臂5224；第一定位组件523包括设置在第三安装板5222上的第一定位块5231、第二定位块5232及第三定位销5233；第二驱动气缸5221被配置为驱动第三安装板5222往复运动，以使第三定位销5233插入或脱离顶盖后横梁的第二销孔，并带动第一夹臂5223靠近或远离第一定位块5231，以将顶盖后横梁的一侧夹紧或放松，还带动第二夹臂5224靠近或远离第二定位块5232，以将顶盖后横梁的另一侧夹紧或放松。第二立柱340及后部抓手400到达焊接位置时，第二驱动气缸5221的输出轴伸出，输出轴推动第三安装板5222，第三安装板5222带动第三定位销5233插入顶盖后横梁的第二销孔，与此同时，第三安装板5222带动第一夹臂5223靠近第一定位块5231以夹紧顶盖后横梁的一侧，并且第三安装板5222带动第二夹臂5224靠近第一定位块5231以夹紧顶盖后横梁的另一侧，由此完成顶盖后横梁的定位与夹紧。
具体地，第三安装板5222的两侧分别铰接有第一连杆5234和第二连杆5235，第一夹臂5223与第一连杆5234铰接，且第一夹臂5223靠近第一连杆5234处与第二安装座521铰接；第二夹臂5224与第二连杆5235铰接，且第二夹臂5224靠近第二连杆5235处与第二安装座521铰接。第一位置为第二定位夹紧机构520夹持顶盖后横梁时第三安装板5222所处的位置，第二位置为第二定位夹紧机构520初始状态下第三安装板5222所处的位置，第三安装板5222在第一位置与第二位置之间往复运动以带动第一夹臂5223和第二夹臂5224分别与第一定位块5231和第二定位块5232配合以夹持顶盖后横梁或解除夹持。
具体地，第二立柱340及后部抓手400到达焊接位置时，第三定位销5233正对于顶盖后横梁上的第二销孔对齐，第二驱动气缸5221的输出轴推动第三安装板5222由第一位置向第二位置移动，第三定位销5233插入顶盖后横梁上的第二销孔中，与此同时，第三安装板5222通过第一连杆5234带动第一夹臂5223相对第一夹臂5223与支架的铰接处转动，使第一夹臂5223的自由端向靠近第一定位块5231的方向移动，直至顶盖后横梁的一侧夹持于第一夹臂5223与第一定位块5231之间；第三安装板5222通过第二连杆5235带动第二夹臂5224相对第二夹臂5224与支架的铰接处转动，使第二夹臂5224的自由端向靠近第一定位块5231的方向移动，直至顶盖后横梁的另一侧夹持于第二夹臂5224与第一定位块5231之间；由此实现对顶盖后横梁的定位与夹持。第二驱动气缸5221驱动第三安装板5222由第二位置向第一位置移动，第一夹臂5223向远离第一定位块5231的方向移动，第二夹臂5224向远离第一定位块5231的方向移动，以解除对顶盖后横梁的夹持，且第三定位销5233脱离顶盖后横梁上的第二销孔，此时第二定位夹紧机构520被配置为下一轮对顶盖后横梁的定位与夹紧。并且，在第三安装板5222处于第二位置时，第一夹臂5223的自由端位于顶盖后横梁的下侧，第二夹臂5224的自由端位于顶盖后横梁的上侧，以使第一夹臂5223与第二夹臂5224之间形成足够的避让空间。
如图9和图15所示，后部抓手400还包括与第一横梁420连接且向下延伸的连接梁440，第五定位夹紧机构530包括第三安装座531、第二夹紧组件532以及第四定位销533；第三安装座531设于连接梁440上；第二夹紧组件532的数量为两个，两个第二夹紧组件532相对设置；第二夹紧组件532包括连接板5321、第六定位块5322、第四驱动气缸5323以及第三夹臂5324；连接板5321设于第三安装座531上，第六定位块5322设于连接板5321上，第四驱动气缸5323的缸体与连接板5321铰接，第四驱动气缸5323的输出轴与第三夹臂5324铰接，且第三夹臂5324与连接板5321铰接；第四驱动气缸5323驱动第三夹臂5324相对连接板5321转动以使连接板5321的自由端靠近或远离第六定位块5322；第六定位销设于第三安装座531上，第六定位销与尾门中横梁上的第四销孔配合。第二立柱340及后部抓手400到达焊接位置时，第六定位销插入尾门中横梁上的第四销孔中，第四驱动气缸5323的输出轴伸出，以带动第三夹臂5324向靠近第六定位块5322的方向运动，直至第三夹臂5324与第六定位块5322共同夹持尾门中横梁，完成对尾门中横梁的定位与夹紧。
如图9和图16所示，第一横梁420还包括设于第一横梁420下侧且与连接梁440连接的第二横梁450，第六定位夹紧机构540包括设于第二横梁450上的第四安装座541、与第四安装座541连接的过渡板542、设于过渡板542上的第七定位块543、第七定位销544和第八定位块545；第七定位块543和第八定位块545均抵持于汽车600的后端板，第七定位销544与汽车600后端板上的第五销孔配合。第二立柱340及后部抓手400到达焊接位置时，第七定位块543与第八定位块545共同抵持汽车600后端板，第七定位销544插入后端板上的第五销孔，由此完成对后端板的抵紧与定位。
第一定位夹紧机构510、第二定位夹紧机构520、第五定位夹紧机构530以及第六定位夹紧机构540的数量均为两个一一对应的对称分布。由于汽车600后部结构为对称结构，则与对应的第一定位夹紧机构510、第二定位夹紧机构520、第五定位夹紧机构530以及第六定位夹紧机构540均一一对应的对称分布能够更好的夹持汽车600后部。两个定位夹紧机构同时对一个部件进行定位与夹紧时，能够更好的保证部件的定位进度。
如图8所示，第一立柱330上设有间隔设置的第二定位区域360和第三定位区域370，第二立柱340上设有间隔设置的第四定位区域380和第五定位区域390，左侧抓手110与其中一个第二滑移装置320的第二定位区域360、第三定位区域370、第四定位区域380和第五定位区域390对接，右侧抓手120与另一个第二滑移装置320的第二定位区域360、第三定位区域370、第四定位区域380和第五定位区域390对接。后部抓手400通过两个第一定位区域350与定位结构300对接，左侧抓手110通过四个定位点(第二定位区域360、第三定位区域370、第四定位区域380和第五定位区域390)与定位结构300对接，右侧抓手120也通过四个定位点(第二定位区域360、第三定位区域370、第四定位区域380和第五定位区域390)与定位结构300对接。本实施例以高稳定性立柱定位抓手，替代抓手直接互联形式，解决互联对接不畅问题，提高抓手系统定位精度，不需要占用搬运机器人一直对抓手进行定位，降低对机器人的占用。以后部抓手400与两侧定位立柱互联使整个抓手系统形成高刚性框架结构，解决车身制造精度低问题。
如图17～图20所示，第一立柱330上设有第三定位块331和第二定位孔332，以及靠近第三定位块331设置的第二夹紧件333，侧部抓手100上设有第四定位销533，第二定位孔332被配置为与第四定位销533配合，第二夹紧件333被配置为将侧部抓手100抵紧于第三定位块331上；第二定位区域360内包括一个第三定位块331、第二夹紧件333和第二定位孔332，第三定位区域370内包括一个第三定位块331和第二夹紧件333。在其它实施例中，第二定位区域360内也可以包括一个第三定位块331和第二夹紧件333，第三定位区域370内包括一个第三定位块331、第二夹紧件333和第二定位孔332。第四定位区域380的结构可以和第二定位区域360的结构相同，也可以和第三定位区域370的结构相同，第五定位区域390的结构可以和第二定位区域360的结构相同，也可以和第三定位区域370的结构相同，可以根据具体需要设定，在此不作具体的限定。
第二夹紧件333可以将侧部抓手100抵紧于第三定位块331，同时第二定位孔332可以与侧部抓手100的第四定位销533配合，从而可以通过第二夹紧件333将侧部抓手100抵紧于第三定位块331实现对侧部抓手100的面定位，以及通过第二定位孔332与侧部抓手100的第四定位销533的配合实现对侧部抓手100的孔定位，即通过对侧部抓手100的孔定位和面定位分散布置，避免因一体式销座514定位出现的侧部抓手100不稳定状态的现象，提高侧部抓手100定位的稳定性，进而可以避免因侧部抓手100的定位稳定性问题而影响车身拼装过程中焊接零部件的定位精度。
第三定位块331开设有一组第一安装孔，第一立柱330上开设有多组间隔布置的第二安装孔334，第一安装孔与任意一组第二安装孔334通过第一紧固件335连接。第三定位块331上一组第一安装孔的数量可以为但不限于2个、4个或6个，对应的第一立柱330上开设的一组第二安装孔334的数量与第三定位块331上第一安装孔的数量可以保持一致，同时第一立柱330开设的第二安装孔334的组数可以为但不限于2组或3组，即可以通过调整第三定位块331与不同组的第二安装孔334进行连接，以与侧部抓手100的不同部位进行抵接，同时也可以适应不同尺寸的侧部抓手100，提高侧部抓手100定位锁紧装置的兼容性。第一紧固件335可以为但不限于是螺纹紧固件。
第一立柱330上设置有第九定位块336，第二定位孔332形成于第九定位块336上，第二定位孔332内设置有与第四定位销533配合的轴套，第九定位块336上对应轴套设置有压圈337。第二定位孔332内设置有与第四定位销533配合的轴套，则可以在轴套发生异常磨损时，直接更换轴套即可，而无需更换整个第九定位块336。第九定位块336上设 置有将轴套压设于第二定位孔332的压圈337，从而可以保证轴套与侧部抓手100的第四定位销533配合的稳定性，避免轴套出现松动脱落的现象。在其他实施例中，第二定位孔332可以根据侧部抓手100的第四定位销533的设置进行不同的布置，第二定位孔332还可以直接开设在第一立柱330上，无需第九定位块336，也可以是第一立柱330上还开设有与第九定位块336上的第二定位孔332对应的沉孔。当然，对于第二定位孔332的布置，本申请不限于此。
第二滑移装置320还包括两个调整块3381，两个调整块3381分别对应设置在第九定位块336的两相邻侧，调整块3381和第九定位块336之间设置有调整垫片3382，调整块3381和第九定位块336通过第二紧固件3383连接。调整垫片3382也可以穿设在第二紧固件3383上，第二紧固件3383可以为但不限于是螺纹紧固件，即可以通过调节第二紧固件3383，增大或减小调整块3381和第九定位块336对调整垫片3382的压紧力，以控制调整块3381和第九定位块336之间的间隙，进而保证第九定位块336上的第二定位孔332与侧部抓手100的第四定位销533之间的对中精度。
如图20所示，第二夹紧件333包括安装在第一立柱330的第一支架3331、设置在第一支架3331上的第五驱动气缸3332以及设置在第五驱动气缸3332上的第四夹臂3333，第五驱动气缸3332被配置为驱动第四夹臂3333将侧部抓手100抵紧于第三定位块331上。更具体地，第四夹臂3333的一端与第五驱动气缸3332的输出轴连接，第四夹臂3333的另一端设置有第二抵接块3334，第二抵接块3334位于侧部抓手100背离第三定位块331的一侧，第五驱动气缸3332通过第四夹臂3333带动第二抵接块3334靠近侧部抓手100，并将侧部抓手100的侧部抵紧于第三定位块331上。第二滑移装置320需要对侧部抓手100进行定位锁紧时，侧部抓手100的定位面与第三定位块331抵接，侧部抓手100的第四定位销533与第二定位孔332配合安装，第五驱动气缸3332可以驱动第四夹臂3333朝向侧部抓手100设置的方向运动，直至第四夹臂3333上的第二抵接块3334与侧部抓手100背离第三定位块331的一侧抵接，以将侧部抓手100抵紧于第三定位块331上；当需要从第二滑移装置320上取下侧部抓手100时，第五驱动气缸3332可以驱动第四夹臂3333朝向远离侧部抓手100方向运动，此时侧部抓手100失去第二夹紧件333将其抵紧于第三定位块331上的作用，则能够顺利取下侧部抓手100。
在一实施例中，第二夹紧件333还包括设置在第五驱动气缸3332上的导向杆3335，第四夹臂3333的一端设置有导向板3336，导向板3336套设于导向杆3335上并能沿导向杆3335滑动。导向杆3335的一端设置在第五驱动气缸3332的缸体上，另一端套设在导向板3336上，导向板3336设置在第四夹臂3333背离第二抵接块3334的一端，且第五驱动气缸3332的输出轴也穿过导向板3336与第四夹臂3333连接。即第五驱动气缸3332的输出轴驱动第四夹臂3333运动，设置在第四夹臂3333上的导向板3336沿导向杆3335滑动，以保证第四夹臂3333运动的稳定性，从而保证第四夹臂3333上的第二抵接块3334对侧部抓手100准确定位。
如图21所示，侧部抓手100面向汽车600的一侧安装有第三定位夹紧机构550和第四定位夹紧机构，第三定位夹紧机构550的数量为三个，三个第三定位夹紧机构550分别与汽车600的下安装板610a、顶盖前横梁610b以及顶盖中横梁610c对应布置，并分别被配置为将下安装板610a、顶盖前横梁610b以及顶盖中横梁610c定位及夹紧。当汽车600需要焊接时，首先将汽车600输送到第一滑移装置310，此时侧部抓手100位于汽车600的一侧，汽车600的前横梁、中横梁以及下安装板610a的位置分别对应有一个第三定位夹紧机构550。然后三个第三定位夹紧机构550同时工作，分别对汽车600的下安装板610a、前横梁以及中横梁进行定位夹紧，三个第三定位夹紧机构550相互配合完成对汽车600侧部的定位夹紧。本实施例仅通过左侧抓手110和右侧抓手120各集成三个第三定位夹紧机构550，就能完成一次性完成下安装板610a、前横梁以及中横梁的定位夹紧，第四定位夹紧机构对汽车的侧围总成定位及夹紧，本实施例不仅能应被配置为不同车型的汽车600，还能避免现有技术中采用多个分拼拼台分别对下安装板610a、前横梁以及中横梁进行定位夹紧的情况，减少了汽车600焊接过程中采用的设备，降低了汽车600的生产成本。如图22和图23所示，第三定位夹紧机构550包括第二定位组件551以及与第二定位组件551连接的旋转组件552，旋转组件552安装于侧部抓手100，第二定位组件551包括第五定位销5511，汽车600对应第五定位销5511开设有第三销孔，旋转组件552被配置为驱动第五定位销5511靠近或远离第三销孔，以使第五定位销5511插入定位孔或脱离第三销孔。其中，第四定位夹紧机构可选用现有技术中对汽车侧围总成进行夹紧的常规定位夹紧机 构，在此不对第四定位夹紧机构的具体结构进行限定。
对汽车600的车梁610进行定位及夹紧前，先将汽车600输送到第一滑移装置310，下车体定位装置200对汽车600的底部定位，第三定位夹紧机构550处于打开位置，此时，第二定位组件551的第五定位销5511远离车梁610的第三销孔，避免与汽车600上的部件产生干涉。对汽车600的车梁610(汽车600的前横梁、中横梁以及下安装板610a)进行定位时，旋转组件552驱动第二定位组件551绕旋转组件552旋转，此时第二定位组件551向靠近车梁610的第三销孔运动，利用旋转运动瞬时线速度方向是圆周运动切向，使第五定位销5511进入第三销孔，完成第二定位组件551与车梁610的定位，此时的第二定位组件551处于工作位置。当汽车600的车梁610焊接完成后，旋转组件552驱动第二定位组件551向远离车梁610的方向旋转，利用旋转运动瞬时线速度方向是圆周运动切向，使第五定位销5511脱离第三销孔、远离汽车600并使得第二定位组件551恢复到打开位置，避免第二定位组件551与汽车600产生干涉。侧部抓手100仅依靠第二定位组件551的旋转过程就能完成对汽车600侧部的定位，结构设计巧妙且简单。
旋转组件552包括第三驱动气缸5521、主体支座5522以及旋转臂5523，主体支座5522安装于侧部抓手100，旋转臂5523的一端通过铰接轴铰接于主体支座5522，旋转臂5523的另一端连接第二定位组件551，第三驱动气缸5521的缸体铰接于主体支座5522，第三驱动气缸5521的输出轴铰接于旋转臂5523，第三驱动气缸5521被配置为驱动旋转臂5523绕铰接轴旋转，以带动第五定位销5511靠近或远离第三销孔。当汽车600输送到第一滑移装置310时，第三定位夹紧机构550处于打开位置，当汽车600的车梁610需要定位时，第三驱动气缸5521的输出轴收缩，驱动与输出轴铰接的旋转臂5523绕着主体支座5522旋转，带动旋转臂5523连接的第二定位组件551，使第三定位夹紧机构550的第五定位销5511靠近并插入车梁610的第三销孔，此时的第三定位夹紧机构550处于工作位置。当汽车600的车梁610焊接完成后，第三驱动气缸5521的输出轴伸出，使第三定位夹紧机构550的第五定位销5511脱离车梁610的第三销孔，将第三定位夹紧机构550恢复到打开位置。
以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (15)

  1. 一种汽车抓手总拼系统，其中，包括：
    侧部抓手，包括左侧抓手和右侧抓手，所述左侧抓手被配置为将汽车左侧定位及夹紧，所述右侧抓手被配置为将汽车右侧定位及夹紧；
    后部抓手，被配置为将汽车后部定位及夹紧；
    下车体定位装置，被配置为将所述汽车底部定位；
    定位结构，包括第一滑移装置以及设置在所述第一滑移装置相对两侧的两个第二滑移装置，所述下车体定位装置安装在所述第一滑移装置上，所述第二滑移装置包括间隔设置且能够相对远离或靠近的第一立柱和第二立柱，所述左侧抓手的两端分别与其中一个所述第二滑移装置的所述第一立柱和第二立柱连接，所述右侧抓手的两端分别与另一个所述第二滑移装置的所述第一立柱和第二立柱连接，所述后部抓手的两端分别与两个所述第二立柱连接。
  2. 如权利要求1所述的汽车抓手总拼系统，其中，所述第一滑移装置包括基座以及可滑动地设置在所述基座上的输送滑橇，所述下车体定位装置安装在所述输送滑橇上。
  3. 如权利要求1所述的汽车抓手总拼系统，其中，所述第二滑移装置还包括第一驱动组件、第一连接座、支撑底板和设置于所述支撑底板上方的Y向移动板，所述支撑底板面向所述Y向移动板的一侧设置有第一导轨，所述第一导轨沿Y向延伸，所述Y向移动板设置有与所述第一导轨滑动接触配合的滑块；所述第一驱动组件与所述第一连接座连接，所述第一立柱和第二立柱通过所述Y向移动板连接所述第一连接座，所述第一驱动组件被配置为驱动所述第一连接座及所述Y向移动板沿所述第一导轨运动，以使所述第一立柱和第二立柱沿Y向运动。
  4. 如权利要求3所述的汽车抓手总拼系统，其中，所述第一驱动组件包括第一安装板以及安装于所述第一安装板的第一驱动电机和第一滚珠丝杆，所述第一安装板设置于所述支撑底板，所述第一滚珠丝杆沿Y向延伸；所述第一连接座套设于所述第一滚珠丝杆上并与所述第一滚珠丝杆啮合，所述第一驱动电机连接所述第一滚珠丝杆的一端并驱动所述滚珠丝杆转动。
  5. 如权利要求3所述的汽车抓手总拼系统，其中，所述第二滑移装置还包括第二安装板、X向移动板以及设置于所述第二安装板的第二驱动组件，所述第二安装板连接所述Y向移动板，所述第二安装板设置有第二导轨，所述第二导轨沿X向延伸，所述X向移动板开设有被配置为与所述第二导轨滑动接触配合的滑槽，所述第二立柱安装于所述X向移动板，所述第二驱动组件被配置为驱动所述X向移动板沿所述第二导轨运动，以使所述第二立柱远离或靠近所述第一立柱。
  6. 如权利要求5所述的汽车抓手总拼系统，其中，所述第二驱动组件包括第二驱动电机、第二滚珠丝杆以及丝杆螺母座，所述第二滚珠丝杆沿X向延伸，所述丝杆螺母座套设于所述第二滚珠丝杆上并与所述第二滚珠丝杆啮合，所述丝杆螺母座连接所述X向移动板，所述第二驱动电机连接所述第二滚珠丝杆的一端并能够驱动所述第二滚珠丝杆转动。
  7. 如权利要求1所述的汽车抓手总拼系统，其中，所述第二立柱上设有第一定位区域，所述后部抓手与所述第二滑移装置上的两个所述第一定位区域对接，所述后部抓手包括连接架和设置在所述连接架上的第一定位销，所述第二立柱包括位于所述第一定位区域内的支撑柱以及设置在所述支撑柱上的第一定位孔和第一夹紧件，所述第一定位销与所述第一定位孔配合，所述第一夹紧件被配置为将所述连接架抵紧于所述支撑柱上。
  8. 如权利要求1所述的汽车抓手总拼系统，其中，所述后部抓手面向汽车的一侧安装有第一定位夹紧机构和第二定位夹紧机构，所述第一定位夹紧机构被配置为与所述汽车 的侧围尾门洞对应布置且被配置为定位及夹持所述侧围尾门洞，所述第二定位夹紧机构被配置为与所述汽车的顶盖后横梁对应布置且被配置为定位及夹持所述顶盖后横梁。
  9. 如权利要求8所述的汽车抓手总拼系统，其中，所述第一定位夹紧机构包括第一安装座、第一驱动气缸、抵接块、销座以及第二定位销；所述第一安装座与所述后部抓手连接；所述抵接块和所述第一驱动气缸均设于所述所述第一安装座上，所述第二定位销通过所述销座与所述第一驱动气缸输出轴连接，所述抵接块被配置为抵接所述汽车的侧围，所述第二定位销与所述汽车侧围上的第一销孔配合。
  10. 如权利要求8所述的汽车抓手总拼系统，其中，所述后部抓手上设有固定板，所述第二定位夹紧机构包括：
    第二安装座，设于所述固定板上；
    第一夹紧组件，包括设于所述第二安装座上的第二驱动气缸、与所述第二驱动气缸的输出轴连接的第三安装板以及铰接于所述第三安装板上的第一夹臂和第二夹臂；
    第一定位组件，所述第一定位组件包括设置在所述第三安装板上的第一定位块、第二定位块及第三定位销；
    所述第二驱动气缸被配置为驱动所述第三安装板往复运动，以使所述第三定位销插入或脱离所述顶盖后横梁的第二销孔，并带动所述第一夹臂靠近或远离所述第一定位块，以将所述顶盖后横梁的一侧夹紧或放松，还带动所述第二夹臂靠近或远离所述第二定位块，以将所述顶盖后横梁的另一侧夹紧或放松。
  11. 如权利要求1所述的汽车抓手总拼系统，其中，所述第一立柱上设有间隔设置的第二定位区域和第三定位区域，所述第二立柱上设有间隔设置的第四定位区域和第五定位区域，所述左侧抓手与其中一个所述第二滑移装置的第二定位区域、第三定位区域、第四定位区域和第五定位区域对接，所述右侧抓手与另一个所述第二滑移装置的第二定位区域、第三定位区域、第四定位区域和第五定位区域对接。
  12. 如权利要求11所述的汽车抓手总拼系统，其中，所述第一立柱上设有第三定位块和第二定位孔，以及靠近所述第三定位块设置的第二夹紧件，所述侧部抓手上设有第四定位销，所述第二定位孔被配置为与所述第四定位销配合，所述第二夹紧件被配置为将所述侧部抓手抵紧于所述第三定位块上；所述第二定位区域内包括一个所述第三定位块和第二夹紧件，所述第三定位区域内包括一个所述第三定位块、第二夹紧件和第二定位孔。
  13. 如权利要求1所述的汽车抓手总拼系统，其中，所述侧部抓手面向汽车的一侧安装有第三定位夹紧机构和第四定位夹紧机构，所述第三定位夹紧机构的数量为三个，三个所述第三定位夹紧机构分别与所述汽车的下安装板、顶盖前横梁以及顶盖中横梁对应布置，并分别被配置为将所述下安装板、所述顶盖前横梁以及所述顶盖中横梁定位及夹紧；所述第四定位夹紧机构被配置为对所述汽车的侧围总成定位及夹紧。
  14. 如权利要求13所述的汽车抓手总拼系统，其中，所述第三定位夹紧机构包括第二定位组件以及与所述第二定位组件连接的旋转组件，所述旋转组件安装于所述侧部抓手，所述第二定位组件包括第五定位销，所述汽车对应所述第五定位销开设有第三销孔，所述旋转组件被配置为驱动所述第五定位销靠近或远离所述第三销孔，以使所述第五定位销插入所述定位孔或脱离所述第三销孔。
  15. 如权利要求14所述的汽车抓手总拼系统，其中，所述旋转组件包括第三驱动气缸、主体支座以及旋转臂，所述主体支座安装于所述侧部抓手，所述旋转臂的一端通过铰接轴铰接于所述主体支座，所述旋转臂的另一端连接所述定位组件，所述第三驱动气缸的缸体铰接于所述主体支座，所述第三驱动气缸的输出轴铰接于所述旋转臂，所述第三驱动气缸被配置为驱动所述旋转臂绕所述铰接轴旋转，以带动所述第五定位销靠近或远离所述第三销孔。
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