CN103128469B - For being merged the system and method for gusset and body bottom section - Google Patents
For being merged the system and method for gusset and body bottom section Download PDFInfo
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- CN103128469B CN103128469B CN201310062782.7A CN201310062782A CN103128469B CN 103128469 B CN103128469 B CN 103128469B CN 201310062782 A CN201310062782 A CN 201310062782A CN 103128469 B CN103128469 B CN 103128469B
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Abstract
The invention provides a kind of system and method for being merged gusset and body bottom section, relating to automobile making, solving the problem that the versatility of the existing system for being merged gusset and body bottom section is poor.The gusset comprising robot, body bottom section, fixture substrate for the system being merged gusset and body bottom section and be arranged on crawl position that the embodiment of the present invention provides, body bottom section is fixed on fixture substrate, and this system also comprises gripping apparatus and is fixed on the gripping apparatus detent mechanism on fixture substrate; Gripping apparatus is used for capturing gusset in crawl position, is positioned on gripping apparatus to make gusset; Robot drives gripping apparatus to move to crawl position after being used for picking up gripping apparatus, to capture gusset, then is fixed on gripping apparatus detent mechanism by the gripping apparatus with gusset, is positioned on body bottom section to make gusset.
Description
Technical field
The present invention relates to automobile making, particularly relating to the system and method for being merged gusset and body bottom section.
Background technology
Gusset is the outside flow spoiler of body of a motor car, and the inverted draft produced when effect is and lowers running car, increases the downforce of automobile simultaneously, more steady when making running car, can reduce fuel consumption.Being merged by gusset in body bottom section is one of the step of car load assembling.
In prior art, the system be merged for vehicle side and body bottom section generally includes: gusset, body bottom section, fixture substrate, robot and advance fixture; Body bottom section is fixed on fixture substrate, and fixture substrate fixes on the ground; Ground is also provided with track, advances fixture to arrange on that track.
The process using this system gusset and body bottom section to be merged is: robot captures gusset, makes gusset be positioned in robot; Gusset is passed to propelling fixture by robot, gusset is positioned at and advances on fixture; Advance fixture along the fixed route of track, gusset to be delivered to the assigned address of close body bottom section, make gusset be positioned on body bottom section; Body bottom section and gusset weld together by welder.
In the above-mentioned system be merged for vehicle side and body bottom section, the model of body bottom section, the model of gusset need mates with advancing the model of fixture, that is, propelling fixture can only be located the gusset that a kind of vehicle uses; And advancing the volume and weight of fixture usually comparatively large, exchonge step is complicated and cost is higher, and therefore, this system can only be merged the gusset that a kind of vehicle uses usually, and gusset that other vehicle uses cannot be suitable for, and causes the versatility of this system poor.
Summary of the invention
The embodiment provides a kind of system and method for being merged gusset and body bottom section, solving the problem that the versatility of the existing system for being merged gusset and body bottom section is poor.
For achieving the above object, embodiments of the invention adopt following technical scheme:
A kind of system for being merged gusset and body bottom section, the gusset comprising robot, body bottom section, fixture substrate and be arranged on crawl position, described body bottom section is fixed on described fixture substrate, and described system also comprises gripping apparatus and is fixed on the gripping apparatus detent mechanism on described fixture substrate; Described gripping apparatus, for capturing described gusset in described crawl position, is positioned on described gripping apparatus to make described gusset; Described robot, after picking up described gripping apparatus, drive described gripping apparatus to move to described crawl position, to capture described gusset, the more described gripping apparatus with described gusset is fixed on described gripping apparatus detent mechanism, is positioned on described body bottom section to make described gusset.
Particularly, described gripping apparatus detent mechanism comprises the first proximity switch, gripping apparatus locating slot, location pressure arm, column and connects the pressure arm cylinder of described location pressure arm; Described column is fixed on fixture substrate, and described gripping apparatus locating slot is fixed on described column; Described first proximity switch is used for producing first when described gripping apparatus enters the assigned address of described gripping apparatus locating slot and puts in place signal; Described pressure arm cylinder is used for controlling described location pressure arm described gripping apparatus and described gripping apparatus locating slot are compressed according to described first signal that puts in place.
In order to be located by gusset and be fixed on gripping apparatus, described gripping apparatus comprises rod-like body, and described body is provided with the first location division, gusset location division, gusset clamping section and changes rifle dish; Described first location division coordinates with described gripping apparatus locating slot, is fixed on described gripping apparatus detent mechanism to make described gripping apparatus; Described gusset location division coordinates with the locating hole on described gusset, is positioned on described gripping apparatus to make described gusset; Described gusset clamping section is for described gusset fastening when described gusset is positioned on described gripping apparatus; The described rifle dish that changes coordinates with described robot, picks up described gripping apparatus to make described robot.
Particularly, described gusset location division comprises the second proximity switch, alignment pin, positioning cylinder; Described second proximity switch is used for producing second when described alignment pin enters the locating hole of described gusset and puts in place signal; Described positioning cylinder is for controlling the flexible of described alignment pin; Described gusset clamping section comprises clamping cylinder, gusset support unit, leading arm, gusset compressing unit; Described clamping cylinder is used for controlling described gusset compressing unit compress described gusset according to described second signal that puts in place; Described gusset support unit is for supporting described gusset; Described leading arm for guiding described gusset, to ensure that the locating hole of described gusset aimed at by described alignment pin.
In order to positioning car body width, to ensure that body top section has suitable width to place and welding tractor ceiling, described gripping apparatus is two, is respectively left side gripping apparatus and right side gripping apparatus; Described left side gripping apparatus for capture with described body bottom section on the left of the gusset that is merged; Described right side gripping apparatus for capture with described body bottom section on the right side of the gusset that is merged; Described gripping apparatus also comprises the second location division; The second location division on the gripping apparatus of described left side coordinates with the second location division on the gripping apparatus of described right side, to be fixedly connected with described left side gripping apparatus and described right side gripping apparatus.
In order to make fixing more firmly between left side gripping apparatus and right side gripping apparatus, on described gripping apparatus, the number of described second location division is two, is arranged side by side on the body.
Particularly, the second location division on the gripping apparatus of described left side comprises: locking device, and described locking device comprises tight lock part, the 4th proximity switch, locking cylinder; The second location division on the gripping apparatus of described right side comprises: locking positioning hole slot, and described locking positioning hole slot place is provided with the 3rd proximity switch; Described 3rd proximity switch produces the 3rd and to put in place signal when described tight lock part inserts locking positioning hole slot; Described locking cylinder is used for being fastened on described locking positioning hole slot in item by described tight lock part according to the described 3rd; Described 4th proximity switch produces the 4th and to put in place signal when described tight lock part is fastened in described locking positioning hole slot, discharge described gripping apparatus to make described robot according to the described 4th signal that puts in place.
Particularly, the second location division on the gripping apparatus of described left side comprises: locking positioning hole slot, and described locking positioning hole slot place is provided with the 3rd proximity switch; The second location division on the gripping apparatus of described right side comprises: locking device, and described locking device comprises tight lock part, the 4th proximity switch, locking cylinder; Described 3rd proximity switch produces the 3rd and to put in place signal when described tight lock part inserts locking positioning hole slot; Described locking cylinder is used for being fastened on described locking positioning hole slot in item by described tight lock part according to the described 3rd; Described 4th proximity switch produces the 4th and to put in place signal when described tight lock part is fastened in described locking positioning hole slot, discharge described gripping apparatus to make described robot according to the described 4th signal that puts in place.
For being merged a method for gusset and body bottom section, employ the above-mentioned system for being merged gusset and body bottom section, described method comprises: (1), described robot drive described gripping apparatus to move to described crawl position after picking up described gripping apparatus; (2), described gripping apparatus captures described gusset in described crawl position, is positioned on described gripping apparatus to make described gusset; (3), the described gripping apparatus with described gusset is fixed on described gripping apparatus detent mechanism by described robot, is positioned on described body bottom section to make described gusset; (4), described body bottom section and described gusset weld together by welder.
Particularly, described step (1) is specially: described robot catches and the described gripping apparatus that is mated changes rifle dish, and to pick up described gripping apparatus, the described gripping apparatus of rear drive moves to described crawl position; Described step (2) specifically comprises: described positioning cylinder controls described alignment pin and stretches out; Described leading arm guides described gusset, to ensure that the locating hole of described gusset aimed at by described alignment pin; Described robot drives described gripping apparatus, with the locating hole making the described alignment pin stretched out enter described gusset, and makes gusset described in described gusset support unit supports; Described clamping cylinder controls described gusset compressing unit compress described gusset according to described second signal that puts in place; Described step (3) specifically comprises: the tight lock part of the second location division of described right side gripping apparatus inserts in the locking positioning hole slot of the second location division of described left side gripping apparatus; Described tight lock part is fastened in described locking positioning hole slot according to the described 3rd to item by described locking cylinder; The tight lock part of the second location division of described left side gripping apparatus inserts in the locking positioning hole slot of the second location division of described right side gripping apparatus; Described tight lock part is fastened in described locking positioning hole slot according to the described 3rd to item by described locking cylinder; Also comprise between described step (3) and described step (4): the tight lock part of described right side/left side gripping apparatus inserts in the locking positioning hole slot of described left/right gripping apparatus; Described tight lock part is fastened in described locking positioning hole slot according to the described 3rd to item by described locking cylinder; Described robot discharges described gripping apparatus according to the described 4th signal that puts in place.
The embodiment of the present invention provide for being merged in the system of gusset and body bottom section, because gripping apparatus can be picked up by robot, and can drive to crawl position crawl gusset by robot, and the gripping apparatus with gusset can also be positioned on the gripping apparatus detent mechanism on fixture substrate by robot, locate to make gusset and body bottom section, therefore, when robot captures the gripping apparatus of different model, just can realize the gusset capturing respective model, thus can realize different automobile types use gusset be merged operation, and then improve the versatility of system.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described.
The structural representation of a kind of system for being merged gusset and body bottom section that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is the structural representation of the gripping apparatus detent mechanism of Fig. 1;
Fig. 3 is the structural representation of the gripping apparatus of Fig. 1;
Fig. 4 is the structural representation of the gusset location division of Fig. 3;
Fig. 5 is the structural representation of the gusset clamping section of Fig. 3;
Fig. 6 is the structural representation after the left side gusset of Fig. 1 is connected with right side gusset;
Fig. 7 is the structural representation of second location division of Fig. 3;
Fig. 8 is the structural representation of the second location division matched with Fig. 7;
The flow chart of a kind of method for being merged gusset and body bottom section that Fig. 9 provides for the embodiment of the present invention;
The another kind that Figure 10 provides for the embodiment of the present invention is for being merged the flow chart of the method for gusset and body bottom section.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
Embodiments provide a kind of system for being merged gusset and body bottom section, as shown in Figure 1, the gusset (not shown) comprising robot (not shown), body bottom section (not shown), fixture substrate 11 and be arranged on crawl position, body bottom section is fixed on fixture substrate 11, and system also comprises gripping apparatus 12 and is fixed on the gripping apparatus detent mechanism 13 on fixture substrate 11; Gripping apparatus 12, for capturing gusset (not shown) in crawl position, is positioned on gripping apparatus 12 to make gusset (not shown); Robot (not shown), drives gripping apparatus 12 to move to crawl position, to capture gusset (not shown), then is fixed on gripping apparatus detent mechanism 13 by the gripping apparatus 12 with gusset, is positioned on body bottom section to make gusset after picking up gripping apparatus 12.
The embodiment of the present invention provide for being merged in the system of gusset and body bottom section, because gripping apparatus 12 can be picked up by robot (not shown), and can drive to crawl position crawl gusset (not shown) by robot (not shown), and the gripping apparatus 12 with gusset can also be positioned on the gripping apparatus detent mechanism 13 on fixture substrate 11 by robot (not shown), locate to make gusset (not shown) and body bottom section (not shown), therefore, when robot (not shown) captures the gripping apparatus 12 of different model, just can realize the gusset (not shown) capturing respective model, thus can realize different automobile types use gusset be merged operation, and then improve the versatility of system.
In addition, in the existing system for being merged gusset and body bottom section, there are three positioning actions: gusset is positioned in robot; Gusset is positioned at and advances on fixture; Gusset is positioned on body bottom section; And the embodiment of the present invention provides for be merged gusset and body bottom section system in only need twice positioning action: gusset (not shown) is positioned at gripping apparatus 12; Gusset (not shown) is positioned in body bottom section (not shown).Thus, save operating procedure, improve the practicality of system.
And, the embodiment of the present invention provide for be merged gusset and body bottom section system in eliminate the larger propelling fixture of volume and track, the floor space of system is significantly reduced, thus optimizes the space availability ratio of factory building.
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 2, gripping apparatus detent mechanism 13 can comprise the first proximity switch 21, gripping apparatus locating slot 22, location pressure arm 23, column 25 and connect locates the pressure arm cylinder 24 of pressure arm 23; Column 25 is fixed on fixture substrate 11, and gripping apparatus locating slot 22 is fixed on column 25; First proximity switch 21 to put in place signal for producing first when gripping apparatus 12 enters the assigned address of gripping apparatus locating slot 22; Pressure arm cylinder 24 is for controlling location pressure arm 23 gripping apparatus 12 and gripping apparatus locating slot 22 are compressed according to first signal that puts in place.
The concrete steps be positioned at by gripping apparatus on gripping apparatus detent mechanism are: after gripping apparatus 12 enters gripping apparatus locating slot 22, first proximity switch 21 produces first and to put in place signal, and pressure arm cylinder 24 controls location pressure arm 23 gripping apparatus 12 and gripping apparatus locating slot 22 are compressed according to first signal that puts in place; When gripping apparatus 12 is positioned in gripping apparatus locating slot 22, because gripping apparatus locating slot 22 is fixed on column 25, and column 25 is fixed on fixture substrate 11, namely located the position relationship between gripping apparatus 12 and fixture substrate 11.
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 3, gripping apparatus 12 can comprise rod-like body 31, and body 31 is provided with the first location division 32, gusset location division 33, gusset clamping section 34 and changes rifle dish 35; First location division 32 coordinates with gripping apparatus locating slot 22, is fixed on gripping apparatus detent mechanism 13 to make gripping apparatus 12; Gusset location division 33 coordinates with the locating hole (not shown) on gusset, is positioned on gripping apparatus 12 to make gusset (not shown); Gusset clamping section 34 is for gusset (not shown) fastening when gusset (not shown) is positioned on gripping apparatus 12; Change rifle dish 35 to coordinate with robot (not shown), pick up gripping apparatus 12 to make robot (not shown).
The concrete operation step carried out in order to the position of locating between gusset and fixture substrate is: robot (not shown) is caught and changed rifle dish 35 to pick up the rear position driving gripping apparatus 12 to move to crawl gusset (not shown) of gripping apparatus 12, gusset location division 33 coordinates with the locating hole (not shown) on gusset, is positioned on gripping apparatus 12 to make gusset (not shown); Then, the gripping apparatus 12 with gusset (not shown) is fixed in gripping apparatus locating slot 22 by the first location division 32 by robot again, located the position relationship had between the gripping apparatus 12 of gusset and fixture substrate 11 further.And body bottom section (not shown) is positioned on fixture substrate 11 already, so namely located the position relationship of gusset (not shown) and body bottom section (not shown).
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 4, gusset location division 33 can comprise the second proximity switch 331, alignment pin 332, positioning cylinder 333; Produce second second proximity switch 331 is for entering the locating hole (not shown) of gusset during at alignment pin 332 to put in place signal; Positioning cylinder 333 is for controlling the flexible of alignment pin 332.As shown in Figure 5, gusset clamping section 34 can comprise clamping cylinder 341, gusset support unit 342, leading arm 343, gusset compressing unit 344; Clamping cylinder 341 is for controlling gusset compressing unit 344 compress gusset (not shown) according to second signal that puts in place; Gusset support unit 342 is for supporting gusset (not shown); Leading arm 343 for guiding gusset (not shown), to ensure that the locating hole (not shown) of gusset aimed at by alignment pin 332.
When robot (not shown) captures gusset (not shown), Systematical control positioning cylinder 333 moves to make alignment pin 332 in the situation of stretching out, gusset (not shown) can be positioned on gripping apparatus 12 by the locating hole (not shown) that alignment pin 332 enters gusset, system also needs again to control after positioning cylinder 333 moves that alignment pin 332 is retracted, to carry out the welding job of gusset and body bottom section.According to the difference of vehicle, the quantity of gusset clamping section 34 and position are also different; Enter in the process of locating hole (not shown) of gusset at alignment pin 332, leading arm 343 guides gusset (not shown), to ensure that the locating hole (not shown) of gusset aimed at by alignment pin 332; Enter the locating hole (not shown) of gusset at alignment pin 332 after, second proximity switch 331 produces second and to put in place signal, clamping cylinder 341 controls gusset compressing unit 344 compress gusset (not shown) according to second signal that puts in place, with fixing gusset (not shown), gusset (not shown) can not be skidded off from gripping apparatus 12.
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 6, gripping apparatus 12 can be two, gripping apparatus 121 and right side gripping apparatus 122 on the left of being respectively; Left side gripping apparatus 121 for capture with body bottom section on the left of the gusset (not shown) that is merged; Right side gripping apparatus 122 for capture with body bottom section on the right side of the gusset (not shown) that is merged; Gripping apparatus also comprises the second location division 123; The second location division 123 on the gripping apparatus 121 of left side coordinates with the second location division 123 on right side gripping apparatus 122, to be fixedly connected with left side gripping apparatus 121 and right side gripping apparatus 122.The width of body top section can be determined, to ensure that body top section has suitable width to place and welding tractor ceiling by the mode being fixedly connected with the left side gripping apparatus 121 with gusset and the right side gripping apparatus 122 with gusset.
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 6, on gripping apparatus 12, the number of the second location division 123 can be two, is disposed side by side on body 31.Arrange two the second location divisions can more reinforce left side gripping apparatus and right side gripping apparatus between fixed relationship.
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 7, the second location division 123 on the gripping apparatus 121 of left side can comprise: locking device 71, and locking device 71 comprises tight lock part 711, the 4th proximity switch (not shown), locking cylinder (not shown); The second location division 123 on the gripping apparatus 122 of right side can comprise: locking positioning hole slot 72, and locking positioning hole slot 72 place is provided with the 3rd proximity switch (not shown); 3rd proximity switch (not shown) produces the 3rd and to put in place signal when tight lock part 711 inserts locking positioning hole slot 72; Locking cylinder (not shown) is used for being fastened on locking positioning hole slot 72 in item by tight lock part 711 according to the 3rd; 4th proximity switch (not shown) produces the 4th and to put in place signal when tight lock part 711 is fastened in locking positioning hole slot 72, to put in place signal release gripping apparatus 12 according to the 4th to make robot (not shown).The connected mode of locking is one preferably fixed form, to ensure that left side gripping apparatus 121 is connected with the firm of right side gripping apparatus 122 further.
Above-described embodiment describe for being merged in the system of gusset and body bottom section, as shown in Figure 8, the second location division on the gripping apparatus 121 of left side can 123 to comprise: locking positioning hole slot 72, and locking positioning hole slot 72 place is provided with the 3rd proximity switch (not shown); The second location division on the gripping apparatus 122 of right side can 123 to comprise: locking device 71, and locking device 71 comprises tight lock part 711, the 4th proximity switch (not shown), locking cylinder (not shown); 3rd proximity switch (not shown) produces the 3rd and to put in place signal when tight lock part 711 inserts locking positioning hole slot 72; Locking cylinder (not shown) is used for being fastened on locking positioning hole slot 72 in item by tight lock part 711 according to the 3rd; 4th proximity switch (not shown) produces the 4th and to put in place signal when tight lock part 711 is fastened in locking positioning hole slot 72, to put in place signal release gripping apparatus 12 according to the 4th to make robot (not shown).The connected mode of locking is one preferably fixed form, to ensure that left side gripping apparatus 121 is connected with the firm of right side gripping apparatus 122 further.
The embodiment of the present invention additionally provides a kind of method for being merged gusset and body bottom section, employ above-described embodiment describe the system for being merged gusset and body bottom section, as shown in Figure 9, the method comprises: 901, robot drives gripping apparatus to move to crawl position after picking up gripping apparatus; 902, gripping apparatus captures gusset in crawl position, is positioned on gripping apparatus 12 to make gusset; 903, the gripping apparatus with gusset is fixed on gripping apparatus detent mechanism by robot, is positioned on body bottom section to make gusset; 904, body bottom section and gusset weld together by welder.
The embodiment of the present invention provide for being merged in the method for gusset and body bottom section, because gripping apparatus can be picked up by robot, and can drive to crawl position crawl gusset by robot, and the gripping apparatus with gusset can also be positioned on the gripping apparatus detent mechanism of fixture substrate by robot, locate to make gusset and body bottom section, therefore, when robot captures the gripping apparatus of different model, just can realize the gusset capturing respective model, thus can realize different automobile types use gusset be merged operation, and then improve the versatility of system.
The embodiment of the present invention additionally provides a kind of method for being merged gusset and body bottom section, and as shown in Figure 10, step specifically comprises: 1001, robot catches and the gripping apparatus that is mated changes rifle dish, and to pick up gripping apparatus, rear drive gripping apparatus moves to crawl position; 1002, positioning cylinder control alignment pin stretches out; 1003, leading arm guides gusset, to ensure that the locating hole of gusset aimed at by alignment pin; 1004, robot drives gripping apparatus, with the locating hole making the alignment pin stretched out enter gusset, and makes gusset support unit supports gusset; 1005, clamping cylinder controls gusset compressing unit compress gusset according to second signal that puts in place; 1006, robot makes the first location division had on the gripping apparatus of gusset enter in gripping apparatus locating slot; 1007, pressure arm cylinder according to first put in place signal control location pressure arm gripping apparatus and gripping apparatus locating slot are compressed; The tight lock part of 1008, right side/left side gripping apparatus inserts in the locking positioning hole slot of left/right gripping apparatus; 1009, tight lock part is fastened in locking positioning hole slot according to the 3rd to item by locking cylinder; 1010, robot according to the 4th put in place signal release gripping apparatus; 1011, body bottom section and gusset weld together by welder.
The embodiment of the present invention provide for being merged in the method for gusset and body bottom section, because gripping apparatus can be picked up by robot, and can drive to crawl position crawl gusset by robot, and the gripping apparatus with gusset can also be positioned on the gripping apparatus detent mechanism of fixture substrate by robot, locate to make gusset and body bottom section, therefore, when robot captures the gripping apparatus of different model, just can realize the gusset capturing respective model, thus can realize different automobile types use gusset be merged operation, and then improve the versatility of system.
In addition, robot only need catch changing rifle dish and can catch gripping apparatus on gripping apparatus, and due to body bottom section be positioned on fixture substrate already, and the gripping apparatus with gusset is positioned on gripping apparatus locating slot, gripping apparatus locating slot is fixed on again on fixture substrate, so located gusset and and fixture substrate between position, namely located the position relationship of gusset and body bottom section.Said method only need carry out secondary location, and three location of the prior art of comparing, eliminate one-time positioning process, save operating procedure, improve the practicality of system.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (10)
1. one kind for being merged the system of gusset and body bottom section, the gusset comprising robot, body bottom section, fixture substrate and be arranged on crawl position, described body bottom section is fixed on described fixture substrate, it is characterized in that, described system also comprises gripping apparatus and is fixed on the gripping apparatus detent mechanism on described fixture substrate;
Described gripping apparatus, for capturing described gusset in described crawl position, is positioned on described gripping apparatus to make described gusset;
Described robot, after picking up described gripping apparatus, drive described gripping apparatus to move to described crawl position, to capture described gusset, the more described gripping apparatus with described gusset is fixed on described gripping apparatus detent mechanism, is positioned on described body bottom section to make described gusset.
2. the system for being merged gusset and body bottom section according to claim 1, is characterized in that, described gripping apparatus detent mechanism comprises the first proximity switch, gripping apparatus locating slot, location pressure arm, column and connects the pressure arm cylinder of described location pressure arm;
Described column is fixed on fixture substrate, and described gripping apparatus locating slot is fixed on described column;
Described first proximity switch is used for producing first when described gripping apparatus enters the assigned address of described gripping apparatus locating slot and puts in place signal;
Described pressure arm cylinder is used for controlling described location pressure arm described gripping apparatus and described gripping apparatus locating slot are compressed according to described first signal that puts in place.
3. the system for being merged gusset and body bottom section according to claim 2, is characterized in that, described gripping apparatus comprises rod-like body, and described body is provided with the first location division, gusset location division, gusset clamping section and changes rifle dish;
Described first location division coordinates with described gripping apparatus locating slot, is fixed on described gripping apparatus detent mechanism to make described gripping apparatus;
Described gusset location division coordinates with the locating hole on described gusset, is positioned on described gripping apparatus to make described gusset; Described gusset clamping section is for described gusset fastening when described gusset is positioned on described gripping apparatus;
The described rifle dish that changes coordinates with described robot, picks up described gripping apparatus to make described robot.
4. the system for being merged gusset and body bottom section according to claim 3, described gusset location division comprises the second proximity switch, alignment pin, positioning cylinder;
Described second proximity switch is used for producing second when described alignment pin enters the locating hole of described gusset and puts in place signal;
Described positioning cylinder is for controlling the flexible of described alignment pin;
Described gusset clamping section comprises clamping cylinder, gusset support unit, leading arm, gusset compressing unit;
Described clamping cylinder is used for controlling described gusset compressing unit compress described gusset according to described second signal that puts in place;
Described gusset support unit is for supporting described gusset;
Described leading arm for guiding described gusset, to ensure that the locating hole of described gusset aimed at by described alignment pin.
5. the system for being merged gusset and body bottom section according to claim 3, is characterized in that, described gripping apparatus is two, is respectively left side gripping apparatus and right side gripping apparatus; Described left side gripping apparatus for capture with described body bottom section on the left of the gusset that is merged; Described right side gripping apparatus for capture with described body bottom section on the right side of the gusset that is merged;
Described gripping apparatus also comprises the second location division; The second location division on the gripping apparatus of described left side coordinates with the second location division on the gripping apparatus of described right side, to be fixedly connected with described left side gripping apparatus and described right side gripping apparatus.
6. the system for being merged gusset and body bottom section according to claim 5, is characterized in that, on described gripping apparatus, the number of described second location division is two, is arranged side by side on the body.
7. the system for being merged gusset and body bottom section according to claim 5, is characterized in that, the second location division on the gripping apparatus of described left side comprises tight lock part, the 4th proximity switch, locking cylinder; The second location division on the gripping apparatus of described right side comprises locking positioning hole slot, and described locking positioning hole slot place is provided with the 3rd proximity switch;
Described 3rd proximity switch produces the 3rd and to put in place signal when described tight lock part inserts locking positioning hole slot;
Described locking cylinder is used for being fastened in described locking positioning hole slot according to the described 3rd signal that puts in place by described tight lock part;
Described 4th proximity switch produces the 4th and to put in place signal when described tight lock part is fastened in described locking positioning hole slot, discharge described gripping apparatus to make described robot according to the described 4th signal that puts in place.
8. the system for being merged gusset and body bottom section according to claim 5, is characterized in that, the second location division on the gripping apparatus of described left side comprises: locking positioning hole slot, and described locking positioning hole slot place is provided with the 3rd proximity switch; The second location division on the gripping apparatus of described right side comprises: tight lock part, the 4th proximity switch, locking cylinder;
Described 3rd proximity switch produces the 3rd and to put in place signal when described tight lock part inserts locking positioning hole slot;
Described locking cylinder is used for being fastened in described locking positioning hole slot according to the described 3rd signal that puts in place by described tight lock part;
Described 4th proximity switch produces the 4th and to put in place signal when described tight lock part is fastened in described locking positioning hole slot, discharge described gripping apparatus to make robot according to the described 4th signal that puts in place.
9. for being merged a method for gusset and body bottom section, it is characterized in that, employ the system for being merged gusset and body bottom section described in any one of claim 1-8, described method comprises:
(1), described robot drives described gripping apparatus to move to described crawl position after picking up described gripping apparatus;
(2), described gripping apparatus captures described gusset in described crawl position, is positioned on described gripping apparatus to make described gusset;
(3), the described gripping apparatus with described gusset is fixed on described gripping apparatus detent mechanism by described robot, is positioned on described body bottom section to make described gusset;
(4), described body bottom section and described gusset weld together by welder.
10. the method for being merged gusset and body bottom section according to claim 9, it is characterized in that, described for being merged in the system of gusset and body bottom section, described gripping apparatus detent mechanism comprises the first proximity switch, gripping apparatus locating slot, location pressure arm and pressure arm cylinder, and described first proximity switch is used for producing when described gripping apparatus enters the assigned address of described gripping apparatus locating slot first and puts in place signal;
Described gripping apparatus comprises rod-like body, and described body is provided with the first location division, gusset location division, gusset clamping section and changes rifle dish, and described gusset is provided with the locating hole coordinated with described gusset location division;
Described gusset location division comprises the second proximity switch, alignment pin, positioning cylinder, and described second proximity switch is used for producing second when described alignment pin enters the locating hole of described gusset and puts in place signal;
Described gusset clamping section comprises clamping cylinder, gusset support unit, leading arm, gusset compressing unit;
Described gripping apparatus is two, be respectively left side gripping apparatus and right side gripping apparatus, described left side gripping apparatus and described right side gripping apparatus are respectively equipped with the second location division, wherein, on the gripping apparatus of described left side, the second location division comprises tight lock part, the 4th proximity switch, locking cylinder, the second location division on the gripping apparatus of described right side comprises locking positioning hole slot, described locking positioning hole slot place is provided with the 3rd proximity switch, or, the second location division on the gripping apparatus of described left side comprises: locking positioning hole slot, and described locking positioning hole slot place is provided with the 3rd proximity switch; The second location division on the gripping apparatus of described right side comprises: tight lock part, the 4th proximity switch, locking cylinder; Described 3rd proximity switch produces the 3rd and to put in place signal when described tight lock part inserts locking positioning hole slot; Described 4th proximity switch produces the 4th and to put in place signal when described tight lock part is fastened in described locking positioning hole slot;
Described for being merged in the method for gusset and body bottom section, described step (1) is specially: described robot catches described on the described gripping apparatus that is mated and changes rifle dish, to pick up described gripping apparatus, the described gripping apparatus of rear drive moves to described crawl position;
Described step (2) specifically comprises:
Described positioning cylinder controls described alignment pin and stretches out;
Described leading arm guides described gusset, to ensure that the described locating hole of described gusset aimed at by described alignment pin;
Described robot drives described gripping apparatus, with the described locating hole making the described alignment pin stretched out enter described gusset, and makes gusset described in described gusset support unit supports;
Described clamping cylinder controls described gusset compressing unit compress described gusset according to described second signal that puts in place;
Described step (3) specifically comprises:
Described robot makes described first location division had on the described gripping apparatus of described gusset enter in described gripping apparatus locating slot;
Described pressure arm cylinder controls described location pressure arm described gripping apparatus and described gripping apparatus locating slot are compressed according to described first signal that puts in place;
Also comprise between described step (3) and described step (4):
The described tight lock part of described right side gripping apparatus inserts in the described locking positioning hole slot of described left side gripping apparatus, or the described tight lock part of described left side gripping apparatus inserts in the described locking positioning hole slot of described right side gripping apparatus;
Described tight lock part is fastened in described locking positioning hole slot according to the described 3rd signal that puts in place by described locking cylinder;
Described robot discharges described gripping apparatus according to the described 4th signal that puts in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310062782.7A CN103128469B (en) | 2013-02-28 | 2013-02-28 | For being merged the system and method for gusset and body bottom section |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310062782.7A CN103128469B (en) | 2013-02-28 | 2013-02-28 | For being merged the system and method for gusset and body bottom section |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103128469A CN103128469A (en) | 2013-06-05 |
| CN103128469B true CN103128469B (en) | 2015-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310062782.7A Active CN103128469B (en) | 2013-02-28 | 2013-02-28 | For being merged the system and method for gusset and body bottom section |
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| CN (1) | CN103128469B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173592A (en) * | 2015-10-14 | 2015-12-23 | 武汉瑞北汽车装备有限公司 | Fixed primary standard structure for multi-vehicle-type passive trolley |
| CN113696210B (en) * | 2021-09-09 | 2022-08-09 | 安徽江淮汽车集团股份有限公司 | Gripping apparatus stand |
| CN114475868B (en) * | 2022-01-26 | 2023-04-14 | 上汽通用五菱汽车股份有限公司 | AGV backpack flexible positioning clamping tool |
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| US4767046A (en) * | 1985-12-03 | 1988-08-30 | Honda Giken Kogyo Kabushiki Kaisha | Assembly apparatus for motorcar vehicle body |
| US4905884A (en) * | 1988-07-13 | 1990-03-06 | Comau S.P.A. | Apparatus for welding motor vehicle bodies |
| US5011068A (en) * | 1989-12-05 | 1991-04-30 | Progressive Tool & Industries Co. | Automotive body framing system |
| CN1183332A (en) * | 1996-10-08 | 1998-06-03 | 康茂股份公司 | Device for spot welding of structures constituted by metal elements, particularly motor-vehicle bodies or sub-assemblies thereof |
| US6932263B2 (en) * | 2002-04-08 | 2005-08-23 | Progressive Tool & Industries Co. | Vehicle framing system for plurality of vehicle body styles |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4767046A (en) * | 1985-12-03 | 1988-08-30 | Honda Giken Kogyo Kabushiki Kaisha | Assembly apparatus for motorcar vehicle body |
| US4905884A (en) * | 1988-07-13 | 1990-03-06 | Comau S.P.A. | Apparatus for welding motor vehicle bodies |
| US5011068A (en) * | 1989-12-05 | 1991-04-30 | Progressive Tool & Industries Co. | Automotive body framing system |
| CN1183332A (en) * | 1996-10-08 | 1998-06-03 | 康茂股份公司 | Device for spot welding of structures constituted by metal elements, particularly motor-vehicle bodies or sub-assemblies thereof |
| US6932263B2 (en) * | 2002-04-08 | 2005-08-23 | Progressive Tool & Industries Co. | Vehicle framing system for plurality of vehicle body styles |
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| CN103128469A (en) | 2013-06-05 |
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Effective date of registration: 20191226 Address after: 314200 north side of Rongrong Road, east side of Pingshan Avenue, Pinghu Economic and Technological Development Zone, Jiaxing City, Zhejiang Province Patentee after: Pinghu branch of Great Wall Motor Co., Ltd Address before: 071000 No. 2266 Chaoyang South Street, Hebei, Baoding Patentee before: Changcheng Automobile Co., Ltd. |
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