CN112108792B - Automobile rear positioning and clamping system - Google Patents
Automobile rear positioning and clamping system Download PDFInfo
- Publication number
- CN112108792B CN112108792B CN201911406437.4A CN201911406437A CN112108792B CN 112108792 B CN112108792 B CN 112108792B CN 201911406437 A CN201911406437 A CN 201911406437A CN 112108792 B CN112108792 B CN 112108792B
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- butt joint
- automobile
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- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 210000001503 joint Anatomy 0.000 claims abstract description 47
- 230000008093 supporting effect Effects 0.000 claims abstract description 7
- 238000003032 molecular docking Methods 0.000 claims description 23
- 230000007704 transition Effects 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 abstract description 20
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Classifications
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- 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 to a procedure covered by only one of the preceding main groups
-
- 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 to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automobile rear positioning and clamping system, which comprises a gripper and two upright posts respectively arranged at two ends of the gripper, wherein the gripper comprises a main frame, positioning and clamping devices and first butt joint parts, the positioning and clamping devices are arranged on the main frame, the positioning and clamping devices are used for positioning and clamping the rear part of an automobile, the number of the first butt joint parts is two, and the two first butt joint parts are arranged at two ends of the main frame; the upright posts are provided with second butt joint parts, and the second butt joint parts are in butt joint with the first butt joint parts so that the main frame is erected on the two upright posts. According to the technical scheme, the first butt joint part and the second butt joint part are in butt joint to form a high-precision interlocking system, so that the positioning and supporting precision of an automobile is improved, the two stand columns support the handles together, the carrying time is shortened, and the total welding efficiency is improved; and the motion direction is not limited, a telescopic mechanism does not need to be additionally arranged to provide motion in the horizontal direction, the integral structure is simplified, the acting force applied by the main frame to the upright post is reduced, and the service life of the upright post is prolonged.
Description
Technical Field
The invention relates to the technical field of automobile assembly, in particular to an automobile rear positioning and clamping system.
Background
In the prior art, when the rear part of the automobile is clamped and positioned during the total assembly of the automobile, a mode of matching a main clamp with a robot gripper is generally adopted, but because the main clamp has a complex structure and large occupied space, the robot needs to avoid and cannot directly reach preset welding points during carrying and welding, a multipoint transition track needs to be added, the time of the welding process is further increased, and the total assembly welding efficiency is low; and the main clamp and the robot gripper are matched to limit the transportation mode to be vertical transportation, but the rear part of the automobile is generally horizontally positioned, so that the rear part of the automobile is positioned in place by the main clamp and then the clamp is controlled by the telescopic structure to be horizontally positioned, and the positioning and clamping mechanism at the rear part of the automobile is complicated in structure and is unfavorable for carrying by the transportation equipment. And the rear space is occupied greatly, so that more parts cannot be positioned simultaneously, or after positioning, more welding spots cannot be welded on the total spliced parts at the total spliced station, so that the positioning and manufacturing precision of the automobile are low.
Accordingly, there is a need to provide a new rear positioning and clamping system for a motor vehicle that solves the above-mentioned problems.
Disclosure of Invention
The invention mainly aims to provide an automobile rear positioning and clamping system, which aims to solve the problems that in the mode of matching an existing main clamp with a robot gripper, the total welding efficiency is low, the structure of a positioning and clamping mechanism is complex, the carrying of conveying equipment is not facilitated, and the automobile positioning and manufacturing precision is low because more parts cannot be positioned at the same time or after more parts are positioned, more welding spots cannot be welded on the total welding parts at a total welding station.
In order to achieve the above purpose, the automobile rear positioning and clamping system provided by the invention comprises a gripper and two upright posts respectively arranged at two ends of the gripper, wherein the gripper comprises a main frame, positioning and clamping devices and first butting parts, the positioning and clamping devices are arranged on the main frame and are used for positioning and clamping the rear of an automobile, the number of the first butting parts is two, and the two first butting parts are arranged at two ends of the main frame; the stand is provided with a second butt joint part, and the second butt joint part is in butt joint with the first butt joint part so that the main frame is erected on the two stand.
Preferably, the first docking part includes a connection frame mounted on the main frame and a guide positioning pin provided on the connection frame; the second butt joint part comprises a support column arranged on the upright post, a guide positioning hole arranged on the support column and a clamping piece; the guide locating pin is matched with the guide locating hole, and the clamping piece is used for propping the connecting frame against the support column.
Preferably, the connecting frame is further provided with a first limiting block arranged on the same side as the guiding and positioning pin, the supporting column is further provided with a second limiting block arranged on the same side as the guiding and positioning hole, and the first limiting block is abutted to the second limiting block.
Preferably, the support column is provided with a guide mechanism, the guide mechanism comprises a support seat arranged on the upright column and two guide rollers arranged on the support seat, and the two guide rollers are arranged in parallel along the axial direction of the guide positioning pin; the connecting frame is provided with a height butt joint block, and the two guide rollers support the height butt joint block.
Preferably, the connecting frame comprises a first connecting rod and a second connecting rod which are connected, the free end of the second connecting rod is provided with the guiding locating pin, the first connecting rod is connected with the main frame, and one side of the first connecting rod facing the guiding locating pin is provided with the height butt joint block.
Preferably, the positioning and clamping device comprises:
the first positioning and clamping mechanism is arranged corresponding to a side wall tail door opening of the automobile and used for positioning and clamping the side wall tail door opening;
the second positioning and clamping mechanism is arranged corresponding to the rear cross beam of the top cover of the automobile and used for positioning and clamping the rear cross beam of the top cover;
the third positioning and clamping mechanism is arranged corresponding to the tail door middle cross beam of the automobile and used for positioning and clamping the tail door middle cross beam;
A fourth positioning and clamping mechanism which is arranged corresponding to the rear end plate of the automobile and is used for positioning and clamping the rear end plate;
the first positioning and clamping mechanism, the second positioning and clamping mechanism, the third positioning and clamping mechanism and the fourth positioning and clamping mechanism are all installed on one side of the gripper facing the automobile.
Preferably, the main frame comprises a first cross beam, and the first abutting parts are arranged at two ends of the first cross beam;
the first positioning and clamping mechanism comprises a first mounting seat, a first driving cylinder, an abutting block, a pin seat and a first positioning pin; the first mounting seat is connected with the first cross beam; the abutting block and the first driving cylinder are arranged on the first mounting seat, the first positioning pin is connected with the output shaft of the first driving cylinder through the pin seat, the abutting block is used for abutting against the side wall of the automobile, and the first positioning pin is matched with the positioning hole on the side wall of the automobile.
Preferably, the main frame includes a fixing plate connected with the first beam, and the second positioning and clamping mechanism includes:
the second mounting seat is arranged on the fixed plate;
the first clamping assembly comprises a second driving air cylinder arranged on the second mounting seat, a mounting plate connected with an output shaft of the second driving air cylinder, and a first clamping arm and a second clamping arm hinged on the mounting plate;
the first positioning assembly comprises a first positioning block, a second positioning block and a second positioning pin which are arranged on the mounting plate;
The second driving cylinder drives the mounting plate to reciprocate, so that the second locating pin is inserted into or separated from the locating hole of the top cover rear cross beam, the first clamping arm is driven to be close to or far away from the first locating block, one side of the top cover rear cross beam is clamped or loosened, and the second clamping arm is driven to be close to or far away from the second locating block, so that the other side of the top cover rear cross beam is clamped or loosened.
Preferably, the main frame further includes a connection beam connected to the first cross beam and extending downward, and the third positioning and clamping mechanism includes:
the third mounting seat is arranged on the connecting beam;
The number of the second clamping assemblies is two, and the two second clamping assemblies are oppositely arranged; the second clamping assembly comprises a connecting plate, a third positioning block, a third driving cylinder and a clamping arm; the first connecting plate is arranged on the third mounting seat, the third positioning block is arranged on the connecting plate, the cylinder body of the third driving cylinder is hinged with the connecting plate, the output shaft of the third driving cylinder is hinged with the clamping arm, and the clamping arm is hinged with the connecting plate; the third driving cylinder drives the clamping arm to rotate relative to the connecting plate so as to enable the free end of the connecting plate to be close to or far away from the third positioning block;
And the third locating pin is arranged on the third installation seat and is matched with the locating hole on the middle cross beam of the tail door.
Preferably, the main frame further comprises a second cross beam arranged on the lower side of the first cross beam and connected with the connecting beam, and the fourth positioning and clamping mechanism comprises a fourth mounting seat arranged on the second cross beam, a transition plate connected with the fourth mounting seat, a fourth positioning block, a fourth positioning pin and a fifth positioning block which are arranged on the transition plate; the fourth positioning block and the fifth positioning block are propped against the rear end plate of the automobile, and the fourth positioning pin is matched with the positioning hole on the rear end plate.
According to the technical scheme, the second butt joint parts of the two upright posts are in butt joint with the first butt joint parts of the two ends of the main frame of the gripper so as to support the whole gripper, the external carrying mechanism carries the gripper to move, the gripper can be directly carried to a preset butt joint position, the second butt joint parts of the two upright posts are in butt joint with the first butt joint parts of the two ends of the main frame of the gripper so as to support the whole gripper, namely the external carrying mechanism does not need to avoid or increase multi-point transition tracks, so that the carrying time is shortened, and the total splicing welding efficiency is improved; and after tongs and stand butt joint, the direction of motion can not be restricted, and the orientation clamping mechanism on the main frame can be to the direction motion that is close to the car rear portion promptly, and the orientation clamping device is direct to the car rear portion be fixed a position and press from both sides tightly when reaching the welding position, need not to add extra telescopic machanism in order to provide the motion of horizontal direction, simplifies overall structure, lightens the weight of tongs, reduces the effort that the main frame applyed the stand, improves the life of stand. And the main frame is in butt joint with the upright posts on two sides to form a high positioning system with left and right interlocking, and the upright posts also play a role in positioning the frame, so that the positioning and manufacturing precision of the automobile are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a rear positioning and clamping system for an automobile in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a structure of a handle according to an embodiment of the present invention;
FIG. 3 is a schematic view of a connection structure between a pillar and a second docking portion according to an embodiment of the present invention;
FIG. 4 is a schematic view of a docking structure of a first docking portion and a second docking portion according to an embodiment of the present invention;
FIG. 5 is a schematic view of another state of the docking structure of the first docking portion and the second docking portion according to the embodiment of the present invention;
FIG. 6 is a schematic view of a first positioning and clamping mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a second positioning and clamping mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a third positioning and clamping mechanism according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a fourth positioning and clamping mechanism according to an embodiment of the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
As shown in fig. 1, 2 and 3, in a specific embodiment of the present invention, the rear positioning and clamping system 100 of the automobile includes a gripper 2 and two posts 1 respectively disposed at two ends of the gripper 2, the gripper 2 includes a main frame 21, and a positioning and clamping device 22 and a first docking portion 23 mounted on the main frame 21, the positioning and clamping device 22 is used for positioning and clamping the rear of the automobile, the number of the first docking portions 23 is two, and the two first docking portions 23 are respectively disposed at two ends of the main frame 21; the upright posts 1 are provided with second butt joint parts 3, and the second butt joint parts 3 are in butt joint with the first butt joint parts 23 so that the main frames 21 are erected on the two upright posts 1.
In the above technical solution, the second docking portions 3 of the two upright posts 1 dock with the first docking portions 23 at two ends of the main frame 21 of the gripper 2 to support the whole gripper 2, and the external carrying mechanism carries the gripper 2 to move, so that the gripper 2 can be directly carried to a preset docking position, and the second docking portions 3 of the two upright posts 1 dock with the first docking portions 23 at two ends of the main frame 21 of the gripper 2 to support the whole gripper 2, i.e. the external carrying mechanism does not need to avoid or increase multi-point transition tracks, so as to shorten carrying time and improve total welding efficiency; and after the grab handle 2 is docked with the upright post 1, the movement direction can not be limited, namely the positioning and clamping device 22 on the main frame 21 can move towards the direction close to the rear part of the automobile, and when the welding position is reached, the positioning and clamping device 22 directly positions and clamps the rear part of the automobile, an additional telescopic mechanism is not needed to be additionally arranged to provide movement in the horizontal direction, the integral structure is simplified, the weight of the grab handle 2 is reduced, the acting force applied to the upright post 1 by the main frame 21 is reduced, and the service life of the upright post 1 is prolonged. And the main frame 21 is in butt joint with the upright posts 1 at two sides to form a high positioning system with left and right interlocking, and the upright posts 1 also play a role in positioning the main frame 21, so that the positioning and manufacturing precision of the automobile are improved.
As shown in fig. 2, 3, 4 and 5, the first docking portion 23 includes a connection frame 231 mounted on the main frame 21 and a guide positioning pin 232 provided on the connection frame 231; the second butt joint part 3 comprises a support column 31 arranged on the upright column 1, a guide positioning hole 32 arranged on the support column 31 and a clamping piece 33; the guiding and positioning pin 232 is matched with the guiding and positioning hole 32, and the clamping piece 33 is used for propping the connecting frame 231 against the supporting column 31. Specifically, during the process of docking the first docking portion 23 with the second docking portion 3, the guiding and positioning pin 232 and the guiding and positioning hole 32 perform cooperation positioning, the gripper 2 moves towards the direction close to the upright 1 until the gripper is completely in place, and after the gripper is completely in place, the clamping piece 33 enables the connecting frame 231 and the supporting column 31 to abut against each other, so that the gripper 2 and the upright 1 are limited to move in the axial direction of the guiding and positioning pin 232, and at the moment, the gripper 2 is completely positioned. Specifically, the clamping member 33 includes a clamping cylinder and a clamping block connected to an output shaft of the clamping cylinder, the clamping cylinder is mounted on the upright 1, and the output shaft of the clamping cylinder extends and retracts to bring the clamping block into loosening or abutting engagement with the main frame 21.
In a preferred embodiment, the connection frame 231 is further provided with a first limiting block 233 disposed on the same side as the guiding and positioning pin 232, the support column 31 is further provided with a second limiting block 34 disposed on the same side as the guiding and positioning hole 32, and the first limiting block 233 abuts against the second limiting block 34. The guiding and positioning pin 232 and the guiding and positioning hole 32 are matched and positioned, when the first limiting block 233 and the second limiting block 34 are abutted in the process that the gripper 2 moves towards the direction close to the upright post 1, the gripper 2 is judged to be in place completely at the moment, and the clamping cylinder is retracted at the moment so that the connecting frame 231 is abutted on the supporting column 31.
In addition, the support column 31 is provided with a guide mechanism 35, the guide mechanism 35 comprises a support 351 arranged on the upright 1 and two guide rollers 352 arranged on the support 351, and the two guide rollers 352 are arranged in parallel along the axial direction of the guide positioning pin 232; the connecting frame 231 is provided with a height butt joint block 234, and two guide rollers 352 support the height butt joint block 234. Before the guide locating pin 232 and the guide locating hole 32 are matched and located, the external carrying mechanism carries the gripper 2, so that the height butt joint block 234 is placed on the two guide rollers 352, the guide locating pin 232 is opposite to the guide locating hole 32 at the moment, the external carrying mechanism continues to push the guide locating pin 232 to be inserted into the guide locating hole 32, then the height locating block slides on the guide rollers 352, sliding friction force can be converted into rotating friction force by adopting the guide rollers 352, the insertion process of the guide locating pin 232 is smoother, the two guide rollers 352 support the height butt joint block 234 together, and the height butt joint block 234 is prevented from shaking to influence the locating precision.
The connection frame 231 includes a first connection rod 2311 and a second connection rod 2312 connected, a guide positioning pin 232 is provided at a free end of the second connection rod 2312, the first connection rod 2311 is connected with the main frame 21, and a height docking block 234 is provided at a side of the first connection rod 2311 facing the guide positioning pin 232. When the height butt-joint block 234 is placed on the guide roller 352, the upright 1 has a supporting effect on the main frame 21 through the first connecting rod 2311, the bearing pressure of the external carrying mechanism is relieved, and the side of the first connecting rod 2311 facing the guide positioning pin 232 is provided with the height butt-joint block 234 to ensure that the guide positioning pin 232 is opposite to the guide positioning hole 32 when the height butt-joint block 234 is placed on the guide roller 352.
As shown in fig. 1, the positioning and clamping device 22 includes a first positioning and clamping mechanism 400, a second positioning and clamping mechanism 500, a third positioning and clamping mechanism 600, and a fourth positioning and clamping mechanism 700; the first positioning and clamping mechanism 400 is arranged corresponding to a side wall tail door opening of an automobile and is used for positioning and clamping the side wall tail door opening; the second positioning and clamping mechanism 500 is arranged corresponding to the rear cross beam of the top cover of the automobile and is used for positioning and clamping the rear cross beam of the top cover; the third positioning and clamping mechanism 600 is arranged corresponding to the middle cross beam of the tail door of the automobile and is used for positioning and clamping the middle cross beam of the tail door; the fourth positioning and clamping mechanism 700 is arranged corresponding to the rear end plate of the automobile and is used for positioning and clamping the rear end plate; the first positioning and clamping mechanism 400, the second positioning and clamping mechanism 500, the third positioning and clamping mechanism 600 and the fourth positioning and clamping mechanism 700 are all mounted on the side of the gripper 2 facing the automobile. In the embodiment, a plurality of positioning and clamping mechanisms are integrated on one gripper 2, so that the positioning and clamping of the side wall tail gate opening, the top cover rear cross beam, the tail gate middle cross beam and the rear end plate can be finished at one time, the device can be applied to automobiles of different vehicle types, the situation that a plurality of split-splicing tables are adopted to respectively position and clamp the side wall tail gate opening, the top cover rear cross beam, the tail gate middle cross beam and the rear end plate in the prior art can also be avoided, the equipment and the total splicing stations adopted in the automobile welding process are reduced, and the production cost of the automobile is reduced
As shown in fig. 6, the main frame 21 includes a first beam 211, and first docking portions 23 are provided at both ends of the first beam 211; the first positioning and clamping mechanism 400 includes a first mount 410, a first drive cylinder 420, an abutment block 430, a pin boss 440, and a first positioning pin 450; the first mount 410 is connected to the first beam 211; the abutting block 430 and the first driving cylinder 420 are both arranged on the first mounting seat 410, the first positioning pin 450 is connected with an output shaft of the first driving cylinder 420 through the pin seat 440, the abutting block 430 is used for abutting against a side wall of an automobile, and the first positioning pin 450 is matched with a positioning hole on the side wall of the automobile. When the upright 1 and the grip 2 reach the welding position, the abutting block 430 is used for abutting against the side wall of the automobile, and the first driving cylinder 420 extends out to enable the first positioning pin 450 to be inserted into the positioning hole on the side wall of the automobile. At this time, the side wall tail door opening of the automobile is completely positioned and abutted.
As shown in fig. 7, the main frame 21 includes a fixing plate 212 connected to the first beam 211, and the second positioning and clamping mechanism 500 includes a second mount 510, a first clamping assembly 520, and a first positioning assembly 530; the second mounting seat 510 is arranged on the fixed plate 212; the first clamping assembly 520 includes a second driving cylinder 521 provided on the second mount 510, a mounting plate 522 connected to an output shaft of the second driving cylinder 521, and first and second clamping arms 523 and 524 hinged to the mounting plate 522; the first positioning member 530 includes a first positioning block 531, a first positioning block 532, and a second positioning pin 533 provided on the mounting plate 522; the second driving cylinder 521 drives the mounting plate 522 to reciprocate so that the second positioning pin 533 is inserted into or separated from the positioning hole of the rear roof rail, and drives the first clamp arm 523 to approach or separate from the first positioning block 531 to clamp or relax one side of the rear roof rail, and also drives the second clamp arm 524 to approach or separate from the first positioning block 532 to clamp or relax the other side of the rear roof rail. When the upright 1 and the gripper 2 reach the welding position, the output shaft of the second driving cylinder 521 extends, the output shaft pushes the mounting plate 522, the mounting plate 522 drives the second positioning pin 533 to be inserted into the positioning hole of the top cover rear beam, meanwhile, the mounting plate 522 drives the first clamping arm 523 to be close to the first positioning block 531 to clamp one side of the top cover rear beam, and the mounting plate 522 drives the second clamping arm 524 to be close to the first positioning block 532 to clamp the other side of the top cover rear beam, so that the positioning and clamping of the top cover rear beam are completed.
Specifically, the two sides of the mounting plate 522 are respectively hinged with a first connecting rod 525 and a second connecting rod 526, the first clamping arm 523 is hinged with the first connecting rod 525, and the position of the first clamping arm 523 close to the first connecting rod 525 is hinged with the second mounting seat 510; the second clamp arm 524 is hinged to the second link 526, and the second clamp arm 524 is hinged to the second mount 510 proximate to the second link 526. The first position is the position where the mounting plate 522 is located when the second positioning and clamping mechanism 500 clamps the rear beam of the top cover, the second position is the position where the mounting plate 522 is located in the initial state of the positioning and clamping device 22 of the whole rear beam of the top cover, and the mounting plate 522 reciprocates between the first position and the second position to drive the first clamping arm 523 and the second clamping arm 524 to respectively cooperate with the first positioning block 531 and the first positioning block 532 to clamp the rear beam of the top cover or release the clamping.
Specifically, when the upright 1 and the grip 2 reach the welding position, the second positioning pin 533 is aligned to the positioning hole on the top cover rear beam, the output shaft of the second driving cylinder 521 pushes the mounting plate 522 to move from the first position to the second position, the second positioning pin 533 is inserted into the positioning hole on the top cover rear beam, and at the same time, the mounting plate 522 drives the first clamp arm 523 to rotate relative to the hinge joint of the first clamp arm 523 and the bracket through the first connecting rod 525, so that the free end of the first clamp arm 523 moves in a direction close to the first positioning block 531 until one side of the top cover rear beam is clamped between the first clamp arm 523 and the first positioning block 531; the mounting plate 522 drives the second clamping arm 524 to rotate relative to the hinge joint of the second clamping arm 524 and the bracket through the second connecting rod 526, so that the free end of the second clamping arm 524 moves towards the direction close to the first positioning block 532 until the other side of the top cover rear cross beam is clamped between the second clamping arm 524 and the first positioning block 532; therefore, the positioning and clamping of the top cover rear cross beam are realized. The second driving cylinder 521 drives the mounting plate 522 to move from the second position to the first position, the first clamping arm 523 moves away from the first positioning block 531, the second clamping arm 524 moves away from the first positioning block 532 to release the clamping of the top cover rear cross beam, and the second positioning pin 533 is separated from the positioning hole on the top cover rear cross beam, at this time, the top cover rear cross beam positioning and clamping device 22 is used for positioning and clamping the next round of top cover rear cross beam. When the mounting plate 522 is in the second position, the free end of the first clamp arm 523 is located at the lower side of the top cover rear cross member, and the free end of the second clamp arm 524 is located at the upper side of the top cover rear cross member, so that a sufficient avoidance space is formed between the first clamp arm 523 and the second clamp arm 524.
As shown in fig. 8, the main frame 21 further includes a connection beam 213 connected to the first beam 211 and extending downward, and the third positioning and clamping mechanism 600 includes a third mount 610, a second clamping assembly 620, and a third positioning pin 630; the third mounting seat 610 is arranged on the connecting beam 213; the number of the second clamping assemblies 620 is two, and the two second clamping assemblies 620 are oppositely arranged; the second clamping assembly 620 includes a connecting plate 621, a third positioning block 622, a third drive cylinder 623, and a clamping arm 624; the first connecting plate 621 is arranged on the third mounting seat 610, the third positioning block 622 is arranged on the connecting plate 621, the cylinder body of the third driving cylinder 623 is hinged with the connecting plate 621, the output shaft of the third driving cylinder 623 is hinged with the clamping arm 624, and the clamping arm 624 is hinged with the connecting plate 621; the third driving cylinder 623 drives the clamping arm 624 to rotate relative to the connection plate 621 to move the free end of the connection plate 621 toward or away from the third positioning block 622; the third locating pin 630 is arranged on the third mounting seat 610, and the third locating pin 630 is matched with a locating hole on the middle cross beam of the tail gate. When the upright 1 and the gripper 2 reach the welding position, the third locating pin 630 is inserted into a locating hole on the middle cross beam of the tail gate, and the output shaft of the third driving cylinder 623 extends out to drive the clamping arm 624 to move towards the direction close to the third locating block 622 until the clamping arm 624 and the third locating block 622 clamp the middle cross beam of the tail gate together, so that the locating and clamping of the middle cross beam of the tail gate are completed.
As shown in fig. 9, the main frame 21 further includes a second beam 214 disposed at the lower side of the first beam 211 and connected to the connection beam 213, and the fourth positioning and clamping mechanism 700 includes a fourth mount 710 disposed on the second beam 214, a transition plate 720 connected to the fourth mount 710, a fourth positioning block 730 disposed on the transition plate 720, a fourth positioning pin 750, and a fifth positioning block 740; the fourth positioning block 730 and the fifth positioning block 740 are abutted against the rear end plate of the automobile, and the fourth positioning pin 750 is matched with a positioning hole on the rear end plate. When the upright 1 and the gripper 2 reach the welding position, the fourth positioning block 730 and the fifth positioning block 740 jointly support the rear end plate, and the fourth positioning pin 750 is inserted into the positioning hole on the rear end plate, so that the support and positioning of the rear end plate are completed.
As shown in fig. 1, the first positioning and clamping mechanism 400, the second positioning and clamping mechanism 500, the third positioning and clamping mechanism 600 and the fourth positioning and clamping mechanism 700 are symmetrically distributed in two one-to-one correspondence. Because the rear structure of the automobile is a symmetrical structure, the rear of the automobile can be better clamped by the symmetrical distribution of the first positioning and clamping mechanism 400, the second positioning and clamping mechanism 500, the third positioning and clamping mechanism 600 and the fourth positioning and clamping mechanism 700 which are corresponding to each other. When two positioning and clamping mechanisms simultaneously position and clamp one component, the positioning precision of the component can be better ensured.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (6)
1. The automobile rear positioning and clamping system is characterized by comprising a grip and two upright posts which are respectively arranged at two ends of the grip, wherein the grip comprises a main frame, positioning and clamping devices and first butting parts, the positioning and clamping devices are arranged on the main frame and are used for positioning and clamping the rear of an automobile, the number of the first butting parts is two, and the two first butting parts are arranged at two ends of the main frame; the upright posts are provided with second butt joint parts, and the second butt joint parts are in butt joint with the first butt joint parts so that the main frames are erected on the two upright posts; the first butt joint part comprises a connecting frame arranged on the main frame and a guide positioning pin arranged on the connecting frame; the second butt joint part comprises a support column arranged on the upright post, a guide positioning hole arranged on the support column and a clamping piece; the guide positioning pin is matched with the guide positioning hole, and the clamping piece is used for propping the connecting frame against the support column; the connecting frame is also provided with a first limiting block which is arranged on the same side as the guide positioning pin, the supporting column is also provided with a second limiting block which is arranged on the same side as the guide positioning hole, and the first limiting block is abutted to the second limiting block; the support column is provided with a guide mechanism, the guide mechanism comprises a support arranged on the upright column and two guide rollers arranged on the support, and the two guide rollers are arranged in parallel along the axial direction of the guide positioning pin; the connecting frame is provided with a height butt joint block, and the two guide rollers support the height butt joint block; the positioning and clamping device comprises a first positioning and clamping mechanism, a second positioning and clamping mechanism, a third positioning and clamping mechanism and a fourth positioning and clamping mechanism, wherein the first positioning and clamping mechanism is correspondingly arranged with a side wall tail door opening of an automobile and is used for positioning and clamping the side wall tail door opening; the second positioning and clamping mechanism is arranged corresponding to the rear roof beam of the automobile and used for positioning and clamping the rear roof beam; the third positioning and clamping mechanism is arranged corresponding to the tail door middle cross beam of the automobile and used for positioning and clamping the tail door middle cross beam; the fourth positioning and clamping mechanism is arranged corresponding to the rear end plate of the automobile and is used for positioning and clamping the rear end plate; the first positioning and clamping mechanism, the second positioning and clamping mechanism, the third positioning and clamping mechanism and the fourth positioning and clamping mechanism are all installed on one side of the gripper facing the automobile.
2. The rear positioning and clamping system of an automobile as claimed in claim 1, wherein the connecting frame comprises a first connecting rod and a second connecting rod which are connected, the free end of the second connecting rod is provided with the guiding positioning pin, the first connecting rod is connected with the main frame, and the side of the first connecting rod facing the positioning pin is provided with the height butt joint block.
3. The rear positioning and clamping system of claim 1, wherein said main frame includes a first cross member, said first docking portion being provided at both ends of said first cross member;
the first positioning and clamping mechanism comprises a first mounting seat, a first driving cylinder, an abutting block, a pin seat and a first positioning pin; the first mounting seat is connected with the first cross beam; the abutting block and the first driving cylinder are arranged on the first mounting seat, the first positioning pin is connected with the output shaft of the first driving cylinder through the pin seat, the abutting block is used for abutting against the side wall of the automobile, and the first positioning pin is matched with the positioning hole on the side wall of the automobile.
4. The rear positioning and clamping system of claim 3 wherein said main frame includes a fixed plate connected to said first cross member, said second positioning and clamping mechanism comprising:
the second mounting seat is arranged on the fixed plate;
the first clamping assembly comprises a second driving air cylinder arranged on the second mounting seat, a mounting plate connected with an output shaft of the second driving air cylinder, and a first clamping arm and a second clamping arm hinged on the mounting plate;
the first positioning assembly comprises a first positioning block, a second positioning block and a second positioning pin which are arranged on the mounting plate;
The second driving cylinder drives the mounting plate to reciprocate, so that the second locating pin is inserted into or separated from the locating hole of the top cover rear cross beam, the first clamping arm is driven to be close to or far away from the first locating block, one side of the top cover rear cross beam is clamped or loosened, and the second clamping arm is driven to be close to or far away from the second locating block, so that the other side of the top cover rear cross beam is clamped or loosened.
5. The vehicle rear positioning and clamping system of claim 4 wherein said main frame further includes a connecting beam connected to said first cross member and extending downwardly, said third positioning and clamping mechanism comprising:
the third mounting seat is arranged on the connecting beam;
The number of the second clamping assemblies is two, and the two second clamping assemblies are oppositely arranged; the second clamping assembly comprises a connecting plate, a third positioning block, a third driving cylinder and a clamping arm; the connecting plate is arranged on the third mounting seat, the third positioning block is arranged on the connecting plate, the cylinder body of the third driving cylinder is hinged with the connecting plate, the output shaft of the third driving cylinder is hinged with the clamping arm, and the clamping arm is hinged with the connecting plate; the third driving cylinder drives the clamping arm to rotate relative to the connecting plate so as to enable the free end of the connecting plate to be close to or far away from the third positioning block;
And the third locating pin is arranged on the third installation seat and is matched with the locating hole on the middle cross beam of the tail door.
6. The rear positioning and clamping system of claim 5, wherein the main frame further comprises a second cross beam arranged on the lower side of the first cross beam and connected with the connecting beam, and the fourth positioning and clamping mechanism comprises a fourth mounting seat arranged on the second cross beam, a transition plate connected with the fourth mounting seat, a fourth positioning block, a fourth positioning pin and a fifth positioning block which are arranged on the transition plate; the fourth positioning block and the fifth positioning block are propped against the rear end plate of the automobile, and the fourth positioning pin is matched with the positioning hole on the rear end plate.
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| CN201911406437.4A CN112108792B (en) | 2019-12-31 | 2019-12-31 | Automobile rear positioning and clamping system |
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| CN201911406437.4A CN112108792B (en) | 2019-12-31 | 2019-12-31 | Automobile rear positioning and clamping system |
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| CN112108792B true CN112108792B (en) | 2024-06-14 |
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| CN112809253B (en) * | 2020-12-30 | 2024-07-12 | 上汽通用五菱汽车股份有限公司 | Side wall gripper device for carrying and welding |
| CN113601081B (en) * | 2021-06-29 | 2023-04-25 | 岚图汽车科技有限公司 | Cross-platform flexible assembly device |
| CN114147754B (en) * | 2021-12-29 | 2023-06-02 | 湖南财政经济学院 | Robot grabbing device |
| CN116652978B (en) * | 2023-05-18 | 2024-03-22 | 珠海创智科技有限公司 | Long-stroke taking and feeding device and floating taking robot thereof |
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| CN211564917U (en) * | 2019-12-31 | 2020-09-25 | 上汽通用五菱汽车股份有限公司 | Automobile rear positioning and clamping system |
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| DE20004369U1 (en) * | 2000-03-10 | 2001-07-19 | Kuka Schweissanlagen Gmbh | Positioning scaffold |
| KR101134965B1 (en) * | 2009-12-04 | 2012-04-09 | 기아자동차주식회사 | Gripper for tail gate of vehicles |
| CN201988822U (en) * | 2011-04-12 | 2011-09-28 | 神龙汽车有限公司 | Floating location tool on self-adaption car roof |
| AT517514B1 (en) * | 2016-11-15 | 2017-12-15 | Tms Turnkey Mfg Solutions Gmbh | Jointing system with a joining station with transverse stiffening for a tentering frame |
| CN206241533U (en) * | 2016-11-15 | 2017-06-13 | 广州汽车集团股份有限公司 | White body always spells flexible trial-production jig platform |
| CN107175408B (en) * | 2017-07-04 | 2023-05-05 | 华工法利莱切焊***工程有限公司 | Flexible gripper for body-in-white top cover assembly welding and body-in-white top cover conveying system |
| FR3076478B1 (en) * | 2018-01-11 | 2019-11-29 | Psa Automobiles Sa | TIGHTENING APPARATUS FOR THE GRIPPING, ON AN ASSEMBLY CHAIN, OF DIFFERENTIATED BODY SIDES OF MOTOR VEHICLES. |
| CN109262173B (en) * | 2018-11-13 | 2020-11-27 | 安徽巨一科技股份有限公司 | White automobile body always pieces together positioner of tongs |
| CN109940574B (en) * | 2019-03-19 | 2021-01-05 | 宁波吉利汽车研究开发有限公司 | Universal flexible support positioning system for tongs and flexible tool positioning control method |
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| CN211564917U (en) * | 2019-12-31 | 2020-09-25 | 上汽通用五菱汽车股份有限公司 | Automobile rear positioning and clamping system |
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