Method for implanting and welding screws in the channel assembly of automobile

Abstract

The present invention discloses a method for implanting and welding screws on a channel assembly in an automobile, comprising the following steps: S1, placing the channel assembly in an automobile on a welding fixture at a loading and unloading station by using loading and unloading equipment; S2, clamping and fixing the channel assembly in an automobile by using the welding fixture; S3, the welding fixture moves the channel assembly in an automobile to the welding station, and then welds the screws on the channel assembly in an automobile; S4, the welding fixture moves the channel assembly in an automobile to the loading and unloading station, and then the loading and unloading equipment removes the channel assembly in an automobile from the welding fixture; wherein the loading and unloading equipment comprises an industrial robot and a grabbing fixture connected to the industrial robot. The method for implanting and welding screws on a channel assembly in an automobile of the present invention can realize the effective grabbing of the channel assembly in an automobile and the accurate placement and removal on the welding fixture, facilitate loading and unloading operations, reduce labor intensity, and help improve the efficiency of implanting and welding operations.

Description

Technical Field

[0001] The invention belongs to the technical field of welding fixtures, and in particular to a method for implanting and welding screws in a channel assembly of an automobile. Background Art

[0002] The automobile center channel assembly is an important part of the automobile body. The automobile center channel assembly needs to be welded to weld the screws to the automobile center channel assembly. When performing the welding operation, a welding fixture is required to clamp and fix the automobile center channel assembly. The existing welding fixtures have complex structures, inconvenient operations, low operating efficiency, and cannot achieve precise positioning of the automobile center channel assembly. It is easy to cause the plate to be scrapped and the qualified rate is low. Moreover, the automobile center channel assembly is large in size and heavy in weight. The existing technology relies on manual operation for loading and unloading the automobile center channel assembly, which has high labor intensity and high requirements for operating safety, resulting in low efficiency of welding operations. Summary of the invention

[0003] The invention provides a method for implanting and welding screws in a channel assembly of an automobile, aiming to facilitate loading and unloading operations, reduce labor intensity, and improve implanting and welding operation efficiency.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: a method for implanting and welding screws in a channel assembly of an automobile, comprising the steps of:

[0005] S1. Use loading and unloading equipment to place the automobile center channel assembly on the welding fixture at the loading and unloading station;

[0006] S2. The welding fixture is used to complete the clamping and fixing of the automobile center channel assembly;

[0007] S3, the welding fixture carries the automobile center channel assembly to the welding station, and then welds the screws on the automobile center channel assembly;

[0008] S4. The welding fixture carries the automobile center channel assembly to the loading and unloading station, and then the loading and unloading equipment removes the automobile center channel assembly on the welding fixture;

[0009] Wherein, the loading and unloading equipment includes an industrial robot and a grabbing fixture connected to the industrial robot.

[0010] The grabbing fixture includes a lifting frame connected to the industrial robot and a first upper clamping device, a second upper clamping device, a third upper clamping device and a fourth upper clamping device arranged on the lifting frame and used to clamp the channel assembly in the automobile. The first upper clamping device and the second upper clamping device are arranged relatively to each other, two third upper clamping devices are provided and the first upper clamping device is located between the two third upper clamping devices, and two fourth upper clamping devices are provided and the second upper clamping device is located between the two fourth upper clamping devices.

[0011] The grabbing fixture also includes an upper positioning device which is arranged on the lifting frame and is used to position the channel assembly in the automobile, and a pressing device which applies pressure to the channel assembly in the automobile.

[0012] The welding fixture includes two first lower clamping devices for clamping two floor bodies of the automobile center channel assembly at a first preset position and a second preset position, respectively, two second lower clamping devices for clamping the two floor bodies of the automobile center channel assembly at a third preset position and a fourth preset position, a third lower clamping device for clamping the center channel body of the automobile center channel assembly at a fifth preset position and for positioning the welding gun when implanting and welding screws at a fifth position, a fourth lower clamping device for clamping a floor body of the automobile center channel assembly at a sixth preset position and for positioning the welding gun when implanting and welding screws at a sixth position, a fifth lower clamping device for clamping another floor body of the automobile center channel assembly at a seventh preset position and for positioning the welding gun when implanting and welding screws at a seventh position, and two sixth lower clamping devices for clamping the two floor bodies of the automobile center channel assembly at an eighth preset position and a ninth preset position, respectively.

[0013] The first lower clamping device includes a first lower clamping bracket, a first lower clamping arm rotatably arranged on the first lower clamping bracket, a first upper clamping block arranged on the first lower clamping arm, and a first lower clamping block cooperating with the first upper clamping block to clamp the floor body, and the rotation center line of the first lower clamping arm is parallel to the first direction.

[0014] The second lower clamping device includes a second lower clamping bracket, a second lower clamping arm rotatably arranged on the second lower clamping bracket, a second upper clamping block arranged on the second lower clamping arm, and a second lower clamping block cooperating with the second upper clamping block to clamp the floor body, the rotation center line of the second lower clamping arm is parallel to the second direction, and the second direction is perpendicular to the first direction.

[0015] The third lower clamping device includes a third lower clamping bracket, a third lower clamping arm rotatably arranged on the third lower clamping bracket, a first positioning arm and a second positioning arm arranged on the third lower clamping arm, a first positioning block arranged on the first positioning arm and used for positioning the welding gun, and a second positioning block arranged on the second positioning arm and used for positioning the welding gun, and a rotation centerline of the third lower clamping arm is parallel to the second direction.

[0016] The fourth lower clamping device includes a fourth lower clamping bracket, a fourth lower clamping arm rotatably arranged on the fourth lower clamping bracket, a fourth upper clamping block and a third positioning arm arranged on the fourth lower clamping arm, a third positioning block arranged on the third positioning arm, and a fourth lower clamping block cooperating with the fourth upper clamping block to clamp the floor body, and the rotation centerline of the fourth lower clamping arm is parallel to the second direction.

[0017] The fifth lower clamping device includes a fifth lower clamping bracket, a fifth lower clamping arm rotatably arranged on the fifth lower clamping bracket, a fifth upper clamping block and a fourth positioning arm arranged on the fifth lower clamping arm, a fourth positioning block arranged on the fourth positioning arm, and a fifth lower clamping block that cooperates with the fifth upper clamping block to clamp the floor body, and the rotation center line of the fifth lower clamping arm is parallel to the second direction.

[0018] The sixth lower clamping device includes a sixth lower clamping bracket, a sixth lower clamping arm rotatably arranged on the sixth lower clamping bracket, a sixth upper clamping block arranged on the sixth lower clamping arm, and a sixth lower clamping block that cooperates with the sixth upper clamping block to clamp the floor body, and the rotation center line of the sixth lower clamping arm is parallel to the second direction.

[0019] The method for implanting and welding screws in a channel assembly of an automobile of the present invention can realize the effective grasping of the channel assembly of the automobile and the accurate placement and removal on the welding fixture, facilitate the loading and unloading operations, reduce labor intensity, and help improve the efficiency of implanting and welding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] This specification includes the following drawings, which show the following contents:

[0021] Figure 1 It is a schematic diagram of the structure of the device used in the present invention;

[0022] Figure 2 is a schematic diagram of the structure of the grabbing fixture;

[0023] Figure 3 is another structural schematic diagram of the grabbing fixture;

[0024] Figure 4 It is a structural schematic diagram of the screw implant welding tooling for the automobile center channel assembly;

[0025] Figure 5 It is a structural schematic diagram of the welding fixture;

[0026] Figure 6 It is a schematic diagram of the use status of the welding fixture;

[0027] Figure 7 is a schematic structural diagram of a first lower clamping device;

[0028] Figure 8 is a schematic structural diagram of a second lower clamping device;

[0029] Fig. 9 is a schematic structural diagram of the third lower clamping device;

[0030] Fig.10 is a schematic structural diagram of a fourth lower clamping device;

[0031] Fig.11 is a schematic structural diagram of a fifth lower clamping device;

[0032] Fig.12 is a schematic structural diagram of the sixth lower clamping device;

[0033] Fig.13 It is a structural schematic diagram of the middle channel positioning device;

[0034] The markings in the figure are:

[0035] 1. First lower clamping bracket; 2. First lower clamping arm; 3. First upper clamping block; 4. First lower clamping block; 5. Second lower clamping bracket; 6. Second lower clamping arm; 7. Second upper clamping block; 8. Second lower clamping block; 9. Third lower clamping bracket; 10. Third lower clamping arm; 11. First positioning arm; 12. Second positioning arm; 13. First positioning block; 14. Second positioning block; 15. Fourth lower clamping bracket; 16. Fourth lower clamping arm; 17. Fourth upper clamping block; 18. Third positioning arm; 19. Third positioning block; 20. Fourth lower clamping block; 21. Fifth lower clamping bracket; 22. fifth lower clamping arm; 23. fifth upper clamping block; 24. fourth positioning arm; 25. fourth positioning block; 26. fifth lower clamping block; 27. sixth lower clamping bracket; 28. sixth lower clamping arm; 29. ​​sixth upper clamping block; 30. sixth lower clamping block; 31. first lower driver; 32. second lower driver; 33. third lower driver; 34. fourth lower driver; 35. fifth lower driver; 36. sixth lower driver; 37. drive motor; 38. rack; 39. drive gear; 40. track; 41. base; 42. first lower positioning pin; 43. second lower Positioning pin; 44, third lower positioning pin; 45, first positioning seat; 46, second positioning seat; 47, first bracket; 48, second bracket; 49, first positioning cylinder; 50, first support block; 51, second support block; 52, third support block; 53, fourth support block; 54, fifth support block; 55, sixth support block; 56, seventh support block; 57, second positioning cylinder; 58, floor body; 59, middle channel body; 60, lifting frame; 61, first upper clamping bracket; 62, second upper clamping bracket; 63, third upper clamping bracket; 64, fourth upper Clamping bracket; 65, first upper driver; 66, second upper driver; 67, third upper driver; 68, fourth upper driver; 69, seventh upper clamping block; 70, seventh lower clamping block; 71, eighth upper clamping block; 72, eighth lower clamping block; 73, ninth upper clamping block; 74, ninth lower clamping block; 75, tenth upper clamping block; 76, tenth lower clamping block; 77, first upper clamping arm; 78, second upper clamping arm; 79, third upper clamping arm; 80, fourth upper clamping arm; 81, first clamping rod; 82, second clamping rod; 83, first upper positioning pin; 84, second upper positioning pin. DETAILED DESCRIPTION

[0036] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0037] like Figures 1 to 13 As shown, the present invention provides a method for implanting and welding screws in a channel assembly of an automobile, comprising the following steps:

[0038] S1. Use loading and unloading equipment to place the automobile center channel assembly on the welding fixture at the loading and unloading station;

[0039] S2. The welding fixture is used to complete the clamping and fixing of the automobile center channel assembly;

[0040] S3, the welding fixture carries the automobile center channel assembly to the welding station, and then welds the screws on the automobile center channel assembly;

[0041] S4. The welding fixture carries the automobile center channel assembly to the loading and unloading station, and then the loading and unloading equipment removes the automobile center channel assembly on the welding fixture.

[0042] Specifically, if Figures 1 to 3 As shown, the loading and unloading equipment includes an industrial robot and a grabbing fixture connected to the industrial robot. The grabbing fixture includes a lifting frame 60 connected to the industrial robot and a first upper clamping device, a second upper clamping device, a third upper clamping device and a fourth upper clamping device arranged on the lifting frame 60 and used to clamp the channel assembly of the automobile. The first upper clamping device and the second upper clamping device are arranged relatively, two third upper clamping devices are provided and the first upper clamping device is located between the two third upper clamping devices, and two fourth upper clamping devices are provided and the second upper clamping device is located between the two fourth upper clamping devices. The lifting frame 60 is connected to the end effector of the industrial robot, and the industrial robot drives the grabbing fixture to move. The grabbing fixture can drive the grabbed channel assembly of the automobile to move synchronously to realize loading and unloading work, with a high degree of automation, saving time and labor, reducing labor intensity, and improving welding operation efficiency.

[0043] like Figures 1 to 3As shown, both the first upper clamping device and the second upper clamping device are provided, and the first upper clamping device and the second upper clamping device are used to clamp the middle channel body 59 at both ends of the length direction of the middle channel body 59 of the middle channel assembly of the automobile, respectively. The two third upper clamping devices are used to clamp the two floor bodies 58 of the middle channel assembly of the automobile, respectively. The two fourth upper clamping devices are also used to clamp the two floor bodies 58 of the middle channel assembly of the automobile, respectively, that is, each floor body 58 is clamped by a third upper clamping device and a fourth upper clamping device, respectively. The two third upper clamping devices are arranged symmetrically, and the two fourth upper clamping devices are also arranged symmetrically. The first upper clamping device and the second upper clamping device are located on the same straight line parallel to the length direction of the lifting frame 60, and each third upper clamping device and a fourth upper clamping device are located on the same straight line parallel to the length direction of the lifting frame 60, respectively.

[0044] like Figures 1 to 3 As shown, the first upper clamping device includes a first upper clamping bracket 61 vertically arranged on the lifting frame 60, a first upper clamping arm 77, a seventh lower clamping block 70 arranged on the first upper clamping arm 77, a seventh upper clamping block 69 arranged on the first upper clamping bracket 61 and cooperating with the seventh lower clamping block 70 to clamp the middle channel body, and a first upper driver 65 arranged on the first upper clamping bracket 61 and used to provide a driving force for the first upper clamping arm 77 to rotate. The seventh upper clamping block 69 cooperates with the seventh lower clamping block 70 to clamp the middle channel body at one end in the length direction of the middle channel body. In the above step S1, after the grabbing fixture places the automobile middle channel assembly on the welding fixture, the grabbing fixture clamps the middle channel body. At this time, the first clamping arm is in a horizontal state, the seventh upper clamping block 69 is above the middle channel body and fits with the top surface of the middle channel body, and the seventh lower clamping block 70 is below the middle channel body and fits with the bottom surface of the middle channel body. One end of the first upper clamping arm 77 is rotatably connected to the first upper driver 65, and the seventh lower clamping block 70 is fixedly arranged on the other end of the first upper clamping arm 77. The first upper driver 65 is a cylinder. When the first upper driver 65 is working, it can drive the first upper clamping arm 77 to flip up and down, and the first upper clamping arm 77 drives the seventh lower clamping block to rotate synchronously, thereby realizing the clamping and release of the centering channel body.

[0045] like Figures 1 to 3As shown, the second upper clamping device includes a second upper clamping bracket 62 vertically arranged on the lifting frame 60, a second upper clamping arm 78, an eighth lower clamping block 72 arranged on the second upper clamping arm 78, an eighth upper clamping block 71 arranged on the second upper clamping bracket 62 and cooperating with the eighth lower clamping block 72 to clamp the middle channel body, and a second upper driver 66 arranged on the second upper clamping bracket 62 and used to provide a driving force for the second upper clamping arm 78 to rotate. The eighth upper clamping block 71 cooperates with the eighth lower clamping block 72 to clamp the middle channel body at the other end in the length direction of the middle channel body. In the above step S1, after the grabbing fixture places the automobile middle channel assembly on the welding fixture, the grabbing fixture clamps the middle channel body. At this time, the second clamping arm is in a horizontal state, the eighth upper clamping block 71 is above the middle channel body and fits with the top surface of the middle channel body, and the eighth lower clamping block 72 is below the middle channel body and fits with the bottom surface of the middle channel body. One end of the second upper clamping arm 78 is rotatably connected to the second upper driver 66, and the eighth lower clamping block 72 is fixedly arranged on the other end of the second upper clamping arm 78. The second upper driver 66 is a cylinder. When the second upper driver 66 is working, it can drive the second upper clamping arm 78 to flip up and down, and the second upper clamping arm 78 drives the eighth lower clamping block to rotate synchronously, thereby realizing the clamping and release of the centering channel body.

[0046] like Figures 1 to 3 As shown, the third upper clamping device includes a third upper clamping bracket 63 vertically arranged on the lifting frame 60, a third upper clamping arm 79, a ninth lower clamping block 74 arranged on the third upper clamping arm 79, a ninth upper clamping block 73 arranged on the third upper clamping bracket 63 and cooperating with the ninth lower clamping block 74 to clamp the floor body, and a third upper driver 67 arranged on the third upper clamping bracket 63 and used to provide a driving force for the third upper clamping arm 79 to rotate. The ninth upper clamping block 73 cooperates with the ninth lower clamping block 74 to clamp the floor body at one end in the length direction of the floor body. In the above step S1, after the grabbing fixture places the automobile middle channel assembly on the welding fixture, the grabbing fixture clamps the floor body. At this time, the third clamping arm is in a horizontal state, the ninth upper clamping block 73 is above the floor body and fits with the top surface of the floor body, and the ninth lower clamping block 74 is below the floor body and fits with the bottom surface of the floor body. One end of the third upper clamping arm 79 is rotatably connected to the third upper driver 67, and the ninth lower clamping block 74 is fixedly arranged on the other end of the third upper clamping arm 79. The third upper driver 67 is a cylinder. When the third upper driver 67 is working, it can drive the third upper clamping arm 79 to flip up and down, and the third upper clamping arm 79 drives the ninth lower clamping block to rotate synchronously, thereby realizing the clamping and release of the floor body.

[0047] like Figures 1 to 3As shown, the fourth upper clamping device includes a fourth upper clamping bracket 64 vertically arranged on the lifting frame 60, a fourth upper clamping arm 80, a tenth lower clamping block 76 arranged on the fourth upper clamping arm 80, a tenth upper clamping block 75 arranged on the fourth upper clamping bracket 64 and cooperating with the tenth lower clamping block 76 to clamp the floor body, and a fourth upper driver 68 arranged on the fourth upper clamping bracket 64 and used to provide a driving force for the fourth upper clamping arm 80 to rotate. The tenth upper clamping block 75 cooperates with the tenth lower clamping block 76 to clamp the floor body at the other end in the length direction of the floor body. In the above step S1, after the grabbing fixture places the automobile middle channel assembly on the welding fixture, the grabbing fixture clamps the floor body. At this time, the fourth clamping arm is in a horizontal state, the tenth upper clamping block 75 is above the floor body and fits with the top surface of the floor body, and the tenth lower clamping block 76 is below the floor body and fits with the bottom surface of the floor body. One end of the fourth upper clamping arm 80 is rotatably connected to the fourth upper driver 68, and the tenth lower clamping block 76 is fixedly arranged on the other end of the fourth upper clamping arm 80. The fourth upper driver 68 is a cylinder. When the fourth upper driver 68 is working, it can drive the fourth upper clamping arm 80 to flip up and down, and the fourth upper clamping arm 80 drives the tenth lower clamping block to rotate synchronously, thereby realizing the clamping and release of the floor body.

[0048] like Figures 1 to 3 As shown, the grabbing fixture also includes an upper positioning device disposed on the lifting frame 60 and used to position the automobile center channel assembly and a pressing device for applying pressure to the automobile center channel assembly. The upper positioning device includes a first upper positioning pin 83 and a second upper positioning pin 84, which are disposed on the lifting frame 60, and the axes of the first upper positioning pin 83 and the second upper positioning pin 84 are parallel, a positioning hole for inserting the first upper positioning pin 83 is disposed on one of the floor bodies 58, and a positioning hole for inserting the second upper positioning pin 84 is disposed on the other floor body 58, so as to ensure that the automobile center channel assembly can be accurately positioned on the grabbing fixture during grabbing.

[0049] like Figures 1 to 3As shown, the clamping device includes a first clamping rod 81 and a second clamping rod 82 arranged on the lifting frame 60, one end of the first clamping rod 81 is fixedly connected to the lifting frame 60, and the other end of the first clamping rod 81 is used to contact the floor body, and one end of the second clamping rod 82 is fixedly connected to the lifting frame 60, and the other end of the second clamping rod 82 is used to contact the floor body. A plurality of first clamping rods 81 and second clamping rods 82 are provided, all first clamping rods 81 are on the same straight line parallel to the width direction of the lifting frame 60, and all second clamping rods 82 are also on the same straight line parallel to the width direction of the lifting frame 60, and the width direction of the lifting frame 60 is perpendicular to its length direction. In the above steps S1 and S4, when the grasping clamp grasps the channel assembly of the automobile, after the first upper clamping device, the second upper clamping device, the third upper clamping device and the fourth upper clamping device clamp the channel assembly of the automobile, the first clamping rod 81 and the second clamping rod 82 are in contact with the two floor bodies, and each of the first clamping rods 81 and the second clamping rods 82 applies a certain pressure to the floor bodies at different positions. The channel assembly of the automobile is subjected to force at multiple points, so that the channel assembly of the automobile remains in a stable state, the deformation of the channel assembly of the automobile is reduced, and it helps to improve product quality.

[0050] like Figures 1 to 3 As shown, in the present embodiment, a plurality of first clamping rods 81 and second clamping rods 82 are provided, and each first clamping rod 81 is respectively located on the same straight line parallel to the length direction of the lifting frame 60 with a second clamping rod 82. In the above steps S1 and S4, the middle channel body is located between the two first clamping rods 81, and each first clamping rod 81 and each second clamping rod 82 are respectively in contact with a floor body.

[0051] like Figure 1 , Figures 4 to 13As shown, the screw implant welding tool for the automobile central channel assembly includes a track 40, a welding fixture movably arranged on the track 40, and a travel drive device connected to the welding fixture. The track 40 guides the welding fixture to switch between the loading and unloading station and the welding station. The welding fixture includes two first lower clamping devices for clamping two floor bodies 58 of the automobile central channel assembly at a first preset position and a second preset position, respectively, two second lower clamping devices for clamping the two floor bodies 58 of the automobile central channel assembly at a third preset position and a fourth preset position, respectively, and a central clamping device for clamping the automobile central channel assembly at a fifth preset position. A channel body 59 and a third lower clamping device for positioning a welding gun when implanting and welding screws at a fifth position, a fourth lower clamping device for clamping a floor body 58 of the channel assembly in the vehicle at a sixth preset position and for positioning a welding gun when implanting and welding screws at the sixth position, a fifth lower clamping device for clamping another floor body 58 of the channel assembly in the vehicle at a seventh preset position and for positioning a welding gun when implanting and welding screws at the seventh position, and two sixth lower clamping devices for clamping two floor bodies 58 of the channel assembly in the vehicle at an eighth preset position and a ninth preset position, respectively.

[0052] like Figure 1 and Figure 4As shown, the track 40 is laid on the ground in a horizontal state, and the track 40 guides the welding fixture, and the length direction of the track 40 is parallel to the second direction. The travel drive device is provided on the driving motor 37 on the welding fixture, the rack 38 provided on the track 40, and the driving gear 39 connected to the driving motor 37 and meshed with the rack 38. A roller is provided at the bottom of the welding fixture, and the roller is located on the track 40. The roller can roll along the track 40, and the axis of the roller is parallel to the first direction. The first direction and the second direction are both horizontal directions, and the first direction and the second direction are perpendicular. A plurality of rollers are provided, and all rollers are arranged in two rows. The driving motor 37 is used to generate driving force, the driving gear 39 is fixedly connected to the output shaft of the driving motor 37, and the rack 38 is fixedly provided on the track 40, and the length direction of the rack 38 is parallel to the second direction. The loading and unloading station is located at one end of the track 40, and the welding station is located at the other end of the track 40. The travel drive device is used to drive the welding fixture to move between the loading and unloading station and the welding station. In the above step S1, when the welding fixture stays at the loading and unloading station, the grabbing fixture can place the automobile center channel assembly that needs to be welded with screws on the welding fixture. In the above step S2, the automobile center channel assembly is positioned and clamped by the welding fixture. In the above step S13, the driving motor 37 is operated, and the driving gear 39 rolls along the rack 38, so that the welding fixture can carry the automobile center channel assembly to move linearly along the length direction of the track 40, and finally the welding fixture can carry the automobile center channel assembly to the welding station. At the welding station, the automobile center channel assembly can be welded, and screws can be welded on the automobile center channel assembly using a welding gun.

[0053] like Figures 4 to 7As shown, the welding fixture also includes a base 41, which is located above the track 40, the base 41 is horizontally arranged, the roller is arranged on the bottom surface of the base 41, the first lower clamping device, the second lower clamping device, the third lower clamping device, the fourth lower clamping device, the fifth lower clamping device, the sixth lower clamping device and the middle channel positioning device are arranged on the base 41, the two first lower clamping devices are on the same straight line parallel to the first direction and the two first lower clamping devices are symmetrically arranged, the two second lower clamping devices are on the same straight line parallel to the first direction and the two second lower clamping devices are symmetrically arranged, the two sixth lower clamping devices are on the same straight line parallel to the first direction The fourth lower clamping device and the fifth lower clamping device are on the same straight line parallel to the first direction, and the two sixth lower clamping devices are symmetrically arranged. The fourth lower clamping device and the fifth lower clamping device are on the same straight line parallel to the first direction, the fourth lower clamping device and a second lower clamping device and a sixth lower clamping device are on the same straight line parallel to the second direction, and the fourth lower clamping device is located between the second lower clamping device and the sixth lower clamping device, and the third lower clamping device and the fifth lower clamping device and another second lower clamping device and another sixth lower clamping device are on the same straight line parallel to the second direction, and the third lower clamping device and the fifth lower clamping device are located between the second lower clamping device and the sixth lower clamping device. The automobile middle channel assembly is mainly composed of two floor bodies 58, a middle channel body 59, a nut box mounting bracket and a seat crossbeam. The floor body 58 is welded to the middle channel body 59, the nut box mounting bracket and the seat crossbeam. Two floor bodies 58 are provided, and the middle channel body 59 is welded to the two floor bodies 58. When performing the implant welding operation, welding screws are required on the two floor bodies 58 and the middle channel body 59.

[0054] like Figures 4 to 7As shown, the two first lower clamping devices clamp the floor body 58 at one end in the length direction of the two floor bodies 58, respectively. In the above step S2, in the clamping state, the middle channel body 59 is located between the two first lower clamping devices, and the length direction of the floor body 58 of the middle channel body 59 is parallel to the second direction. The first lower clamping device includes a first lower clamping bracket vertically arranged on the base 41, a first lower clamping arm 2 rotatably arranged on the first lower clamping bracket, a first upper clamping block 3 arranged on the first lower clamping arm 2, a first lower clamping block 4 cooperating with the first upper clamping block 3 to clamp the floor body 58, and a first lower driver 31 arranged on the first lower clamping bracket and used to provide a driving force for the first lower clamping arm 2 to rotate, and the rotation center line of the first lower clamping arm 2 is parallel to the first direction. The first lower clamping block 4 and the first upper clamping block 3 cooperate to clamp the floor body 58 at one end of the floor body 58. In the clamping state, the first lower clamping block 4 is located below the floor body 58 and fits with the bottom surface of the floor body 58, and the first upper clamping block 3 is located above the floor body 58 and fits with the top surface of the floor body 58. One end of the first lower clamping arm 2 is rotatably connected to the first lower driver 31, and the first upper clamping block 3 is fixedly arranged at the other end of the first lower clamping arm 2. The first lower clamping arm 2 is rotatably connected to the first lower clamping bracket at a position between the two ends. When the first lower driver 31 is working, it can drive the first lower clamping arm 2 to flip up and down, thereby achieving the clamping and release of the floor body 58. The first lower driver 31 is a cylinder or a hydraulic cylinder, and the piston rod of the first lower driver 31 is rotatably connected to the first lower clamping arm 2, and the cylinder body of the first lower driver 31 is rotatably connected to the first lower clamping bracket.

[0055] like Figures 4 to 6 and Figure 8As shown, the first lower clamping device clamps the floor body 58 at one end in the width direction of the floor body 58, and the second lower clamping device clamps the floor body 58 at the other end in the width direction of the floor body 58, and the width direction of the floor body 58 is parallel to the second direction. The second lower clamping device includes a second lower clamping bracket 5 vertically arranged on the base 41, a second lower clamping arm 6 rotatably arranged on the second lower clamping bracket 5, a second upper clamping block 7 arranged on the second lower clamping arm 6, a second lower clamping block 8 cooperating with the second upper clamping block 7 to clamp the floor body 58, and a second lower driver 32 arranged on the second lower clamping bracket 5 and used to provide a driving force for the second lower clamping arm 6 to rotate, and the rotation center line of the second lower clamping arm 6 is parallel to the second direction. The second lower clamping block 8 and the second upper clamping block 7 cooperate to clamp the floor body 58 at one end of the floor body 58. In the clamped state, the second lower clamping block 8 is located below the floor body 58 and fits with the bottom surface of the floor body 58, and the second upper clamping block 7 is located above the floor body 58 and fits with the top surface of the floor body 58. One end of the second lower clamping arm 6 is rotatably connected to the second lower driver 32, and the second upper clamping block 7 is fixedly arranged at the other end of the second lower clamping arm 6. The second lower clamping arm 6 is rotatably connected to the second lower clamping bracket 5 at a position between the two ends. When the second lower driver 32 is working, it can drive the second lower clamping arm 6 to flip up and down, thereby achieving the clamping and release of the floor body 58. The second lower driver 32 is a pneumatic cylinder or a hydraulic cylinder. The piston rod of the second lower driver 32 is rotatably connected to the second lower clamping arm 6, and the cylinder body of the second lower driver 32 is rotatably connected to the second lower clamping bracket 5.

[0056] like Figures 4 to 6 and Figure 8 As shown, the second lower clamping device also includes a first lower positioning pin 42 arranged on the second lower clamping bracket 5. The first lower positioning pin 42 is vertically arranged. In the above step S2, the first lower positioning pin 42 is used to position the channel assembly in the automobile. A positioning hole for inserting the first lower positioning pin 42 is arranged on the floor body 58 to ensure the accurate position of the channel assembly in the automobile.

[0057] like Figures 4 to 6 and Fig. 9As shown, the third lower clamping device includes a third lower clamping bracket 9 vertically arranged on the base 41, a third lower clamping arm 10 rotatably arranged on the third lower clamping bracket 9, a first positioning arm 11 and a second positioning arm 12 arranged on the third lower clamping arm 10, a first positioning block 13 arranged on the first positioning arm 11 and used to position the welding gun, a second positioning block 14 arranged on the second positioning arm 12 and used to position the welding gun, and a third lower driver 33 arranged on the third lower clamping bracket 9 and used to provide a driving force for the third lower clamping arm 10 to rotate, and the rotation center line of the third lower clamping arm 10 is parallel to the second direction. One end of the third lower clamping arm 10 is rotatably connected to the third lower driver 33, the first positioning arm 11 and the second positioning arm 12 are fixedly arranged on the other end of the third lower clamping arm 10, and the third lower clamping arm 10 is rotatably connected to the third lower clamping bracket 9 at a position between the two ends. When the third lower driver 33 is working, it can drive the third lower clamping arm 10 to flip up and down. The third lower driver 33 is a pneumatic cylinder or a hydraulic cylinder. The piston rod of the third lower driver 33 is rotatably connected to the third lower clamping arm 10 , and the cylinder body of the third lower driver 33 is rotatably connected to the third lower clamping bracket 9 .

[0058] like Figures 4 to 6 and Fig. 9 As shown, the first positioning arm 11 has a certain length, and the length direction of the first positioning arm 11 is parallel to the second direction, one end of the first positioning arm 11 is fixedly connected to the third lower clamping arm 10, and one end of the second positioning arm 12 is fixedly connected to the third lower clamping arm 10, and the first positioning arm 11 and the second positioning arm 12 extend toward the opposite sides of the third lower clamping arm 10, and the first positioning block 13 is fixedly arranged on the first positioning arm 11, and the second positioning block 14 is fixedly arranged on the second positioning arm 12, one first positioning block 13 is arranged, and three second positioning blocks 14 are arranged, and the centers of the first positioning block 13 and the second positioning block 14 have positioning holes for inserting welding guns, and the positioning holes are used to position the welding guns of welding screws, and the positioning holes on the first positioning block 13 are circular holes and the positioning holes are through holes penetrating the first positioning block 13, and the positioning holes on the second positioning block 14 are circular holes and the positioning holes are through holes penetrating the second positioning block 14. In the above step S2, after the automobile center channel assembly is clamped, the first positioning block 13 is located above the center channel body 59 and fits with the top surface of the center channel body 59, and the second positioning block 14 is located on the outer side wall of the center channel body 59 and fits with the outer wall surface of the center channel body 59. The positioning holes on the first positioning block 13 and the second positioning block 14 are used to accommodate screws for welding with the rear floor of the automobile. In the above step S3, when performing the welding operation, a welding gun is used to weld the screws to the center channel body 59 at the first positioning block 13 and each second positioning block 14.

[0059] like Figures 4 to 6 and Fig.10 As shown, the fourth lower clamping device includes a fourth lower clamping bracket 5 vertically arranged on the top surface of the base 41, a fourth lower clamping arm 16 rotatably arranged on the fourth lower clamping bracket 5, a fourth upper clamping block 17 and a third positioning arm 18 arranged on the fourth lower clamping arm 16, a fourth lower clamping block 20 arranged on the fourth lower clamping bracket 5 and cooperating with the fourth upper clamping block 17 to clamp the floor body 58, a third positioning block 19 arranged on the third positioning arm 18 and used for positioning the welding gun, and a fourth lower driver 34 arranged on the fourth lower clamping bracket 5 and used to provide a driving force for the fourth lower clamping arm 16 to rotate, and the rotation centerline of the fourth lower clamping arm 16 is parallel to the second direction. The fourth upper clamping block 17 and the fourth lower clamping block 20 cooperate to clamp the floor body 58 at one end in the width direction of the automobile floor body 58. In the above step S2, when the floor body 58 is in the clamped state, the fourth lower clamping arm 16 is in a horizontal state and the length direction of the fourth lower clamping arm 16 is parallel to the second direction. The fourth upper clamping block 17 is located below the floor body 58 and fits with the bottom surface of the floor body 58. The fourth lower clamping block 20 is located above the floor body 58 and fits with the top surface of the floor body 58. One end of the fourth lower clamping arm 16 is rotatably connected to the fourth lower driver 34. The third positioning arm 18 is fixedly disposed at the other end in the length direction of the fourth lower clamping arm 16. The fourth lower clamping arm 16 is rotatably connected to the fourth lower clamping bracket 5 at a position between the two ends. When the fourth lower driver 34 is working, it can drive the fourth lower clamping arm 16 to flip up and down, thereby achieving the clamping and release of the floor body 58. The fourth lower driver 34 is a pneumatic cylinder or a hydraulic cylinder. The piston rod of the fourth lower driver 34 is rotatably connected to the fourth lower clamping arm 16 , and the cylinder body of the fourth lower driver 34 is rotatably connected to the fourth lower clamping bracket 5 .

[0060] like Figures 4 to 6 and Fig.10As shown, the third positioning arm 18 has a certain length, one end of the third positioning arm 18 is fixedly connected to the fourth lower clamping arm 16 and the third positioning arm 18 extends toward the outer side of the fourth lower clamping arm 16, the third positioning block 19 is fixedly arranged on the third positioning arm 18, one third positioning block 19 is arranged, and the center of the third positioning block 19 has a positioning hole for inserting a welding gun, the positioning hole is used to position the welding gun for welding screws, the positioning hole is a round hole and the positioning hole is a through hole penetrating the third positioning block 19, and the axis of the positioning hole is perpendicular to the length direction of the third positioning arm 18. In the above step S2, after the automobile middle channel assembly is clamped, the third positioning block 19 is located above the floor body 58 and fits with the top surface of the floor body 58, the positioning hole on the third positioning block 19 is used to accommodate the screws for welding with the automobile floor body 58, and in the above step S3, when performing the welding operation, the screws are welded to the floor body 58 at the third positioning block 19 using a welding gun, that is, one screw is welded to one of the floor bodies 58.

[0061] like Figures 4 to 6 and Fig.11As shown, the fourth lower clamping device is used to clamp one of the floor bodies 58, and the fifth lower clamping device is used to clamp the other floor body 58. The fifth lower clamping device includes a fifth lower clamping bracket 21 vertically arranged on the top surface of the base 41, a fifth lower clamping arm 22 rotatably arranged on the fifth lower clamping bracket 21, a fifth upper clamping block 23 and a fourth positioning arm 24 arranged on the fifth lower clamping arm 22, a fifth lower clamping block 26 arranged on the fifth lower clamping bracket 21 and cooperating with the fifth upper clamping block 23 to clamp the floor body 58, a fourth positioning block 25 arranged on the fourth positioning arm 24 and used to position the welding gun, and a fifth lower driver 35 arranged on the fifth lower clamping bracket 21 and used to provide a driving force for the fifth lower clamping arm 22 to rotate. The rotation centerline of the fifth lower clamping arm 22 is parallel to the second direction. The fifth upper clamping block 23 and the fifth lower clamping block 26 cooperate to clamp the floor body 58 at one end in the width direction of the automobile floor body 58. In the above step S2, when the floor body 58 is in the clamped state, the fifth lower clamping arm 22 is in a horizontal state and the length direction of the fifth lower clamping arm 22 is parallel to the second direction. The fifth upper clamping block 23 is located below the floor body 58 and fits with the bottom surface of the floor body 58. The fifth lower clamping block 26 is located above the floor body 58 and fits with the top surface of the floor body 58. One end of the fifth lower clamping arm 22 is rotatably connected to the fifth lower driver 35. The fourth positioning arm 24 is fixedly disposed at the other end in the length direction of the fifth lower clamping arm 22. The fifth lower clamping arm 22 is rotatably connected to the fifth lower clamping bracket 21 at a position between the two ends. When the fifth lower driver 35 is working, it can drive the fifth lower clamping arm 22 to flip up and down, thereby achieving the clamping and release of the floor body 58. The fifth lower driver 35 is a pneumatic cylinder or a hydraulic cylinder. The piston rod of the fifth lower driver 35 is rotatably connected to the fifth lower clamping arm 22 . The cylinder body of the fifth lower driver 35 is rotatably connected to the fifth lower clamping bracket 21 .

[0062] like Figures 4 to 6 and Fig.11As shown, the fourth positioning arm 24 has a certain length, one end of the fourth positioning arm 24 is fixedly connected to the fifth lower clamping arm 22 and the fourth positioning arm 24 extends toward the outside of the fifth lower clamping arm 22, the fourth positioning block 25 is fixedly arranged on the fourth positioning arm 24, one fourth positioning block 25 is arranged, and the center of the fourth positioning block 25 has a positioning hole for inserting a welding gun, the positioning hole is used to position the welding gun for welding screws, the positioning hole is a round hole and the positioning hole is a through hole penetrating the fourth positioning block 25, and the axis of the positioning hole is perpendicular to the length direction of the fourth positioning arm 24. In the above step S2, after the automobile middle channel assembly is clamped, the fourth positioning block 25 is located above the floor body 58 and fits with the top surface of the floor body 58, the positioning hole on the fourth positioning block 25 is used to accommodate the screws for welding with the automobile floor body 58, and in the above step S3, when performing the welding operation, the screws are welded to the floor body 58 at the fourth positioning block 25 using a welding gun, that is, at least one screw is welded to another floor body 58.

[0063] like Figures 4 to 6 and Fig.12 As shown, the two ends of each floor body 58 in the length direction are clamped and fixed by a second lower clamping device and a sixth lower clamping device respectively, and the sixth lower clamping device includes a sixth lower clamping bracket 27 vertically arranged on the base 41, a sixth lower clamping arm 28 rotatably arranged on the sixth lower clamping bracket 27, a sixth upper clamping block 29 arranged on the sixth lower clamping arm 28, a sixth lower clamping block 30 cooperating with the sixth upper clamping block 29 to clamp the floor body 58, and a sixth lower driver 36 arranged on the sixth lower clamping bracket 27 and used to provide the sixth lower clamping arm 28 with a driving force to rotate it, and the rotation centerline of the sixth lower clamping arm 28 is parallel to the second direction. In the above step S2, the sixth lower clamping block 30 and the sixth upper clamping block 29 cooperate to clamp the floor body 58 at one end of the floor body 58. In the clamping state, the sixth lower clamping block 30 is located below the floor body 58 and fits with the bottom surface of the floor body 58, and the sixth upper clamping block 29 is located above the floor body 58 and fits with the top surface of the floor body 58. One end of the sixth lower clamping arm 28 is rotatably connected to the sixth lower driver 36, and the sixth upper clamping block 29 is fixedly arranged at the other end of the sixth lower clamping arm 28. The sixth lower clamping arm 28 is rotatably connected to the sixth lower clamping bracket 27 at a position between the two ends. When the sixth lower driver 36 is working, it can drive the sixth lower clamping arm 28 to flip up and down, thereby achieving the clamping and release of the floor body 58. The sixth lower driver 36 is a cylinder or a hydraulic cylinder, and the piston rod of the sixth lower driver 36 is rotatably connected to the sixth lower clamping arm 28, and the cylinder body of the sixth lower driver 36 is rotatably connected to the sixth lower clamping bracket 27.

[0064] like Figures 4 to 6 and Fig.13As shown, the welding fixture also includes a middle channel positioning device arranged on the base 41, and the middle channel positioning device includes a first positioning seat 45, a second positioning seat 46, a first positioning cylinder 49 arranged on the first positioning seat 45, a second positioning cylinder 57 arranged on the second positioning seat 46, a second lower positioning pin 43 arranged on the second positioning cylinder 57 and a third lower positioning pin 44 arranged on the second positioning cylinder 57, and the first positioning seat 45 and the second positioning seat 46 are located on the same straight line parallel to the second direction. The first positioning seat 45 and the second positioning seat 46 are vertically arranged on the top surface of the base 41, the first positioning cylinder 49 is used to control the second lower positioning pin 43 to move in the vertical direction, in the above step S2, the second positioning cylinder 57 is used to control the third lower positioning pin 44 to move in the vertical direction, the middle channel body 59 has two positioning holes for the second lower positioning pin 43 and the third lower positioning pin 44 to be inserted respectively, the two first lower positioning pins 42 cooperate with the second lower positioning pin 43 and the third lower positioning pin 44 to jointly realize the positioning of the automobile middle channel assembly, ensuring the accurate position of the automobile middle channel assembly.

[0065] like Figures 4 to 6 and Fig.13As shown, the middle channel positioning device also includes a first bracket 47 and a second bracket 48 vertically arranged on the base 41, a first support block 50, a second support block 51 and a third support block 52 arranged on the first positioning seat 45, a fourth support block 53 and a fifth support block 54 arranged on the first bracket 47, and a sixth support block 55 and a seventh support block 56 arranged on the second bracket 48. A plurality of first support blocks 50 are provided and all the first support blocks 50 are on the same straight line parallel to the first direction, and the second support block 51 is at the same height as the first support block 50. In the above step S2, the first support block 50 and the second support block 51 are used to provide support for the middle channel body 59. The middle channel body 59 is a structure with a U-shaped cross section. The first support block 50 and the second support block 51 are inserted into the inner cavity of the middle channel body 59, and the first support block 50 and the second support block 51 are in contact with the inner wall surface of the middle channel body 59. The height of the third support block 52 is less than that of the first support block 50 and the second support block 51. Two third support blocks 52 are provided. Each third support block 52 is used to provide support for a floor body 58. The first bracket 47 and the first positioning seat 45 and the second positioning seat 46 are located on the same straight line parallel to the second direction and the first bracket 47 is located between the first positioning seat 45 and the second positioning seat 46. A plurality of fourth support blocks 53 are provided and all fourth support blocks 53 are located on the same straight line parallel to the first direction. The fourth support block 53 has the same height as the first support block 50. The fourth support block 53 is used to provide support for the middle channel body 59. The fourth support block 53 is inserted into the inner cavity of the middle channel body 59 and contacts the inner wall surface of the middle channel body 59. The height of the fifth support block 54 is less than that of the fourth support block 53. Two fifth support blocks 54 are provided. Each fifth support block 54 is used to provide support for a floor body 58. Each fifth support block 54 is located on the same straight line parallel to the second direction with a third support block 52. Two second brackets 48 are provided, and the two second brackets 48 are located on the same straight line parallel to the first direction. The second bracket 48 is located between the first bracket 47 and the second positioning seat 46. A sixth support block 55 and two seventh support blocks 56 are provided on the second bracket 48. The sixth support block 55 has the same height as the second support block 51, and each sixth support block 55 is located on the same straight line parallel to the second direction with a second support block 51. The sixth support block 55 is used to provide support for the central channel body 59. The sixth support block 55 is inserted into the inner cavity of the central channel body 59 and contacts the inner wall surface of the central channel body 59. The height of the seventh support block 56 is less than that of the sixth support block. The seventh support blocks 56 provided on each second bracket 48 are used to provide support for a floor body 58.

[0066] In this embodiment, if Fig.13As shown, two first support blocks 50 are provided, two second support blocks 51 are also provided, the two second support blocks 51 are in contact with two opposite inner wall surfaces of the middle channel body 59 respectively, and two fourth support blocks 53 are provided.

[0067] The center channel positioning device of the above structure provides support for the automobile center channel assembly at multiple positions and cooperates with all lower clamping devices to enable the automobile center channel assembly to be placed stably, ensuring that the automobile center channel assembly is clamped reliably and the force is evenly applied. The automobile center channel assembly is not easily deformed during welding, which helps to improve the quality of the product after welding.

[0068] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A method for implanting and welding screws in a channel assembly of an automobile, characterized in that: Includes steps: S1. Use loading and unloading equipment to place the automobile center channel assembly on the welding fixture at the loading and unloading station; S2. The welding fixture is used to complete the clamping and fixing of the automobile center channel assembly; S3, the welding fixture carries the automobile center channel assembly to the welding station, and then welds the screws on the automobile center channel assembly; S4. The welding fixture carries the automobile center channel assembly to the loading and unloading station, and then the loading and unloading equipment removes the automobile center channel assembly on the welding fixture; Wherein, the loading and unloading equipment includes an industrial robot and a grabbing fixture connected to the industrial robot; The grabbing fixture comprises a lifting frame connected to the industrial robot and a first upper clamping device, a second upper clamping device, a third upper clamping device and a fourth upper clamping device arranged on the lifting frame and used for clamping the channel assembly in the automobile, the first upper clamping device and the second upper clamping device are arranged oppositely, two third upper clamping devices are provided and the first upper clamping device is located between the two third upper clamping devices, and two fourth upper clamping devices are provided and the second upper clamping device is located between the two fourth upper clamping devices; The grabbing fixture also includes an upper positioning device disposed on the lifting frame and used to position the vehicle center channel assembly and a pressing device for applying pressure to the vehicle center channel assembly; The welding fixture includes two first lower clamping devices for clamping two floor bodies of the automobile center channel assembly at a first preset position and a second preset position, respectively, two second lower clamping devices for clamping the two floor bodies of the automobile center channel assembly at a third preset position and a fourth preset position, a third lower clamping device for clamping the center channel body of the automobile center channel assembly at a fifth preset position and for positioning the welding gun when implanting and welding screws at a fifth position, a fourth lower clamping device for clamping a floor body of the automobile center channel assembly at a sixth preset position and for positioning the welding gun when implanting and welding screws at a sixth position, a fifth lower clamping device for clamping another floor body of the automobile center channel assembly at a seventh preset position and for positioning the welding gun when implanting and welding screws at a seventh position, and two sixth lower clamping devices for clamping the two floor bodies of the automobile center channel assembly at an eighth preset position and a ninth preset position, respectively.

2. The method for implanting and welding screws in a channel assembly of an automobile according to claim 1, characterized in that: The first lower clamping device includes a first lower clamping bracket, a first lower clamping arm rotatably arranged on the first lower clamping bracket, a first upper clamping block arranged on the first lower clamping arm, and a first lower clamping block cooperating with the first upper clamping block to clamp the floor body, and the rotation center line of the first lower clamping arm is parallel to the first direction.

3. The method for implanting and welding screws in a channel assembly of an automobile according to claim 1, characterized in that: The second lower clamping device includes a second lower clamping bracket, a second lower clamping arm rotatably arranged on the second lower clamping bracket, a second upper clamping block arranged on the second lower clamping arm, and a second lower clamping block cooperating with the second upper clamping block to clamp the floor body, the rotation center line of the second lower clamping arm is parallel to the second direction, and the second direction is perpendicular to the first direction.

4. The method for implanting and welding screws in a channel assembly of an automobile according to any one of claims 1 to 3, characterized in that: The third lower clamping device includes a third lower clamping bracket, a third lower clamping arm rotatably arranged on the third lower clamping bracket, a first positioning arm and a second positioning arm arranged on the third lower clamping arm, a first positioning block arranged on the first positioning arm and used for positioning the welding gun, and a second positioning block arranged on the second positioning arm and used for positioning the welding gun, and a rotation centerline of the third lower clamping arm is parallel to the second direction.

5. The method for implanting and welding screws in a channel assembly of an automobile according to any one of claims 1 to 3, characterized in that: The fourth lower clamping device includes a fourth lower clamping bracket, a fourth lower clamping arm rotatably arranged on the fourth lower clamping bracket, a fourth upper clamping block and a third positioning arm arranged on the fourth lower clamping arm, a third positioning block arranged on the third positioning arm, and a fourth lower clamping block cooperating with the fourth upper clamping block to clamp the floor body, and the rotation centerline of the fourth lower clamping arm is parallel to the second direction.

6. The method for implanting and welding screws in a channel assembly of an automobile according to any one of claims 1 to 3, characterized in that: The fifth lower clamping device includes a fifth lower clamping bracket, a fifth lower clamping arm rotatably arranged on the fifth lower clamping bracket, a fifth upper clamping block and a fourth positioning arm arranged on the fifth lower clamping arm, a fourth positioning block arranged on the fourth positioning arm, and a fifth lower clamping block that cooperates with the fifth upper clamping block to clamp the floor body, and the rotation center line of the fifth lower clamping arm is parallel to the second direction.

7. The method for implanting and welding screws in a channel assembly of an automobile according to any one of claims 1 to 3, characterized in that: The sixth lower clamping device includes a sixth lower clamping bracket, a sixth lower clamping arm rotatably arranged on the sixth lower clamping bracket, a sixth upper clamping block arranged on the sixth lower clamping arm, and a sixth lower clamping block that cooperates with the sixth upper clamping block to clamp the floor body, and the rotation center line of the sixth lower clamping arm is parallel to the second direction.

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