Workpiece positioning table, workpiece automatic clamping device and workpiece automatic clamping method

Abstract

Embodiments of the present application provide a workpiece positioning table, a workpiece automatic buckling device and a workpiece automatic buckling method. The workpiece positioning table comprises: a first pressing mechanism, comprising a first support assembly and a first pressing assembly, the first support assembly is used for supporting a workpiece, and the first pressing assembly is used for cooperating with the first support assembly to press the workpiece between the first pressing assembly and the first support assembly; a second pressing mechanism, which is arranged in a spaced manner with the first pressing mechanism, the second pressing mechanism comprising a second support assembly and a second pressing assembly, the second support assembly is used for supporting the workpiece, and the second pressing assembly is used for cooperating with the second support assembly to press the workpiece between the second support assembly and the second pressing assembly; and a positioning mechanism located between the first pressing mechanism and the second pressing mechanism, used for supporting and positioning the workpiece.

Description

Technical Field

[0001] This application relates to the field of vehicle manufacturing technology, and more specifically, to a workpiece positioning table, an automatic workpiece fastening device, and an automatic workpiece fastening method. Background Technology

[0002] Currently, the vehicle manufacturing industry is developing rapidly, and improving the efficiency and yield rate of workpiece processing assembly lines has attracted much attention. For example, in the production line for welding vehicle side panels and side panels, the traditional operation involves manually moving the side panels to a fixed workstation, manually fastening the side panels to the side panels, clamping the fastened side panels and side panels together, and then performing automatic welding.

[0003] However, manual operation sometimes leads to excessive cycle time at workstations, resulting in low efficiency and a high rate of defective connections. Furthermore, since the flow channel is an irregularly shaped workpiece, its support and positioning are challenging. Therefore, there is an urgent need for a positioning platform specifically designed for irregularly shaped workpieces such as flow channels to meet the requirements of automated assembly. Summary of the Invention

[0004] The purpose of this application is to provide a workpiece positioning stage, an automatic workpiece fastening device, and an automatic workpiece fastening method to solve the problems in the related art where manual operation sometimes leads to excessive workstation cycle time, low efficiency, and high fastening failure rate.

[0005] This application provides a workpiece positioning stage, including: a first clamping mechanism, comprising a first support component and a first clamping component, wherein the first support component supports a workpiece, and the first clamping component cooperates with the first support component to clamp the workpiece between the first clamping component and the first support component; a second clamping mechanism, spaced apart from the first clamping mechanism, the second clamping mechanism comprising a second support component and a second clamping component, wherein the second support component supports the workpiece, and the second clamping component cooperates with the second support component to clamp the workpiece between the second support component and the second clamping component; and a positioning mechanism, located between the first clamping mechanism and the second clamping mechanism, for supporting and positioning the workpiece.

[0006] In this embodiment, the positioning mechanism supports and positions the middle part of the irregular workpiece, and two clamping mechanisms (first clamping mechanism and second clamping mechanism) clamp the two ends of the irregular workpiece, so that the irregular workpiece is stably positioned, which facilitates the subsequent automatic completion of fastening and handling operations by the robot. Compared with the traditional manual method, the work efficiency and fastening yield are significantly improved.

[0007] In some embodiments, the first support assembly includes a first bracket and a first support block disposed on the first bracket, and the first pressing assembly includes a first cylinder and a first pressing arm. The fixed end of the first cylinder is disposed on the first bracket, and the first pressing arm is disposed on the movable end of the first cylinder. The first cylinder drives the first pressing arm to swing to move closer to or away from the first support block, thereby pressing the workpiece between the first pressing arm and the first support block.

[0008] In this embodiment, the workpiece is clamped and released by the cylinder-driven swing arm, which enables automatic loading and unloading of the workpiece. That is, the robot can automatically transport the workpiece to the workpiece platform for support, positioning and clamping, and automatically transport the fastened workpiece and mating parts on the workpiece platform to the fixed station for subsequent automatic welding, which facilitates automated loading, fastening and transportation operations.

[0009] In some embodiments, the first clamping mechanism further includes a first position detection component disposed on the first bracket, the first position detection component being used to detect the placement position of the workpiece.

[0010] In this embodiment of the application, the first position detection component can sense workpiece information at different positions, thereby confirming the presence or absence of the workpiece and the type of the workpiece, so as to issue a confirmation or warning.

[0011] In some embodiments, the second support assembly includes a second bracket and a second support block disposed on the second bracket; the second pressing assembly includes a third bracket, a second cylinder and a second pressing arm, the fixed end of the second cylinder is disposed on the third bracket, the second pressing arm is disposed on the movable end of the second cylinder, the second cylinder can drive the second pressing arm to swing to move closer to or away from the second support block, pressing the workpiece between the second pressing arm and the second support block.

[0012] In this embodiment, two pressure arms (a first pressure arm and a second pressure arm) cooperate with the first support block and the second support block respectively to press and fix the two ends of the water trough, making the water trough more stable and improving the fastening rate between the water trough and the side panel.

[0013] In some embodiments, the second support assembly further includes a second position detection component disposed on the second bracket, the second position detection component being used to detect the placement position of the workpiece.

[0014] In this embodiment of the application, the second position detection component can sense workpiece information at different positions, thereby confirming the presence or absence of the workpiece and the type of the workpiece, so as to issue a confirmation or warning.

[0015] In some embodiments, the second support assembly further includes a fourth bracket, a third cylinder, and a third support block. The fixed end of the third cylinder is disposed on the fourth bracket, and the third support block is disposed on the movable end of the third cylinder. The third cylinder can drive the third support block to move in the vertical direction. The second pressing assembly further includes a fifth bracket, a fourth cylinder, and a third pressing arm. The fixed end of the fourth cylinder is disposed on the fifth bracket, and the third pressing arm is disposed on the movable end of the fourth cylinder. The fourth cylinder can drive the third pressing arm to swing to move closer to or away from the third support block, pressing the workpiece between the third pressing arm and the third support block.

[0016] In this embodiment, the first pressure arm cooperates with the first support block to press and fix one end of the workpiece, and the second and third pressure arms cooperate with the second and third support blocks respectively to press and fix the other end of the workpiece, making the irregular workpiece more securely pressed and fixed.

[0017] In some embodiments, the positioning mechanism includes a first connecting frame, a fifth cylinder, and a positioning pin. The fixed end of the fifth cylinder is disposed on the first connecting frame, and the positioning pin is disposed on the movable end of the fifth cylinder. The fifth cylinder can drive the positioning pin to move in the horizontal direction.

[0018] In this embodiment, the fifth cylinder drives the positioning pin to move horizontally, thereby adjusting its horizontal position to accommodate more water channel structures.

[0019] In one example, the positioning mechanism further includes a fourth support block disposed on the first connecting frame.

[0020] In some embodiments, the positioning mechanism further includes a second connecting frame, a sixth cylinder, and a fifth support block. The second connecting frame is arranged at a distance from the first connecting frame. The fixed end of the sixth cylinder is disposed on the second connecting frame. The fifth support block is disposed on the movable end of the sixth cylinder. The sixth cylinder can drive the fifth support block to move in the vertical direction.

[0021] In this embodiment, the fifth support block, the positioning pin, and the fourth support block can support and position the water trough at different locations. The fifth support block can move vertically to adjust its position in the height direction, thus accommodating more water trough structures.

[0022] In some embodiments, it further includes: a support platform for supporting the first pressing mechanism, the positioning mechanism and the second pressing mechanism, wherein the first pressing mechanism, the positioning mechanism and the second pressing mechanism are arranged at intervals in the width direction of the support platform.

[0023] In this embodiment of the application, by arranging the first pressing mechanism, the positioning mechanism and the second pressing mechanism at intervals in the width direction of the support platform, the water tank can be supported, positioned and pressed at different positions.

[0024] In some embodiments, the first pressing mechanism, the positioning mechanism, and the second pressing mechanism are provided in multiple groups, and each group of the first pressing mechanism, the positioning mechanism, and the second pressing mechanism is arranged at intervals along the length direction of the support platform.

[0025] In this embodiment, the first pressing mechanism, the positioning mechanism, and the second pressing mechanism form a whole to press and position the flow tank. Multiple such pressing and positioning devices are set along the length of the support platform to provide reserved positions for other flow tanks, which facilitates the automated production of the flow tanks in the production line.

[0026] In some embodiments, the workpiece is a vehicle flow channel, the pressure arm is arc-shaped, and the pressing surface of the pressure arm is adapted to the pressed surface of the flow channel.

[0027] In this embodiment, the arc-shaped pressure arm can avoid the water trough, ensuring that the pressing surface of the pressure arm can match the pressed surface of the water trough to press the water trough tightly.

[0028] This application also provides an automatic workpiece fastening device, including: a workpiece positioning stage as described in any of the above embodiments; and a robot arm for fastening a clamped mating part onto a workpiece on the workpiece positioning stage.

[0029] In this embodiment, the automatic handling, positioning, clamping, and fastening of the water trough are achieved through the cooperation of a robotic arm and a workpiece positioning table. This realizes the automated production of the water trough splicing process, greatly improving efficiency and effectively ensuring splicing reliability.

[0030] In some embodiments, the robotic arm includes a frame and a plurality of gripping mechanisms disposed on the frame, the plurality of gripping mechanisms being arranged around the perimeter of the frame.

[0031] In this embodiment, multiple clamping mechanisms surround the frame, which can improve the reliability of clamping and fastening of the water trough and side panels.

[0032] This application also provides an automatic workpiece fastening method, applied to the automatic workpiece fastening device described in any of the above embodiments. The method includes: the robot arm fastening a clamped mating part onto the workpiece on the workpiece positioning table; the robot arm transporting the clamped mating part and the workpiece together to a fixed station for automatic welding.

[0033] The automatic fastening method of this application embodiment can automatically complete the positioning, clamping, transportation and fastening of workpieces and mating parts, greatly improving efficiency and pass rate. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of a workpiece positioning stage provided in an embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the structure for placing the water trough on the workpiece positioning stage provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of another view of the structure of a workpiece positioning stage provided in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of the structure of the first clamping mechanism provided in the embodiments of this application;

[0039] Figure 5 This is a schematic diagram of the structure of the second clamping mechanism provided in the embodiments of this application;

[0040] Figure 6 This is a partial structural schematic diagram of the positioning mechanism provided in the embodiments of this application;

[0041] Figure 7 This is another structural schematic diagram of the positioning mechanism provided in the embodiments of this application;

[0042] Figure 8 This is a schematic diagram of the robotic arm gripping side panel structure provided in an embodiment of this application;

[0043] Figure 9 This is a schematic diagram of the robotic arm positioning structure provided in an embodiment of this application;

[0044] Figure 10 A flowchart of an automatic workpiece fastening method provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0046] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] Please refer to Figures 1-3 , Figure 1 This is a schematic diagram of the structure of a workpiece positioning stage provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure for placing the water trough on the workpiece positioning stage provided in an embodiment of this application; Figure 3 This is a schematic diagram of another view of a workpiece positioning stage provided in an embodiment of this application.

[0048] This application provides a workpiece positioning stage 100, which includes a clamping mechanism and a positioning mechanism 30.

[0049] The clamping mechanism is used to support and clamp the workpiece, while the positioning mechanism is used to support and position the workpiece.

[0050] The clamping mechanism includes a first clamping mechanism 10 and a second clamping mechanism 20, which cooperate to support and clamp the workpiece. The workpiece can be, for example, an irregularly shaped structural component such as a vehicle water channel. The water channel needs to be spliced ​​with a side panel. Specifically, the water channel is first fastened and positioned with the side panel, which serves as the mating part, and then automatically welded. In this embodiment, the workpiece is described using a vehicle water channel, and the mating part is a vehicle side panel, but the application is not limited to this and can be applied to other processes involving irregular splicing.

[0051] The first pressing mechanism 10 includes a first support component and a first pressing component. The first support component is used to support the workpiece, and the first pressing component is used to cooperate with the first support component to press the workpiece between the first support component and the support component (first pressing component).

[0052] The second pressing mechanism 20 is arranged at a distance from the first pressing mechanism 10. The second pressing mechanism 20 includes a second support component and a second pressing component. The second support component is used to support the workpiece, and the second pressing component is used to cooperate with the second support component to press the workpiece between the second support component and the second pressing component.

[0053] The positioning mechanism 30 is located between the first pressing mechanism 10 and the second pressing mechanism 20, and is used to support the positioning workpiece.

[0054] For example, the first pressing mechanism 10, the second pressing mechanism 20, and the positioning mechanism 30 can be fixed on the support platform 40. For instance, the first pressing mechanism 10, the second pressing mechanism 20, and the positioning mechanism 30 can be arranged in the width direction of the support platform. The first pressing mechanism 10 and the second pressing mechanism 20 are located on both sides in the width direction of the support platform, and the positioning mechanism 30 is located between the first pressing mechanism 10 and the second pressing mechanism 20. In this way, the positioning mechanism 30 supports and positions the middle part of the water trough, and the first pressing mechanism 10 and the second pressing mechanism 20 support and press the two ends of the water trough respectively, so that the water trough is stably positioned, which facilitates the subsequent automatic completion of fastening and handling operations by the robot.

[0055] The workpiece positioning stage 100 of this application embodiment supports and positions the middle part of the irregular workpiece through the positioning mechanism 30, and cooperates with two clamping mechanisms (first clamping mechanism 10 and second clamping mechanism 20) to clamp the two ends of the irregular workpiece, so that the irregular workpiece is stably positioned, which facilitates the subsequent automatic completion of fastening and handling operations by the robot. Compared with the traditional manual method, the work efficiency and fastening yield are significantly improved.

[0056] In some embodiments, refer to Figure 1 and Figure 4 , Figure 4 This is a schematic diagram of the structure of the first clamping mechanism provided in the embodiments of this application.

[0057] The first support assembly includes a first bracket 111 and a first support block 112 disposed on the first bracket 111. The first clamping assembly includes a first cylinder 113 and a first pressing arm 114. The fixed end of the first cylinder 13 is disposed on the first bracket 111, and the first pressing arm 114 is disposed on the movable end of the first cylinder 113. The first cylinder 13 drives the first pressing arm 114 to swing to move closer to or away from the first support block 112, thereby pressing the workpiece between the first pressing arm 114 and the first support block 112.

[0058] The first bracket 111 can be installed and fixed on the support platform 40. The first support block 112 can be fixed on the first bracket 111 by the connecting block. The first cylinder 113 can be a swing cylinder. The first pressure arm 114 can include a swing part and an arc-shaped pressure arm part. The swing movable end of the swing cylinder is connected to the swing part, so that the swing part swings and drives the arc-shaped pressure arm part to approach the first support block 112. It is located above the rear side of the first support block 112, and fixes one end of the water trough between the first support block 112 and the arc-shaped pressure arm part, so that the robot arm can fasten the side panel and the water trough together. After the fastening is completed, the swing cylinder drives the arc-shaped pressure arm away from the first support block 112, so that the robot arm can transport the fastened side panel and the water trough together to the fixed station for subsequent automatic welding.

[0059] In this embodiment, the workpiece is clamped and released by the cylinder-driven swing arm, which enables automatic loading and unloading of the workpiece. That is, the workpiece can be automatically transported to the workpiece positioning table 100 for support, positioning and clamping by the robot arm, and the fastened workpiece and mating parts on the workpiece positioning table 100 can be automatically transported to the fixed station for subsequent automatic welding by the robot arm, which facilitates automated loading, fastening and transportation operations.

[0060] Furthermore, the first clamping mechanism also includes a first position detection component 115 disposed on the first bracket 111. The first position detection component 115 is used to detect the placement position of the workpiece. The first position detection component 115 may be, for example, a metal sensor or a vision camera, which can sense workpiece information at different positions, thereby confirming the presence or absence of the workpiece and the type of the workpiece, so as to issue confirmation or warning.

[0061] In some embodiments, refer to Figure 1 and Figure 5 , Figure 5 This is a schematic diagram of the structure of the second clamping mechanism provided in an embodiment of this application.

[0062] The second support assembly includes a second bracket 211 and a second support block 212 disposed on the second bracket 211; the second pressing assembly includes a third bracket 213, a second cylinder 214 and a second pressing arm 215. The fixed end of the second cylinder 214 is disposed on the third bracket 213, and the second pressing arm 215 is disposed on the movable end of the second cylinder 214. The second cylinder 214 can drive the second pressing arm 215 to swing to move closer to or away from the second support block 212, pressing the workpiece between the second pressing arm 215 and the second support block 212.

[0063] The second bracket 211 and the third bracket 213 can be fixedly installed on the support platform, with the second bracket 211 located in front of the third bracket 213. The second cylinder 214 can be similar to the first cylinder 13, and can be a swing cylinder. The second pressure arm 215 can be similar in structure to the first pressure arm 114, including a swing part and an arc-shaped pressure arm part. The swinging movable end of the swing cylinder is connected to the swing part, so that the swing part swings and drives the arc-shaped pressure arm part to approach the second support block 212 on the second bracket 211, located above and behind the second support block 212, fixing and pressing the other end of the water trough between the second support block 212 and the arc-shaped pressure arm part, so that the robot arm can fasten and fix the side panel to the water trough. After the fastening and fixing is completed, the swing cylinder drives the arc-shaped pressure arm away from the second support block 212, so that the robot arm can transport the fastened side panel and the water trough together to the fixed station for subsequent automatic welding.

[0064] In this embodiment, two pressure arms (first pressure arm 114 and second pressure arm 215) cooperate with the first support block 112 and the second support block 212 respectively to press and fix the two ends of the water channel, making the water channel more stable and improving the fastening rate between the water channel and the side panel.

[0065] In some embodiments, refer to Figure 1 and Figure 5 The second support assembly also includes a second position detection component 216 disposed on the second bracket 211. The second position detection component 216 is used to detect the placement position of the workpiece. The first position detection component 16 may be, for example, a metal sensor or a vision camera, which can sense workpiece information at different positions, thereby confirming the presence and type of the workpiece, so as to issue confirmation or warning.

[0066] In some embodiments, refer to Figure 1 and Figure 5 The second support assembly also includes a fourth bracket 221, a third cylinder 222, and a third support block 223. The fixed end of the third cylinder 222 is disposed on the fourth bracket 221, and the third support block 223 is disposed on the movable end of the third cylinder 222. The third cylinder 222 can drive the third support block 223 to move vertically. The second clamping assembly also includes a fifth bracket (not shown in the figure), a fourth cylinder 224, and a third pressure arm 225. The fixed end of the fourth cylinder 224 is disposed on the fifth bracket, and the third pressure arm 225 is disposed on the movable end of the fourth cylinder 224. The fourth cylinder 224 can drive the third pressure arm 225 to swing to move closer to or away from the third support block 223, pressing the workpiece between the third pressure arm 225 and the third support block 223.

[0067] The fourth bracket 221 can be fixed on the support platform 40. The third cylinder 222 can be a linear cylinder with its fixed end fixed on the fourth bracket 221 and its movable end driving the third support block 223 to move up and down to adjust the height of the third support block 223. This can adapt to different types of water tank structures. The fifth bracket can be fixed on the support platform 40, located behind the fourth bracket 221. The fourth cylinder 224 can be a swing cylinder. The third pressure arm 225 can have the same structure as the second pressure arm 215 and the first pressure arm 114, including a swing part and an arc-shaped pressure arm part. The swinging movable end of the swing cylinder is connected to the swing part, so that the swing part swings and drives the arc-shaped pressure arm part to approach the third support block 223, located above the rear side of the third support block 223, and fixes the other end of the water trough between the third support block 223 and the arc-shaped pressure arm part, so that the robot arm can fasten the side panel and the water trough together. After the fastening is completed, the swing cylinder drives the arc-shaped pressure arm away from the third support block 223, so that the robot arm can transport the fastened side panel and the water trough together to the fixed station for subsequent automatic welding.

[0068] In this embodiment, the first pressure arm 114 cooperates with the first support block 112 to press and fix one end of the workpiece, and the second pressure arm 215 and the third pressure arm 225 cooperate with the second support block 212 and the third support block 223 respectively to press and fix the other end of the workpiece, making the irregularly shaped workpiece more securely pressed and fixed. Further optionally, the second support frame 211, the third support frame 213, the fourth support frame 221, and the fifth support frame can be non-linearly distributed, for example, arranged in a triangle, so that the second pressure arm 215 and the third pressure arm 225 can press different parts of the workpiece, making the fixation more reliable.

[0069] In some embodiments, refer to Figures 1-3 , Figure 6 As shown, Figure 6 This is a partial structural schematic diagram of the positioning mechanism provided in an embodiment of this application.

[0070] The positioning mechanism includes a first connecting frame 311, a fifth cylinder 312, and a positioning pin 313. The fixed end of the fifth cylinder 312 is disposed on the first connecting frame 311, and the positioning pin 313 is disposed on the movable end of the fifth cylinder 312. The fifth cylinder 312 can drive the positioning pin 313 to move in the horizontal direction.

[0071] The first connecting frame 311 can be fixed on the support platform 40. The positioning pin 313 is used to support and position the water channel. The fifth cylinder 312 drives the positioning pin 313 to move in the horizontal direction, thereby adjusting the horizontal position, which can accommodate more water channel structures.

[0072] Alternatively, the positioning mechanism may further include a fourth support block 314 disposed on the first connecting frame 311. The positioning pin 313 and the fourth support block 314 cooperate to form a stable support for the water tank.

[0073] In some embodiments, refer to Figures 1-3 , Figure 7 As shown, Figure 7 This is a schematic diagram of another part of the positioning mechanism provided in the embodiments of this application.

[0074] The positioning mechanism also includes a second connecting frame 321, a sixth cylinder 322, and a fifth support block 323. The second connecting frame 321 is arranged at intervals from the first connecting frame 311. The fixed end of the sixth cylinder 322 is set on the second connecting frame 321, and the fifth support block 323 is set on the movable end of the sixth cylinder 322. The sixth cylinder 322 can drive the fifth support block 323 to move in the vertical direction.

[0075] The second connecting frame 321 can be fixed on the support platform 40 and arranged at intervals with the first connecting frame 311, so that the fifth support block 323, the positioning pin 313 and the fourth support block 314 can support and position the water channel at different positions. The fifth support block 323 can move in the vertical direction to adjust its position in the height direction, thus accommodating more water channel structures.

[0076] In some embodiments, refer to Figures 1-3 The first pressing mechanism 10, the positioning mechanism 30, and the second pressing mechanism 20 are arranged at intervals along the width of the support platform 40. This allows for support, positioning, and pressing at different positions of the water tank.

[0077] Alternatively, multiple sets of clamping and positioning mechanisms are provided, with each set of clamping and positioning mechanisms arranged at intervals along the length of the support platform 40.

[0078] The first pressing mechanism 10, the positioning mechanism 30 and the second pressing mechanism 20 form a whole to press and position the flow tank. Multiple such pressing and positioning devices are set along the length of the support platform 40 to provide reserved positions for other flow tanks, which facilitates the automatic production of the flow tanks in the production line.

[0079] Alternatively, multiple support platforms 40 are provided, and the multiple support platforms are detachably connected.

[0080] The support platform 40 can be selected as needed. Multiple support platforms 40 can be connected together to form multiple clamping and positioning devices, and more water trough positioning points can be reserved to realize automated production line production.

[0081] This application also provides an automatic workpiece fastening device, see reference. Figure 1 and Figure 8 , Figure 8 This is a schematic diagram of the robotic arm gripping side panel structure provided in an embodiment of this application.

[0082] The automatic workpiece fastening device includes: a workpiece positioning stage as described in any of the above embodiments; and a robot arm for fastening the clamped mating parts onto the workpiece on the workpiece positioning stage.

[0083] During the operation, the robot arm can be used to place the water tank on the workpiece positioning table for positioning and clamping. The robot arm then picks up the side panel and fastens it together with the water tank. After that, the workpiece positioning table releases the clamping of the water tank, and the robot arm picks up the fastened side panel and water tank and transports them to the fixed station for automatic welding to splice the side panel and water tank together.

[0084] In this embodiment, the automatic handling, positioning, clamping, and fastening of the water trough are achieved through the cooperation of a robotic arm and a workpiece positioning table. This realizes the automated production of the water trough splicing process, greatly improving efficiency and effectively ensuring splicing reliability.

[0085] In some embodiments, refer to Figure 8 and Figure 9 , Figure 9 This is a schematic diagram of the robotic arm positioning structure provided in an embodiment of this application.

[0086] The robotic arm includes a frame 51 and a plurality of gripping mechanisms 52 disposed on the frame 51, the plurality of gripping mechanisms 52 being arranged around the frame 51.

[0087] Multiple clamping mechanisms 52 surround the frame 51, which can improve the reliability of clamping and fastening of the water channel and side panels.

[0088] For example, the clamping mechanism 52 can be similar to the first pressing mechanism 10 mentioned above, using a cylinder to drive the pressure arm to cooperate with the support block to press and fix the water tank and side panel.

[0089] In some embodiments, refer to Figure 8 and Figure 9 The robotic arm also includes multiple positioning structures 53, which can be arranged alternately with multiple gripping mechanisms 52, i.e., a positioning structure is set between two gripping mechanisms 52. For example, the positioning structure 53 may include a connector 531, a positioning cylinder 532, a support block 533, and a positioning block 534. The connector 531 is fixedly connected to the frame 51, the fixed end of the positioning cylinder 532 is set on the connector 531, and the support block 533 and the positioning block 534 are fixed to the movable end of the positioning cylinder 532. The positioning cylinder 532 drives the support block 533 and the positioning block 534 to move up and down, thereby adjusting the support position of the water tank to adapt to more types of water tank structures.

[0090] This application also provides a method for automatic workpiece fastening, referring to... Figure 10 The method includes steps S11 and S12.

[0091] In step S11: The robot arm clamps the gripped mating part (e.g., side panel) onto the workpiece (flow channel) on the workpiece positioning table.

[0092] The water tank to be positioned can be picked up by a robotic arm, then moved to the workpiece positioning table, and the water tank is placed on the workpiece positioning table. The clamping mechanism and positioning mechanism of the workpiece positioning table are used to position the water tank A ( Figure 2 As shown, the robot arm supports, presses, and positions the side panel B, and then grips it. Figure 8As shown), and move it to the workpiece positioning table, and fasten the side panel B to the water tank A so that the welding positions of the two are fastened together.

[0093] In step S12: the robot arm transports the clamped mating parts and workpiece to a fixed station for automatic welding.

[0094] After the side panel B and the water channel A are fastened together, the clamping mechanism of the workpiece positioning table releases the water channel A. The robot arm picks up the fastened side panel B and the water channel A and transports them to the fixed station for automatic welding. This completes the automatic transport, positioning, clamping, and fastening of the side panel B and the water channel A, greatly improving efficiency.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0096] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0097] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0098] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the content of the claims.

[0100] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A workpiece positioning stage, characterized in that, include: The first clamping mechanism includes a first support component and a first clamping component. The first support component is used to support the workpiece, and the first clamping component is used to cooperate with the first support component to clamp the workpiece between the first clamping component and the first support component. A second pressing mechanism is arranged at a distance from the first pressing mechanism. The second pressing mechanism includes a second support assembly and a second pressing assembly. The second support assembly supports the workpiece, and the second pressing assembly cooperates with the second support assembly to press the workpiece between the second support assembly and the second pressing assembly. The second support assembly further includes a fourth bracket, a third cylinder, and a third support block. The fixed end of the third cylinder is disposed on the fourth bracket, and the third support block is disposed on the movable end of the third cylinder. The third cylinder can drive the third support block to move vertically. The second pressing assembly also includes a fifth bracket, a fourth cylinder, and a third pressing arm. The fixed end of the fourth cylinder is disposed on the fifth bracket, and the third pressing arm is disposed on the movable end of the fourth cylinder. The fourth cylinder can drive the third pressing arm to swing closer to or away from the third support block, pressing the workpiece between the third pressing arm and the third support block. A positioning mechanism is located between the first clamping mechanism and the second clamping mechanism to support and position the workpiece. The positioning mechanism includes a first connecting frame, a fifth cylinder and a positioning pin. The fixed end of the fifth cylinder is disposed on the first connecting frame, and the positioning pin is disposed on the movable end of the fifth cylinder. The fifth cylinder can drive the positioning pin to move in the horizontal direction.

2. The workpiece positioning stage according to claim 1, characterized in that, The first support assembly includes a first bracket and a first support block disposed on the first bracket. The first pressing assembly includes a first cylinder and a first pressing arm. The fixed end of the first cylinder is disposed on the first bracket, and the first pressing arm is disposed on the movable end of the first cylinder. The first cylinder drives the first pressing arm to swing to move closer to or away from the first support block, thereby pressing the workpiece between the first pressing arm and the first support block.

3. The workpiece positioning stage according to claim 2, characterized in that, The first clamping mechanism further includes a first position detection component disposed on the first bracket, the first position detection component being used to detect the placement position of the workpiece.

4. The workpiece positioning stage according to claim 1, characterized in that, The second support assembly includes a second bracket and a second support block disposed on the second bracket; The second pressing assembly includes a third bracket, a second cylinder, and a second pressing arm. The fixed end of the second cylinder is disposed on the third bracket, and the second pressing arm is disposed on the movable end of the second cylinder. The second cylinder can drive the second pressing arm to swing to move closer to or away from the second support block, pressing the workpiece between the second pressing arm and the second support block.

5. The workpiece positioning stage according to claim 4, characterized in that, The second support assembly further includes a second position detection component disposed on the second bracket, the second position detection component being used to detect the placement position of the workpiece.

6. The workpiece positioning stage according to claim 1, characterized in that, The positioning mechanism also includes a fourth support block disposed on the first connecting frame.

7. The workpiece positioning stage according to claim 1, characterized in that, The positioning mechanism further includes a second connecting frame, a sixth cylinder, and a fifth support block. The second connecting frame is arranged at a distance from the first connecting frame. The fixed end of the sixth cylinder is disposed on the second connecting frame, and the fifth support block is disposed on the movable end of the sixth cylinder. The sixth cylinder can drive the fifth support block to move in the vertical direction.

8. The workpiece positioning stage according to claim 1, characterized in that, Also includes: A support platform supports the first pressing mechanism, the positioning mechanism, and the second pressing mechanism, wherein the first pressing mechanism, the positioning mechanism, and the second pressing mechanism are arranged at intervals in the width direction of the support platform.

9. The workpiece positioning stage according to claim 8, characterized in that, The first pressing mechanism, the positioning mechanism and the second pressing mechanism are provided in multiple groups, and each group of the first pressing mechanism, the positioning mechanism and the second pressing mechanism are arranged at intervals along the length direction of the support platform.

10. The workpiece positioning stage according to claim 2, characterized in that, The workpiece is a vehicle flow channel, the first pressure arm is arc-shaped, and the pressing surface of the first pressure arm is adapted to the pressing surface of the flow channel.

11. An automatic workpiece fastening device, characterized in that, include: The workpiece positioning stage as described in any one of claims 1-10; as well as A robotic arm is used to clamp and attach the gripped parts to the workpiece on the workpiece positioning table.

12. The automatic workpiece fastening device according to claim 11, characterized in that, The robotic arm includes a frame and a plurality of gripping mechanisms disposed on the frame, the plurality of gripping mechanisms being arranged around the perimeter of the frame.

13. A method for automatic workpiece fastening, characterized in that, The method, applied to the automatic workpiece fastening device as described in claim 11 or 12, comprises: The robotic arm clamps the mating parts and attaches them to the workpiece on the workpiece positioning table; The robotic arm transports the clamped and assembled parts and workpieces to a fixed station for automatic welding.

Images