Automobile tooling parts assembly system and assembly method thereof

Abstract

The present invention relates to the technical field of automobile assembly tooling, and more specifically, to an automobile tooling parts assembly system and an assembly method thereof, including a control system and a flexible positioning system for flexibly positioning each part that is communicatively connected to the control system, a first grasping system for grasping and transporting main parts, a loading system for transporting component parts, a second grasping system for grasping and transporting component parts, a welding system for welding parts, and a handling system for transporting assembled parts that have been welded; the first grasping system, the second grasping system, the welding system, and the handling system are arranged around the flexible positioning system as the center, and the loading system is close to the second grasping system. The present invention can flexibly adjust the coordinates of the parts placement, so that the assembly system can meet the installation requirements of parts of various vehicle models, and improve the installation accuracy and assembly efficiency of parts.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile assembly tooling, and more specifically, to an automobile tooling parts assembly system and an assembly method thereof. Background Art

[0002] With the increase in personalized demand for automobile consumption and production and sales, the types of special parts grippers for vehicle models have increased, and the special parts grippers for each model occupy a large space, resulting in extremely crowded sites; in addition, the efficiency of manual welding of parts is low, and the consistency of welding points cannot be guaranteed, which leads to easy rework and affects production efficiency. At present, the parts grippers for various models are basically special grippers, and most of the special grippers are placed beside the automatic line, occupying a large area. The grippers outside the line need to be switched manually, and the switching efficiency is low; some parts are still assembled manually, which is labor-intensive and affects work efficiency.

[0003] A Chinese patent document with publication number CN210677434U discloses a multi-vehicle tooling fixture switching system that can realize rapid switching of tooling fixtures of different vehicle models. It has a simple structure, stable operation, and is safe and reliable. It can not only improve equipment utilization, reduce production line manufacturing costs, and reduce equipment footprint, but also realize rapid and automatic switching of vehicle models, saving switching time.

[0004] However, the above solution is not convenient for rapid transportation, assembly and welding of multiple parts. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automobile tooling parts assembly system and an assembly method thereof, which can flexibly adjust the part placement coordinates so that the assembly system can meet the installation requirements of parts of various vehicle models and improve the parts installation accuracy and assembly efficiency.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] Provided is an automobile tooling parts assembly system, comprising a control system and a flexible positioning system communicatively connected to the control system for flexibly positioning each part, a first grasping system for grasping and transporting main parts, a loading system for transporting component parts, a second grasping system for grasping and transporting component parts, a welding system for welding parts, and a transporting system for transporting assembled parts after welding; the first grasping system, the second grasping system, the welding system, and the transporting system are arranged around the flexible positioning system as the center, and the loading system is close to the second grasping system.

[0008] The present invention includes an automobile tooling parts assembly system, wherein a control system is used to control other systems; a first grasping system grasps main parts and places them on a flexible positioning system; a loading system is used to transport and load component parts, and then a second grasping system grasps component parts and places them on the flexible positioning system; a welding system is used to weld the main parts and component parts placed on the flexible positioning system; and finally a handling system is used to transport the welded workpiece.

[0009] Preferably, the first grasping system includes a first robot body and a main part grasping device detachably connected to the first robot body; the second grasping system includes a second robot body and a constituent part grasping device detachably connected to the second robot body; the first robot body, the main part grasping device, the second robot body and the constituent part grasping device are all communicatively connected to the control system.

[0010] Preferably, the main part gripping device comprises: a main part docking piece, a main part clamping mechanism, a storage rack docking piece, a main part detection piece, and a first frame; the main part docking piece, the main part clamping mechanism, the storage rack docking piece, and the main part detection piece are all installed on the first frame, and the first frame is detachably connected to the first robot body; the main part clamping mechanism and the main part detection piece are both communicatively connected to the control system.

[0011] Preferably, the component gripping device includes: a component docking piece, a component clamping mechanism, a docking seat docking piece, a second pressure block, and a second frame; the component clamping mechanism, the docking seat docking piece, and the second pressure block are all installed on the second frame, the component docking piece is connected to the component clamping mechanism, and the second frame is detachably connected to the second robot body; the component clamping mechanism is communicatively connected to the control system.

[0012] Preferably, the flexible positioning system includes: a flexible positioning mechanism, a gripper docking seat mechanism, and a three-dimensional adjustment mechanism; the flexible positioning mechanism and the gripper docking seat mechanism are both connected to the three-dimensional adjustment mechanism, and the flexible positioning mechanism and the gripper docking seat mechanism are both communicatively connected to the control system.

[0013] Preferably, the gripper docking seat mechanism includes: a gripper positioning mechanism, a gripper clamping mechanism, and a component gripper detection component; the gripper docking seat mechanism also includes a third frame connected to the three-dimensional adjustment mechanism, the gripper positioning mechanism and the gripper clamping mechanism are both installed on the third frame, and the component gripper detection component is located on the gripper positioning mechanism; the gripper clamping mechanism and the component gripper detection component are both communicatively connected to the control system.

[0014] Preferably, the loading system comprises a trolley positioning and conveying mechanism and a transport trolley slidably mounted on the trolley positioning and conveying mechanism, and the trolley positioning and conveying mechanism is communicatively connected with a control system.

[0015] Preferably, the material cart positioning and conveying mechanism includes: a first limiting mechanism, a material cart identification component, a guide rail, and a base plate; the first limiting mechanism, the material cart identification component, and the guide rail are all installed on the base plate; the first limiting mechanism and the material cart identification component are both communicatively connected to the control system.

[0016] Preferably, the transport trolley comprises: a second limiting mechanism, an identification block, a first guide wheel, a component placement mechanism, and a movable chassis; the second limiting mechanism, the identification block, the first guide wheel, and the component placement mechanism are all installed on the movable chassis.

[0017] The present invention also includes an assembly method of an automobile tooling parts assembly system, comprising the following steps:

[0018] S1. Positioning stage: The control system performs positioning control on the flexible positioning system according to the structure of the main parts to be assembled, so that the coordinates of the parts on the flexible positioning system match the structure of the main parts to be assembled;

[0019] S2. Main parts grabbing stage: the control system controls the first grabbing system to grab the main parts to be assembled, and transports the main parts to be assembled to the flexible positioning system;

[0020] S3. Component grabbing stage: the components to be assembled are transported and loaded by the loading system, and then the control system controls the second grabbing system to grab the components to be assembled, and then controls the second grabbing system to position and dock with the flexible positioning system, so that the components to be assembled are in contact with the main parts to be assembled;

[0021] S4. Welding stage: the control system controls the welding system to perform welding operations on the components to be assembled and the main parts to be assembled to form an assembly;

[0022] S5. Transport phase: the control system controls the transport system to transport the assembly part, so that the assembly part is transported from the flexible positioning system to the next workstation.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention includes an automobile tooling parts assembly system, wherein the control system is used to control other systems; the main parts are grabbed by the first grabbing system and placed on the flexible positioning system; the loading system is used to transport and load the component parts, and then the component parts are grabbed by the second grabbing system and placed on the flexible positioning system; the main parts and component parts placed on the flexible positioning system are welded by the welding system; and finally, the welded workpieces are transported by the handling system. The assembly system can flexibly adjust the coordinates of the parts placement, so that the assembly system can meet the installation requirements of parts of various vehicle models.

[0025] The present invention also includes an assembly method of an automobile tooling parts assembly system, which can complete the assembly of automobile tooling parts through positioning, main part grabbing, component part grabbing, welding, and transportation stages, with high assembly accuracy and high assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The present invention is a schematic structural diagram of a multi-vehicle tooling parts assembly system.

[0027] Figure 2 It is a structural schematic diagram of the flexible positioning system of the present invention.

[0028] Figure 3 It is a schematic diagram of the local structure of the flexible positioning system of the present invention.

[0029] Figure 4 It is a structural schematic diagram of the three-dimensional adjustment mechanism of the present invention.

[0030] Figure 5 It is a structural schematic diagram of the support mechanism of the present invention.

[0031] Figure 6 It is a structural schematic diagram of the gripper docking seat mechanism of the present invention.

[0032] Figure 7 for Figure 6 Enlarged schematic diagram of part I.

[0033] Figure 8 It is a structural schematic diagram of the main part gripping device of the present invention.

[0034] Fig. 9 It is a structural schematic diagram of the material cart positioning and conveying mechanism of the present invention.

[0035] Fig.10 It is a schematic structural diagram of the transport material vehicle of the present invention.

[0036] Fig.11 It is a schematic diagram of the partial structure of the transport material vehicle of the present invention.

[0037] Fig.12It is a structural schematic diagram of the first state of the part placement mechanism of the present invention.

[0038] Fig.13 It is a structural schematic diagram of the second state of the part placement mechanism of the present invention.

[0039] Fig.14 It is a schematic structural diagram of the second grasping system of the present invention.

[0040] Fig.15 The figure is a schematic diagram of the structure of the parts gripper device of the present invention.

[0041] Fig.16 It is a schematic structural diagram of the first welding gun of the present invention.

[0042] Fig.17 It is a structural schematic diagram of the welding system of the present invention.

[0043] The illustrations are as follows:

[0044] 1-flexible positioning system, 11-flexible positioning mechanism, 12-support mechanism, 121-gantry, 122-lifting assembly, 13-gripper docking seat mechanism, 131-gripper positioning mechanism, 1311-positioning roller, 1312-first connecting frame, 1313-support block, 132-gripper clamping mechanism, 1321-first pressing block, 1322-first cylinder assembly, 133-component gripper detection member, 134-third frame, 14-three-dimensional adjustment mechanism, 141-base plate, 142-three-dimensional adjustment support foot, 1421-X-axis adjustment bolt assembly, 1422 -Y-axis adjustment bolt assembly, 1423-Z-axis adjustment bolt assembly, 1424-support foot body, 143-two-dimensional adjustment support foot, 15-pin cylinder, 16-first valve island, 17-air circuit triplex, 2-first grasping system, 21-first robot body, 22-main part gripper device, 221-main part docking part, 222-main part clamping mechanism, 223-storage rack docking part, 224-main part detection part, 225-first frame, 226-second valve island, 227-first connecting female end, 3-loading system, 31-cart positioning and conveying mechanism, 311-first Limiting mechanism, 3111-second guide wheel, 3112-second cylinder assembly, 3113-first limiting block, 3114-V-shaped limiting block female end, 312-car identification part, 313-guide rail, 314-bottom plate, 32-transporting car, 321-second limiting mechanism, 3211-slide plate, 3212-block, 3213-second limiting block, 3214-V-shaped limiting block male end, 322-identification block, 323-first guide wheel, 324-component placement mechanism, 3241-column assembly, 3242-flip hook, 3243-transition flip hook, 325-live Dynamic chassis, 3251-chassis, 3252-castors, 4-second gripping system, 41-second robot body, 42-part gripping device, 421-part docking piece, 422-part clamping mechanism, 423-docking seat docking piece, 424-second pressure block, 425-second frame, 426-third valve island, 427-second connecting female end, 43-first welding gun, 431-second connecting male end, 5-welding system, 51-third robot body, 52-second welding gun, 6-handling system, 61-fourth robot body, 62-workpiece gripping device. DETAILED DESCRIPTION

[0045] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0046] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0047] Example 1

[0048] like Figure 1 The figure shows a first embodiment of an automobile tooling parts assembly system and an assembly method thereof of the present invention, comprising a control system and a flexible positioning system 1 electrically connected to the control system, a first grasping system 2, a loading system 3, a second grasping system 4, a welding system 5, and a handling system 6; the first grasping system 2, the second grasping system 4, the welding system 5, and the handling system 6 are arranged around the flexible positioning system 1 as the center, and the loading system 3 is close to the second grasping system 4.

[0049] The control system is used to control other systems; the main parts are grabbed by the first grasping system 2 and placed on the flexible positioning system 1; the loading system 3 is used to transport and load the constituent parts, and then the constituent parts are grabbed by the second grasping system 4 and placed on the flexible positioning system 1; then the main parts and constituent parts placed on the flexible positioning system 1 are welded by the welding system 5; finally, the welded workpiece is transported by the handling system 6.

[0050] like Figure 1 As shown, in this embodiment, a flexible positioning system 1, a first gripping system 2, four loading systems 3, two second gripping systems 4, two welding systems 5 and a handling system 6 are arranged around the flexible positioning system 1; specifically, the first gripping system 2 and the handling system 6 are respectively located on both sides of the flexible positioning system 1, the welding system 5 is arranged close to the first gripping system 2, the second gripping system 4 is arranged close to the handling system 6, and the loading system 3 is arranged close to the second gripping system 4. In this embodiment, the control system is a PLC controller.

[0051] The present invention provides an assembly method for an automobile tooling parts assembly system, comprising the following steps:

[0052] S1. Positioning stage: The PLC controller performs positioning control on the flexible positioning system 1 according to the structure of the main parts to be assembled, so that the coordinates of the parts on the flexible positioning system 1 match the structure of the main parts to be assembled;

[0053] S2. Main parts grabbing stage: The PLC controller controls the first grabbing system 2 to grab the main parts to be assembled, and transports the main parts to be assembled to the flexible positioning system 1;

[0054] S3. Component grabbing stage: The components to be assembled are transported and loaded by the loading system 3, and then the PLC controller controls the second grabbing system 4 to grab the components to be assembled, and then controls the second grabbing system 4 to position and dock with the flexible positioning system 1, so that the components to be assembled are in contact with the main parts to be assembled;

[0055] S4 welding stage: PLC controller controls the welding system 5 to be assembled components and to be assembled main parts welding operation, forming an assembly;

[0056] S5. Transportation stage: The PLC controller controls the transportation system 6 to transport the assembly parts, so that the assembly parts are transported from the flexible positioning system 1 to the next station.

[0057] Example 2

[0058] This embodiment is similar to embodiment 1, except that Figures 2 to 7 As shown, the flexible positioning system 1 in this embodiment includes: a three-dimensional adjustment mechanism 14 and a flexible positioning mechanism 11, a support mechanism 12, a gripper docking seat mechanism 13, a first valve island 16, and a gas circuit triplex 17 installed on the three-dimensional adjustment mechanism 14. A detent cylinder 15 is also installed on the flexible positioning mechanism 11. Among them, the detent cylinder 15 is used to position and clamp the main part; the flexible positioning mechanism 11 is used to perform three-dimensional positioning on the detent cylinder 15, so that the detent cylinder 15 can obtain any coordinates to meet the clamping of different structures of the main parts of different models; the support mechanism 12 is used to assist in supporting the main part; the gripper docking seat mechanism 13 is used to dock with the second gripping system 4; the three-dimensional adjustment mechanism 14 is used to perform three-dimensional adjustment on the positions of the flexible positioning mechanism 11, the support mechanism 12, and the gripper docking seat mechanism 13.

[0059] like Figure 2 and Figure 3As shown, the flexible positioning mechanism 11, the supporting mechanism 12, the gripper docking seat mechanism 13, and the detent cylinder 15 are all connected to the first valve island 16, and the first valve island 16 is electrically connected to the PLC controller, and the PLC controller can control the operation of each mechanism through the first valve island 16. In addition, the flexible positioning mechanism 11, the supporting mechanism 12, the gripper docking seat mechanism 13, and the detent cylinder 15 are all connected to the air source through the air circuit triplet 17; the air circuit triplet 17 is formed by assembling a filter, a pressure regulating valve, and an oil mist collector, and is used for air source processing. It should be noted that the flexible positioning mechanism 11 is a prior art, so it will not be described here in detail.

[0060] Among them, Figure 5 As shown, the support mechanism 12 includes a gantry 121 and a lifting assembly 122 mounted on the gantry 121. In this embodiment, the lifting assembly 122 includes a cylinder and a support plate, and both ends of the cylinder are connected to the support plate and the gantry 121 respectively, and the cylinder is connected to the first valve island 16 and the gas circuit triplet 17, and the filtered gas source is supplied through the gas circuit triplet 17, and the extension and contraction of the cylinder is controlled by the first valve island 16, so that the support mechanism 12 can adapt to the support of the main parts of various vehicle models.

[0061] The gripper docking seat mechanism 13 includes: a third frame 134 and a gripper positioning mechanism 131 and a gripper pressing mechanism 132 installed on the third frame 134, and a component gripper detection member 133 installed on the gripper positioning mechanism 131; the gripper pressing mechanism 132 and the component gripper detection member 133 are both electrically connected to the PLC controller. The gripper positioning mechanism 131 is used to position and dock the second gripping system 4, the gripper pressing mechanism 132 is used to press and fix the second gripping system 4, and the component gripper detection member 133 is used to detect whether the second gripping system 4 is docked in place.

[0062] like Figure 6 and Figure 7 As shown, the gripper positioning mechanism 131 includes a first connecting frame 1312, a support block 1313 and four positioning rollers 1311. One end of the first connecting frame 1312 is connected to the third frame 134, and the other end is connected to the four positioning rollers 1311. The support block 1313 is connected to the first connecting frame 1312 and is located below the four positioning rollers 1311. The four positioning rollers 1311 are used to position the second gripping system 4 in four directions: up, down, left and right. In this embodiment, the component gripper detection member 133 is connected to the first connecting frame 1312. The component gripper detection member 133 is a sensor. The sensor is electrically connected to the PLC controller and is used to realize the in-place detection and vehicle type derivation detection of the second gripping system 4, improve the installation reliability, and eliminate the risk of wrong installation.

[0063] Also, if Figure 6 and Figure 7As shown, the gripper clamping mechanism 132 includes a first clamping block 1321 and a first cylinder assembly 1322. The first cylinder assembly 1322 is connected to the third frame 134, and the first clamping block 1321 is connected to the first cylinder assembly 1322. The first cylinder assembly 1322 is connected to the first valve island 16, and the expansion and contraction of the first cylinder assembly 1322 is controlled by the first valve island 16, thereby realizing the first clamping block 1321 to clamp the second gripping system 4. In this embodiment, two gripper positioning mechanisms 131 and two gripper clamping mechanisms 132 are provided, and the gripper positioning mechanism 131 and the gripper clamping mechanism 132 are arranged on the third frame 134 relative to each other.

[0064] In addition, the three-dimensional adjustment mechanism 14 includes: a base plate 141 and a plurality of three-dimensional adjustment feet 142 and a two-dimensional adjustment foot 143 installed at the bottom of the base plate 141. Among them, the base plate 141 is used to support the flexible positioning mechanism 11, the support mechanism 12, and the gripper docking seat mechanism 13, and can also prevent welding slag from falling into the bottom; the plurality of three-dimensional adjustment feet 142 and the two-dimensional adjustment feet 143 are used to adjust the coordinate position of the base plate 141, so that the coordinate position of the flexible positioning mechanism 11, the support mechanism 12, and the gripper docking seat mechanism 13 can be adjusted. In this embodiment, the flexible positioning mechanism 11, the gantry 121, the third frame 134, the first valve island 16, and the gas circuit triplex 17 are all connected to the top of the base plate 141.

[0065] like Figure 3 and Figure 4 As shown, the three-dimensional adjustment support foot 142 includes a support foot body 1424 and an X-direction adjustment bolt assembly 1421, a Y-direction adjustment bolt assembly 1422, and a Z-direction adjustment bolt assembly 1423 installed on the support foot body 1424. The coordinates of the substrate 141 in the three directions of X, Y, and Z can be adjusted by the X-direction adjustment bolt assembly 1421, the Y-direction adjustment bolt assembly 1422, and the Z-direction adjustment bolt assembly 1423. The two-dimensional adjustment support foot 143 can be adjusted in the two directions of Y and Z. Figure 3 As shown, in this embodiment, four three-dimensional adjustment feet 142 and two two-dimensional adjustment feet 143 are provided. The four three-dimensional adjustment feet 142 are respectively installed at the four corners of the substrate 141 , and the two-dimensional adjustment feet 143 are located between the three-dimensional adjustment feet 142 .

[0066] like Figure 2 As shown, in this embodiment, four flexible positioning mechanisms 11, one supporting mechanism 12, two gripper docking seat mechanisms 13 and four detent cylinders 15 are provided. The detent cylinders 15 are connected to the flexible positioning mechanisms 11 one by one. The supporting mechanism 12 is located in the middle of the base plate 141. The four flexible positioning mechanisms 11 are arranged around the supporting mechanism 12. The two gripper docking seat mechanisms 13 are located near the edge of the base plate 141 and are adjacent to the second gripping system 4.

[0067] like Figures 2 to 7 As shown, step S1 specifically includes:

[0068] S11. The three-dimensional position of the flexible positioning mechanism 11, the support mechanism 12, the gripper docking seat mechanism 13 is synchronously adjusted through the three-dimensional adjustment mechanism 14;

[0069] Specifically, the position of the substrate 141 in the three directions of X, Y and Z axes is adjusted through the X-axis adjustment bolt assembly 1421, the Y-axis adjustment bolt assembly 1422 and the Z-axis adjustment bolt assembly 1423 of the three-dimensional adjustment foot 142. At the same time, the three-dimensional coordinates of the substrate 141 are assisted by the two-dimensional adjustment foot 143, so that the three-dimensional coordinates of the flexible positioning mechanism 11, the support mechanism 12 and the gripper docking seat mechanism 13 can be adjusted synchronously.

[0070] S12. The PLC controller performs positioning control on the flexible positioning mechanism 11 and the supporting mechanism 12 according to the structure of the main part to be assembled, so that the part placement coordinates of the flexible positioning mechanism 11 and the supporting mechanism 12 match the structure of the main part to be assembled;

[0071] Specifically, the PLC controller positions and adjusts the flexible positioning mechanism 11 and lifts and lowers the lifting assembly 122 according to the structure of the main part to be assembled, so that the part positioning coordinates of the detent cylinder 15 on the flexible positioning mechanism 11 and the support plate on the lifting assembly 122 match the structure of the main part to be assembled, and the detent cylinder 15 can accurately clamp the main part to be assembled, and the support mechanism 12 can match and support the main part to be assembled.

[0072] Example 3

[0073] This embodiment is similar to Embodiment 2, except that, in this embodiment, the first grasping system 2 includes a first robot body 21 and a main part grasping device 22 detachably connected to the first robot body 21; the first robot body 21 and the main part grasping device 22 are both electrically connected to the PLC controller.

[0074] The main part gripper device 22 includes: a first frame 225 and a main part docking piece 221 installed on the first frame 225, a main part clamping mechanism 222, a storage rack docking piece 223, a main part detection piece 224, and a second valve island 226; the first frame 225 is detachably connected to the first robot body 21; the main part clamping mechanism 222 is electrically connected to the PLC controller through the second valve island 226, and the main part detection piece 224 is electrically connected to the PLC controller. The main part docking piece 221 is used for positioning and docking with the main part; the main part clamping mechanism 222 is used for clamping the main part; the storage rack docking piece 223 is used for positioning and docking with the storage rack to realize the idle storage of the main part gripper device 22 and the storage rack; the main part detection piece 224 is used to detect whether the main part is docked in place.

[0075] like Figure 8 As shown, the main part docking piece 221 is a positioning pin, which is connected to the first frame 225 through a bracket. The main part clamping mechanism 222 is a strong clamping cylinder, and there are six strong clamping cylinders, all of which are connected to the position near the edge of the first frame 225, and the strong clamping cylinder is connected to the second valve island 226. The PLC controller controls the extension and contraction of the main part clamping mechanism 222 through the second valve island 226 to achieve the clamping of the main part. The storage rack docking piece 223 is a connecting plate, which can be detachably connected to the storage rack by means of clamping or threading. The main part detection piece 224 is a sensor, which is connected to the first frame 225 through a bracket.

[0076] like Figure 8 As shown, the first frame 225 is also provided with a first connecting female end 227 , the first robot body 21 is provided with a first connecting male end, and the first robot body 21 and the main part gripping device 22 are connected via the first connecting male end and the first connecting female end 227 .

[0077] like Figure 1 and Figure 8 As shown, step S2 specifically includes:

[0078] S21. After step S21, the first robot body 21 is docked with the main part gripper device 22;

[0079] Specifically, step S21 includes the following steps:

[0080] S211. The PLC controller controls the first robot body 21 to approach the storage rack where the main part gripper device 22 is placed;

[0081] S212. The first robot body 21 and the main part gripper device 22 are docked with each other via the first connecting male end and the first connecting female end 227, and the main part gripper device 22 is separated from the storage rack.

[0082] S22. After step S21, the PLC controller controls the main part gripper device 22 to grab the main part and transport it to the flexible positioning mechanism 11 and the support mechanism 12, and controls the pin cylinder 15 to clamp the main part;

[0083] Specifically, step S22 includes the following steps:

[0084] S221. During the process in which the PLC controller controls the first robot body 21 to move toward the main part, the main part docking member 221, i.e., the positioning pin, docks with the positioning hole of the main part; when the PLC controller receives the main part in place signal from the main part detection member 224, step S222 is executed, otherwise step S221 is repeated;

[0085] S222. The PLC controller controls the main part clamping mechanism 222, that is, controls the high-power clamping cylinder to extend to clamp the main part.

[0086] S223. After step S222, the PLC controller controls the first robot body 21 to transport the main part to the flexible positioning mechanism 11 and the support mechanism 12, and controls the pin cylinder 15 to clamp and position the main part;

[0087] S23. After step S22, the PLC controller controls the first robot body 21 to return to the initial position;

[0088] Specifically, the PLC controller controls the main part clamping mechanism 222, that is, controls the strong clamping cylinder to retract and no longer clamp the main part, and then controls the first robot body 21 to move to the initial position so that the main part gripping device 22 is separated from the main part.

[0089] Example 4

[0090] This embodiment is similar to the embodiment 3, except that the loading system 3 in this embodiment includes a trolley positioning and conveying mechanism 31 and a transport trolley 32 slidably mounted on the trolley positioning and conveying mechanism 31, and the trolley positioning and conveying mechanism 31 is electrically connected to the control system. The transport trolley 32 is used to place the component parts, and the transport trolley 32 is used to transport the component parts on the trolley positioning and conveying mechanism 31.

[0091] The material cart positioning and conveying mechanism 31 includes: a bottom plate 314 and a first limiting mechanism 311, a material cart identification component 312, and a guide rail 313 installed on the bottom plate 314. The first limiting mechanism 311 and the material cart identification component 312 are electrically connected to the PLC controller. The first limiting mechanism 311 is used to limit the transport material cart 32, the material cart identification component 312 is used to identify different material cart models, and the guide rail 313 is used to guide the transport material cart 32. In this embodiment, the material cart identification component 312 is a vehicle model sensor.

[0092] like Fig. 9 As shown, the first limiting mechanism 311 includes a second guide wheel 3111, a second cylinder assembly 3112, a first limiting block 3113, and a V-shaped limiting block female end 3114; the second guide wheel 3111 is fixed to the bottom plate 314 through a guide wheel frame, and the fixed end of the second cylinder assembly 3112 is connected to the bottom plate 314; the front end of the bottom plate 314 is provided with a ramp structure, and the first limiting block 3113, the V-shaped limiting block female end 3114, and the material vehicle identification member 312 are all fixedly arranged on the bottom plate 314 near the rear end. In this embodiment, four second guide wheels 3111 are provided, and the second cylinder assembly 3112 is located between the second guide wheels 3111. The guide rail 313 is fixed to both sides of the bottom plate 314 and is arranged from the front end to the rear end of the bottom plate 314.

[0093] like Fig.10 and Fig.11 As shown, the transport trolley 32 includes: a movable chassis 325 and a second limiting mechanism 321, an identification block 322, a first guide wheel 323, and a component placement mechanism 324 installed on the movable chassis 325. The second limiting mechanism 321 is used to limit the position corresponding to the first limiting mechanism 311; the identification block 322 is used to distinguish transport trolleys 32 of different models; the first guide wheel 323 is used to guide together with the guide rail 313; and the component placement mechanism 324 is used to stack and place multiple components.

[0094] like Fig.11 As shown, the movable chassis 325 includes a chassis 3251 and casters 3252 connected to the bottom of the chassis 3251. The second limiting mechanism 321 includes a slide plate 3211 and a stopper 3212 connected to the bottom of the chassis 3251, and also includes a second limiting block 3213 and a V-shaped limiting block male end 3214 connected to the edge of the chassis 3251. The identification block 322 is connected to the bottom of the chassis 3251, and a plurality of first guide wheels 323 are connected to the edges of both sides of the chassis 3251.

[0095] like Fig.12 and Fig.13 As shown, the component placement mechanism 324 includes two column assemblies 3241, and also includes a plurality of flip hooks 3242 and transition flip hooks 3243 rotatably connected to the column assemblies 3241, and the flip hooks 3242 and transition flip hooks 3243 are alternately arranged on the column assemblies 3241 in sequence; the column assemblies 3241 are connected to the movable chassis 325. The flip hook 3242 includes a placement portion and a linkage portion connected to the placement portion at an angle, and the weight of the linkage portion is greater than the weight of the placement portion, and the initial position of the flip hook 3242 is a state where the placement portion is tilted upward.

[0096] In this embodiment, three layers of flip hooks 3242 and two layers of transition flip hooks 3243 are provided, and the transition flip hook 3243 is located between the two flip hooks 3242. When the component is placed on the placement portion, as shown in FIG. Fig.12 As shown, the placement part is in a horizontal state, the lower end of the transition flip hook 3243 is against the linkage part, and the upper end of the transition flip hook 3243 is not in contact with the linkage part. Fig.13 As shown, the linkage part of the flip hook 3242 located at the upper layer rotates downward due to gravity, and drives the transition flip hook 3243 to rotate as well, so that the placement part of the flip hook 3242 will not block the removal of the components of the next layer.

[0097] In addition, the second grasping system 4 includes a second robot body 41 and a component grasping device 42 detachably connected to the second robot body 41; the second robot body 41 and the component grasping device 42 are both electrically connected to the PLC controller, such as Fig.14 shown.

[0098] The component gripper device 42 includes: a second frame 425 and a component clamping mechanism 422 installed on the second frame 425, a docking seat docking piece 423, a second pressure block 424, and a third valve island 426. The component docking piece 421 is connected to the component clamping mechanism 422. The second frame 425 is detachably connected to the second robot body 41. The component clamping mechanism 422 is electrically connected to the PLC controller. The component docking piece 421 is used for positioning and docking with the component, the component clamping mechanism 422 is used for clamping the component, the docking seat docking piece 423 is used for positioning and docking with the positioning roller 1311, and the second pressure block 424 is used for pressing correspondingly with the first pressure block 1321.

[0099] like Fig.15 As shown, the component clamping mechanism 422 is a strong clamping cylinder, and a cylinder seat with two strong clamping cylinders is connected to the second frame 425; the component docking member 421 is a positioning pin connected to the strong clamping cylinder; the docking seat docking member 423 is a positioning round pin, and the four positioning rollers 1311 and the positioning round pin are point-contacted and positioned in the four directions of up, down, left and right, which can reduce rolling friction and prevent pin jamming. The strong clamping cylinder is connected to the third valve island 426, and the third valve island 426 is electrically connected to the PLC controller. The PLC controller controls the extension and contraction of the component clamping mechanism 422 through the third valve island 426 to achieve the clamping of the component.

[0100] like Figures 9 to 13 As shown, step S3 specifically includes:

[0101] S31. The components to be assembled are placed on the transport vehicle 32;

[0102] Specifically, the components to be assembled are placed on the component placement mechanism 324 , and the components are stably placed by turning the hook 3242 .

[0103] S32. After step S31, the transport trolley 32 is pushed along the trolley positioning and conveying mechanism 31 so that the transport trolley 32 is close to the second robot body 41;

[0104] Specifically, step S32 includes the following steps:

[0105] S321. The first guide wheel 323 slides and pushes along the guide rail 313, so that the transport trolley 32 is transported along the trolley positioning and conveying mechanism 31. During the transportation of the transport trolley 32, the slide plate 3211 slides over the second guide wheel 3111, the transport trolley 32 is lifted, and the caster 3252 leaves the ground;

[0106] S322. After step S321, the PLC controller controls the second cylinder assembly 3112 to extend;

[0107] S323. During the continuous extension of the second cylinder assembly 3112, when the first limit block 3113 abuts against the second limit block 3213, and the V-shaped limit block male end 3214 abuts against the V-shaped limit block female end 3114, the second cylinder assembly 3112 no longer extends, and the front, rear, left and right limits of the transport trolley 32 are realized, and the transport of the transport trolley 32 is completed;

[0108] S324. After step S323, the vehicle type of the transport vehicle 32 is identified by the identification block 322 through the vehicle identification component 312. When the PLC controller receives the corresponding signal of the vehicle type identification of the vehicle identification component 312, the transportation of the transport vehicle 32 is completed, otherwise it returns to step S31.

[0109] S33. After step S32, the second robot body 41 is docked with the component gripper device 42.

[0110] S34. After step S33, the PLC controller controls the component gripper device 42 to grasp the component parts and transport them to the gripper docking seat mechanism 13 to position and dock with the gripper docking seat mechanism 13, so that the component parts to be assembled are in contact with the main parts to be assembled;

[0111] Specifically, step S34 includes the following steps:

[0112] S341. During the process of the PLC controller controlling the second robot body 41 to move toward the component, the component docking member 421, i.e., the positioning pin, docks with the positioning hole of the component;

[0113] It should be noted that the component clamping mechanism 422 may also be provided with a component detection member electrically connected to the PLC controller, for detecting whether the component is docked with the component gripper device 42;

[0114] S342. After step S341, the PLC controller controls the component clamping mechanism 422, that is, controls the strong clamping cylinder to extend to clamp the component;

[0115] S343. After step S342, the PLC controller controls the second robot body 41 to transport the component parts to the position close to the gripper docking seat mechanism 13, and realizes the docking of the gripper docking seat mechanism 13 and the component gripper device 42 through the docking seat docking piece 423 and the positioning roller 1311, and the second pressing block 424 and the first pressing block 1321, so that the component parts to be assembled clamped by the component gripper device 42 are in contact with the main parts to be assembled clamped by the detent cylinder 15;

[0116] The support block 1313 located below the positioning roller 1311 is used to assist in supporting the component gripper device 42, to share the vertical load of the positioning roller 1311, to increase the service life of the positioning roller 1311, and also to improve the reliability of positioning. Figure 2 As shown;

[0117] S35. After step S34, the PLC controller controls the second robot body 41 to return to the initial position;

[0118] Specifically, the PLC controller controls the second robot body 41 to separate from the component gripper device 42 , and controls the second robot body 41 to move to the initial position; at this time, the component gripper device 42 maintains a docking state with the gripper docking seat mechanism 13 .

[0119] Example 5

[0120] This embodiment is similar to Embodiment 4, except that in this embodiment, Fig.14 As shown, in this embodiment, the second gripping system 4 also includes a first welding gun 43 , one side of the first welding gun 43 is detachably connected to the second robot body 41 , and the other side of the first welding gun 43 is detachably connected to the component gripping device 42 .

[0121] like Fig.15 and Fig.16As shown, the first welding gun 43 is provided with a second connection male end 431, the second frame 425 is provided with a second connection female end 427, and the first welding gun 43 is connected to the component gripper device 42 through the second connection male end 431 and the second connection female end 427. The arrangement of the first welding gun 43 enables the second gripping system 4 to be used for gripping components and also for welding, which can reduce the number of robots invested and increase the robot welding operation space. In this embodiment, the first welding gun 43 is a servo welding gun.

[0122] In step S33 , the first welding gun 43 is docked with the component gripper device 42 .

[0123] Example 6

[0124] This embodiment is similar to embodiment 4, except that Fig.17 As shown, in this embodiment, the welding system 5 includes a third robot body 51 and a second welding gun 52 detachably connected to the third robot body 51. Figure 1 As shown, in this embodiment, the handling system 6 includes a fourth robot body 61 and a workpiece gripper device 62 detachably connected to the fourth robot body 61 , and the workpiece gripper device 62 has the same structure as the main part gripper device 22 .

[0125] like Figure 1 and Fig.17 As shown, step S4 specifically includes: the PLC controller controls the first welding gun 43 and the second welding gun 52 to perform welding operations on the component parts to be assembled and the main parts to be assembled to form an assembled part.

[0126] like Figure 1 As shown, step S5 specifically includes the following steps:

[0127] S51. The PLC controller controls the pinning cylinder 15 to release the main part, and controls the component gripper device 42, that is, the component clamping mechanism 422, to release the component part;

[0128] S52. After step S51, the PLC controller controls the workpiece gripper device 62 to grab the assembly part, and controls the fourth robot body 61 to drive the workpiece gripper device 62 to move, so that the assembly part is transported to the next workstation.

[0129] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automobile tooling parts assembly system, characterized in that: include: Flexible positioning system, used for flexible positioning of various parts; A first gripping system for gripping and transporting the main part; Loading system, used to transport and load component parts; a second gripping system for gripping and transporting component parts; Welding system for welding main parts and component parts; A handling system is used to carry the welded assemblies; The first gripping system, the second gripping system, the welding system and the handling system are arranged around the flexible positioning system, and the loading system is close to the second gripping system; The assembly system also includes a control system, and the flexible positioning system, the first grasping system, the loading system, the second grasping system, the welding system, and the handling system are all connected to the control system in communication; the second grasping system includes a second robot body and a component grasping device detachably connected to the second robot body; The component gripper device includes: a component docking piece for positioning and docking with the component part; a component clamping mechanism for clamping the component part; a docking seat docking piece for positioning and docking with the flexible positioning system; a second pressing block for pressing correspondingly with the flexible positioning system; the component gripper device also includes a second frame detachably connected to the second robot body, the component clamping mechanism, the docking seat docking piece, and the second pressing block are all installed on the second frame, and the component docking piece is connected to the component clamping mechanism; The flexible positioning system includes: a flexible positioning mechanism for flexibly positioning the main part; a gripper docking seat mechanism for docking with the component gripper device; a three-dimensional adjustment mechanism for three-dimensionally adjusting the position of the flexible positioning system; the flexible positioning mechanism and the gripper docking seat mechanism are both connected to the three-dimensional adjustment mechanism; The gripper docking seat mechanism includes: a gripper positioning mechanism, which is used for positioning and docking with the component gripper device; a gripper pressing mechanism, which is used for pressing and fixing with the component gripper device; a component gripper detection piece, which is used for detecting whether the component gripper device is docked in place; the gripper docking seat mechanism also includes a third frame connected to the three-dimensional adjustment mechanism, the gripper positioning mechanism and the gripper pressing mechanism are both installed on the third frame, the gripper positioning mechanism and the gripper pressing mechanism are arranged on the third frame relative to each other, and the component gripper detection piece is located on the gripper positioning mechanism; Among them: the gripper positioning mechanism includes a first connecting frame, a support block and four positioning rollers, one end of the first connecting frame is connected to the third frame, and the other end is connected to the four positioning rollers, the support block is connected to the first connecting frame and is located below the four positioning rollers; the docking member of the docking seat is a positioning round pin, and the four positioning rollers are used for point contact positioning with the positioning round pin in the four directions of up, down, left and right; the gripper clamping mechanism includes a first pressing block and a first cylinder assembly, the first cylinder assembly is connected to the third frame, and the first pressing block is connected to the first cylinder assembly; the second pressing block is used to press correspondingly with the first pressing block.

2. The automotive tooling parts assembly system according to claim 1, characterized in that: The first grasping system includes a first robot body and a main part grasping device detachably connected to the first robot body; the first robot body, the main part grasping device, the second robot body, and the component grasping device are all communicatively connected to the control system.

3. The automotive tooling parts assembly system according to claim 2, characterized in that: The main parts gripper device includes: Main part docking piece, used for positioning and docking with the main part; A main part clamping mechanism, used for clamping the main part; A storage rack docking piece, used for positioning and docking with the storage rack; Main parts detection part, used to detect whether the main parts are properly docked; The main part gripper device also includes a first frame detachably connected to the first robot body, and the main part docking piece, the main part clamping mechanism, the storage rack docking piece, and the main part detection piece are all installed on the first frame; the main part clamping mechanism and the main part detection piece are both communicatively connected to the control system.

4. The automotive tooling parts assembly system according to claim 1, characterized in that: The loading system comprises a material cart positioning and conveying mechanism and a transport material cart slidably arranged on the material cart positioning and conveying mechanism. The material cart positioning and conveying mechanism is communicatively connected with the control system.

5. The automobile tooling parts assembly system according to claim 4, characterized in that: The material car positioning and transmission mechanism includes: The first limiting mechanism is used to limit the transport vehicle; Material vehicle identification parts, used to identify different material vehicle models; Guide rails, used to guide the transport vehicle; The material cart positioning and conveying mechanism also includes a base plate, and the first limiting mechanism, the material cart identification component, and the guide rail are all installed on the base plate; the first limiting mechanism and the material cart identification component are both communicatively connected with the control system.

6. The automobile tooling parts assembly system according to claim 5, characterized in that: The transport vehicle includes: A second limiting mechanism, used for limiting the position corresponding to the first limiting mechanism; Identification block, used to distinguish different types of transport vehicles; A first guide wheel, used for guiding together with the guide rail; A component placement mechanism, used for stacking and placing a plurality of component parts; The transport material cart also includes a movable chassis, and the second limiting mechanism, the identification block, the first guide wheel, and the component placement mechanism are all installed on the movable chassis.

7. An assembly method for the automobile tooling parts assembly system according to any one of claims 1 to 6, characterized in that: The steps include: S1. Positioning stage: The control system performs positioning control on the flexible positioning system according to the structure of the main parts to be assembled, so that the coordinates of the parts on the flexible positioning system match the structure of the main parts to be assembled; S2. Main parts grabbing stage: the control system controls the first grabbing system to grab the main parts to be assembled, and transports the main parts to be assembled to the flexible positioning system; S3. Component grabbing stage: the components to be assembled are transported and loaded by the loading system, and then the control system controls the second grabbing system to grab the components to be assembled, and then controls the second grabbing system to position and dock with the flexible positioning system, so that the components to be assembled are in contact with the main parts to be assembled; S4. Welding stage: the control system controls the welding system to perform welding operations on the components to be assembled and the main parts to be assembled to form an assembly; S5. Transport phase: the control system controls the transport system to transport the assembly part, so that the assembly part is transported from the flexible positioning system to the next workstation.

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