An integrated subframe five-axis automated fixture

Abstract

The present invention discloses an integral sub-frame five-axis automated clamp, comprising a clamp main frame, wherein the front and rear parts of the left and right sides of the top plate of the clamp main frame are formed with extension parts, the top surfaces of the extension parts are fixed with support blocks, the top surfaces of the support blocks are fixed with hydraulic angle cylinders, and the top surface of the support block on one side of at least one hydraulic angle cylinder is fixed with a product detection block; the clamping state of the sub-frame can be known at all times, so that the robot can normally grasp, place or process, and the telescopic positioning pin device it has can automatically position the sub-frame, and can also be retracted to facilitate the robot to grasp, and will not be stuck with the sub-frame, thereby ensuring normal use.

Description

Technical Field

[0001] The invention relates to the technical field of machining equipment, and more specifically to an integral sub-frame five-axis automated fixture. Background Art

[0002] The subframe can be regarded as the skeleton of the front and rear axles, and is a component of the front and rear axles. The subframe is not a complete frame, but a bracket that supports the front and rear axles and suspension, so that the axles and suspension are connected to the "main frame" through it, and is customarily called the "subframe".

[0003] The subframes in new energy vehicles are generally made of aluminum alloy. The existing aluminum alloy subframes are generally split structures, which are assembled by welding. The process is complicated, the welding reliability is poor, the product deformation is irregular, the repeated clamping accuracy is poor, the error-proofing function is easy to fail, the processing efficiency is low, and it is not completed by one-time clamping. The processing accuracy stability is poor, there is stress deformation after processing, the product processing qualification rate is low, and it is not easy to achieve full-automatic processing; therefore, it is necessary to design an integral subframe to reduce the number of clamping times, etc., and for the integral subframe, it also needs a corresponding fixture , and the existing fixtures, such as the one-time clamping and welding efficient front subframe welding fixture with Chinese patent application number 201810701823.5, are used to clamp and fix the subframe components before welding and fixing them. The fixtures are all traditional structures such as oil cylinders and positioning pins. During the clamping process, it is impossible to always understand the accuracy of the clamping position and the degree of clamping firmness. If the subframe is still in a clamped state, the robot will not be able to take it out when it goes to pick up the material, which will cause damage to the robot and the fixture. Therefore, it cannot meet the requirements of fully automatic processing;

[0004] At the same time, during the existing processing of the sub-frame, it is only clamped and fixed by components such as a cylinder, and there is no other positioning auxiliary mechanism, so that the clamping is not firm enough. During processing, the position of the sub-frame is easy to move, affecting the automatic processing of the robot and even causing damage to the processing tool.

[0005] Moreover, when the existing subframe adopts the traditional material grasping method, the product is generally pushed out of the positioning system by a pushing mechanism, such as a positioning pin. Due to the large area of ​​the pushing mechanism and the contact surface with the product is the blank surface, the product will be subjected to uneven force or the pushing speed will be different during the pushing process, resulting in the positioning pin being partially stuck in the positioning hole during the pushing process. During the pushing process, the positioning pin will be damaged, and the product cannot be automatically grasped, thereby failing to achieve automated processing. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an integrated sub-frame five-axis automated fixture, which can always understand the clamping status of the sub-frame so that the robot can normally grasp, place or process it. Moreover, the telescopic positioning pin device it has can automatically position the sub-frame, and can also be retracted to facilitate the robot to grasp it, and will not be stuck with the sub-frame, thereby ensuring normal use.

[0007] The solution of the present invention to solve the technical problem is:

[0008] An integral sub-frame five-axis automated fixture comprises a fixture main frame, wherein the front and rear portions of the left and right sides of the top plate of the fixture main frame are formed with extensions, the top surfaces of the extensions are fixed with support blocks, the top surfaces of the support blocks are fixed with hydraulic angle cylinders, and the top surface of the support block on one side of at least one hydraulic angle cylinder is fixed with a product detection block;

[0009] An air jet is installed on the main frame of the fixture or in the support block, and a blow head is formed or fixed on the top end of the air jet, and the blow head faces the top side of the product detection block. The front and rear parts of the left and right sides of the integral sub-frame to be processed are both formed with frame extensions, and the bottom surface of one of the frame extensions is formed with a clamping plane, which is pressed against the top surface of the corresponding product detection block and covers the middle detection through hole of the product detection block, and the clamping block of the corresponding hydraulic angle cylinder is pressed against the upper horizontal clamping surface formed on the top surface of the corresponding frame extension.

[0010] A side auxiliary clamping oil cylinder is fixed on the middle top surfaces of the front and rear parts of the top plate of the main frame of the clamp, and a side clamping block is installed on the top end of the push rod of the side auxiliary clamping oil cylinder, and a side detection rod body is fixed on one side of the top end of the push rod of the side auxiliary clamping oil cylinder, and the side detection rod body is located directly above the top surface of the side product detection block fixed on the upper side wall of the corresponding side auxiliary clamping oil cylinder, and the middle through hole of the side product detection block faces the bottom surface of the side detection rod body, and a side auxiliary supporting cylinder is fixed on the top surface of the top plate of the main frame of the clamp at the inner side of the side auxiliary clamping oil cylinder, and the top supporting end of the side auxiliary supporting cylinder faces the bottom surface of the end of the corresponding side clamping block, and the lower beam body of the front beam and the rear beam of the integral sub-frame to be processed is clamped between the end of the corresponding side clamping block and the top supporting end of the side auxiliary supporting cylinder.

[0011] At least two vertical blocks are fixed to the left part of the top surface of the top plate of the main frame of the clamp, and a left auxiliary support cylinder is fixed to the left side wall of the vertical block. The supporting end of the left auxiliary support cylinder is pressed against the right side wall of the left beam of the integral sub-frame to be processed.

[0012] At least two side auxiliary clamping oil cylinders and two corresponding side auxiliary supporting cylinders are fixed to the left and right parts of the top surface of the top plate of the main frame of the clamp, the top supporting ends of the side auxiliary supporting cylinders are located directly below the outer ends of the side clamping blocks fixed to the top ends of the push rods of the corresponding side auxiliary clamping oil cylinders, and the left beam or the right beam of the integral sub-frame to be processed is clamped between the outer ends of the corresponding side clamping blocks and the top supporting ends of the side auxiliary supporting cylinders;

[0013] A side product detection block is fixed on one side wall of the edge auxiliary clamping oil cylinder, and a side detection rod body is fixed on the end side wall of the push rod of the edge auxiliary clamping oil cylinder. The bottom surface of the edge detection rod body faces the middle through hole of the edge product detection block directly below.

[0014] At least two middle hydraulic angle cylinders are fixed to the middle top surface of the top plate of the clamp main frame, the end bottom surface of the upper clamping block fixed to the top of the rod body of the middle hydraulic angle cylinder faces the top support end of the corresponding middle auxiliary support cylinder fixed to the middle top surface of the top plate of the clamp main frame, and the middle transverse beam of the integral sub-frame to be processed is clamped between the end bottom surface of the upper clamping block of the corresponding middle hydraulic angle cylinder and the top support end of the middle auxiliary support cylinder;

[0015] A vertical support rod is fixed to the top surface of the top plate of the clamp main frame on one side of the middle hydraulic angle cylinder, and a middle product detection block is fixed to the upper side wall of the vertical support rod. The middle through hole of the middle product detection block corresponds to the side wall of the upper clamping block of the middle hydraulic angle cylinder.

[0016] A plurality of vertical positioning blocks are fixed to the left and right parts of the top surface of the top plate of the main frame of the fixture, a plastic detection block is fixed to the top surface of the vertical positioning blocks, a side of the left side wall of the left side beam of the integral sub-frame to be processed is close to a side of the corresponding plastic detection block, and a side of the left side wall of the right side beam of the integral sub-frame to be processed is close to a side of the corresponding plastic detection block.

[0017] At least two telescopic positioning pin devices are fixed on the top surface of the top plate of the clamp main frame, and the top ends of the upper positioning pins of the telescopic positioning pin devices are inserted into the corresponding positioning holes on the bottom surface of the integral sub-frame to be processed.

[0018] The end of the air blowing head is a flat air outlet.

[0019] The outstanding effects of the present invention are:

[0020] 1. The product detection block, side product detection block and other clamping parts on the main frame of the fixture adopt an airtight detection method to always understand the clamping status of the sub-frame, so that the corresponding robot can perform operations such as picking up, processing, and installation on it, ensuring the normal use of the robot and the clamping mechanism.

[0021] 2. Its side auxiliary clamping cylinder, edge auxiliary clamping cylinder and other components can further position and clamp the subframe to ensure normal processing.

[0022] 3. Its plastic detection block can block the sub-frame that is not placed correctly above, so that the corresponding fixture parts cannot clamp the sub-frame, and thus the corresponding fixture parts cannot detect the sub-frame, so that the subsequent robot will not force processing, ensuring the integrity of the sub-frame and the normal operation of the robot.

[0023] 4. Its telescopic positioning pin device can position the integral sub-frame. When the integral sub-frame needs to be taken, the upper positioning pin of the telescopic positioning pin device can be retracted and no longer be in the positioning hole of the integral sub-frame, so that the upper positioning pin will not be stuck with the integral sub-frame, which is convenient for the robot to grab the integral sub-frame and take the material without damaging the upper positioning pin, thereby ensuring the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a partial structural schematic diagram of the clamping subframe of the present invention;

[0025] Figure 2 yes Figure 1 Schematic diagram of the angle-changing local structure;

[0026] Figure 3 yes Figure 2 A partial enlarged view of

[0027] Figure 4 It is a schematic diagram of the partial structure without the integral subframe and other components;

[0028] Figure 5 yes Figure 1 Schematic diagram of the angle-changing local structure;

[0029] Figure 6 is a partial cross-sectional view of the telescopic positioning pin device;

[0030] Figure 7 yes Figure 6 A partial enlarged view of

[0031] Figure 8 It is a schematic diagram of the local structure between the support block and the jet pipe on the right. DETAILED DESCRIPTION

[0032] For example, see Figures 1 to 8As shown, an integral sub-frame five-axis automated fixture comprises a fixture main frame 10, the front and rear parts of the left and right sides of the top plate of the fixture main frame 10 are formed with extensions 11, the top surfaces of the extensions 11 are fixed with support blocks 12, the top surfaces of the support blocks 12 are fixed with hydraulic angle cylinders 13 (which are accessories that can be directly purchased on the market and will not be described in detail), the top surfaces of the support blocks 12 on one side of the two hydraulic angle cylinders 13 on the right front and rear are fixed with product detection blocks 14, the sides of the two support blocks 12 on the left front and rear are fixed with main detection support seats 121, the top surface of the main detection support seats 121 is fixed or formed with main support columns, and the middle and top surfaces of the main support columns are fixed with a main detection support seat 121. The middle top surface of the product detection block 14 is formed with a middle detection through hole for airtight detection. The bottom end of the middle detection through hole of the main support column extends out of the bottom surface of the main detection support seat 121 and is connected to the corresponding ventilation channel formed on the top plate of the fixture main frame 10. The bottom end of the middle detection through hole of the product detection block 14 is connected to the corresponding ventilation channel formed on the top plate of the fixture main frame 10 through a connecting pipe, and the ventilation channel is connected to the air source through a connecting pipe (such as being connected to the air outlet end of the corresponding control valve of the air compressor, and the detection air pipe is connected in the middle of the connecting pipe. The detection air pipe is connected to the sensing end of the airtight detection sensor, so that its operation status can be understood at all times. This embodiment adopts an SMC airtight detection sensor);

[0033] An air jet pipe 15 is fixed on the fixture main frame 10 on one side of the main detection support seat 121, and a horizontally bent air blowing head 151 is formed at the top of the air jet pipe 15. The end of the air blowing head 151 is a flat air outlet, which is horizontally facing the top of the main support column. The bottom end of the air jet pipe 15 is connected to the corresponding ventilation channel formed on the top plate of the fixture main frame 10, and the ventilation channel is connected to the air source through a connecting pipe (such as connected to the air outlet end of the corresponding control valve of the air compressor); the front part of the right side The top surfaces of the two support blocks 12 at the rear are fixed with jet pipes 15, the bottom end of the jet pipe 15 is connected to the top end of the ventilation pipe inside the support block 12, the bottom end of the ventilation pipe is connected to the corresponding ventilation channel formed on the top plate of the fixture main frame 10, the ventilation channel is connected to the air source through a connecting pipe (such as connected to the air outlet end of the corresponding control valve of the air compressor), and the air outlet of the horizontally bent blowing head 151 formed at the top of the jet pipe 15 is horizontally facing the top of the product detection block 14;

[0034] The front and rear parts of the left and right sides of the integral sub-frame 100 to be processed are formed with frame extensions 101, and the bottom surfaces of the four frame extensions 101 are formed with clamping planes 102, which are pressed against the top surface of the corresponding product detection block 14 or the top surface of the main support column of the main detection support seat 121, and cover the middle detection through hole of the product detection block 14 or the main support column. The clamping block of the corresponding hydraulic angle cylinder 13 is pressed against the upper horizontal clamping surface 103 formed on the top surface of the corresponding frame extension 101; the top surfaces of the four support blocks 12 are fixed with vertical connecting blocks, and the side walls of the vertical connecting blocks are fixed with side sensing detection blocks 140, A central through hole is formed in the middle of the end face of the detection block 140, and the central through hole corresponds to the bending sensing part 131 fixed on the side wall of the clamping block of the corresponding hydraulic angle cylinder 13, and the inner end of the central through hole of the side sensing detection block 140 is connected with the central vertical through hole of the vertical connecting block, and the central vertical through hole is connected with the corresponding ventilation channel formed on the top plate of the clamp main frame 10, and the ventilation channel is connected with the air source through a connecting pipe (such as being connected with the air outlet end of the corresponding control valve of the air compressor, and a detection air pipe is connected in the middle of the connecting pipe, and the detection air pipe is connected to the sensing end of the airtight detection sensor, so that its operation status can be understood at any time. This embodiment adopts the SMC airtight detection sensor).

[0035] The front and rear middle top surfaces of the top plate of the main frame 10 of the clamp are fixed with side auxiliary clamping oil cylinders 16, which are lever-type oil cylinders; a side clamping block 161 is installed on the top of the push rod of the side auxiliary clamping oil cylinder 16, and a side detection rod body 162 is fixed to one side of the top of the push rod of the side auxiliary clamping oil cylinder 16. The side detection rod body 162 is located directly above the top surface of the side product detection block 17 fixed on the top surface of the connection part formed on the side wall of the corresponding side auxiliary clamping oil cylinder 16, and the middle through hole of the side product detection block 17 faces the side detection rod The bottom surface of the body 162, the bottom end of the middle through hole of the side product detection block 17 is connected to the flow through hole formed in the middle of the connecting part of the side auxiliary clamping oil cylinder 16, and the flow through hole is connected to the corresponding ventilation channel formed on the top plate of the clamp main frame 10, and the ventilation channel is connected to the air source through a connecting pipe (such as being connected to the air outlet end of the corresponding control valve of the air compressor, and the detection air pipe is connected in the middle of the connecting pipe, and the detection air pipe is connected to the sensing end of the air tightness detection sensor, so that its operation status can be understood at all times. This embodiment uses an SMC air tightness detection sensor). A side auxiliary support cylinder 20 is fixed on the top surface of the top plate of the clamp main frame 10 at the inner side of the side auxiliary clamping oil cylinder 16, and the top support end of the side auxiliary support cylinder 20 faces the bottom surface of the end of the corresponding side clamping block 161, and the lower beam body of the front beam and the rear beam of the integral sub-frame 100 to be processed is clamped between the end of the corresponding side clamping block 161 and the top support end of the side auxiliary support cylinder 20.

[0036] Furthermore, at least two vertical blocks 30 are fixed to the left part of the top surface of the top plate of the main frame 10 of the clamp, and a left auxiliary support cylinder 31 is fixed to the left side wall of the vertical block 30, and the supporting end of the left auxiliary support cylinder 31 is pressed against the right side wall of the left beam of the integral sub-frame 100 to be processed.

[0037] Furthermore, at least two side auxiliary clamping cylinders 40 (lever type cylinders) and corresponding two side auxiliary support cylinders 41 are fixed to the left and right parts of the top surface of the top plate of the clamp main frame 10 (the side auxiliary support cylinder 41 and the side auxiliary clamping cylinder 40 on the right side are fixed to the connecting seat on the right side of the top surface of the top plate of the clamp main frame 10), and the top support end of the side auxiliary support cylinder 41 is located directly below the outer end of the side clamping block 401 fixed to the top end of the push rod of the corresponding side auxiliary clamping cylinder 40, and the left side beam or the right side beam of the integral sub-frame 100 to be processed is clamped between the outer end of the corresponding side clamping block 401 and the top support end of the side auxiliary support cylinder 41;

[0038] An edge product detection block 42 is fixed to the top surface of the side connection part of one side wall of the edge auxiliary pressing cylinder 40, and an edge detection rod body 43 is fixed to the end side wall of the push rod of the edge auxiliary pressing cylinder 40, and the bottom surface of the edge detection rod body 43 faces the middle through hole of the edge product detection block 42 directly below, and the bottom end of the middle through hole of the edge product detection block 42 is communicated with the flow through hole formed in the middle part of the side connection part, and the flow through hole is connected to the corresponding ventilation channel formed on the top plate of the clamp main frame 10, and the ventilation channel is connected to the air source through a connecting pipe (such as being connected to the air outlet end of the corresponding control valve of the air compressor, and a detection air pipe is connected in the middle part of the connecting pipe, and the detection air pipe is communicated with the sensing end of the airtight detection sensor, so that its operation status can be understood at all times. This embodiment adopts an SMC airtight detection sensor).

[0039] Further, at least two middle hydraulic angle cylinders 50 are fixed to the middle top surface of the top plate of the clamp main frame 10, and the end bottom surface of the upper clamping block 51 fixed to the top of the rod body of the middle hydraulic angle cylinder 50 faces the top support end of the corresponding middle auxiliary support cylinder 52 fixed to the middle top surface of the top plate of the clamp main frame 10, and the middle transverse beam of the integral sub-frame 100 to be processed is clamped between the end bottom surface of the upper clamping block 51 of the corresponding middle hydraulic angle cylinder 50 and the top support end of the middle auxiliary support cylinder 52;

[0040] A vertical support rod 54 is fixed to the top surface of the top plate of the clamp main frame 10 on one side of the central oil pressure angle cylinder 50, and a central product detection block 55 is fixed to the upper side wall of the vertical support rod 54. The central through hole of the central product detection block 55 corresponds to the side wall of the upper clamping block 51 of the central oil pressure angle cylinder 50, and the central through hole of the central product detection block 55 is communicated with the central vertical hole of the vertical support rod 54. The bottom end of the central vertical hole is connected to the corresponding ventilation channel formed on the top plate of the clamp main frame 10, and the ventilation channel is connected to the air source through a connecting pipe (such as being connected to the air outlet end of the corresponding control valve of the air compressor, and a detection air pipe is connected in the middle of the connecting pipe. The detection air pipe is communicated with the sensing end of the airtight detection sensor, so that its operation status can be understood at all times. This embodiment adopts an SMC airtight detection sensor).

[0041] Furthermore, a plurality of vertical positioning blocks 60 are fixed to the left and right portions of the top surface of the top plate of the main frame body 10 of the clamp, a plastic detection block 61 is fixed to the top surface of the vertical positioning block 60, a side of the left side wall of the left side beam of the integral sub-frame 100 to be processed is close to a side of the corresponding plastic detection block 61, and a side of the left side wall of the right side beam of the integral sub-frame 100 to be processed is close to a side of the corresponding plastic detection block 61.

[0042] Furthermore, at least two telescopic positioning pin devices 70 are fixed on the top surface of the top plate of the clamp main frame body 10, and the top ends of the upper positioning pins 71 of the telescopic positioning pin devices 70 are inserted into the corresponding positioning holes on the bottom surface of the integral sub-frame 100 to be processed.

[0043] The telescopic positioning pin device 70 includes a positioning pin seat sleeve 72 and an upper positioning pin 71. The bottom of the positioning pin seat sleeve 72 is fixed to the top surface of the top plate of the clamp main frame 10. The upper positioning pin 71 is inserted into the middle vertical through hole of the positioning pin seat sleeve 72. A lifting cylinder 73 is fixed to the bottom surface of the top plate of the clamp main frame 10. The top end of the push rod of the lifting cylinder 73 is inserted into the through hole on the top plate of the clamp main frame 10 and is connected to the upper positioning pin through a coupling. The bottom of 71 is connected, an annular groove is formed on the top inner wall of the middle vertical through hole of the positioning pin seat sleeve 72, and the sealing ring is nested in the annular groove. The upper side wall of the upper positioning pin 71 is close to the inner side wall of the sealing ring, and the lower side wall of the upper positioning pin 71 is formed with an annular air guide groove 711. The inner side wall of the middle vertical through hole of the positioning pin seat sleeve 72 is formed with a side air inlet hole 712 and a side air outlet hole 713. The side air inlet hole 712 and the side air outlet hole 713 are connected to the annular groove. Corresponding to the air guide groove 711, the outer end of the side air outlet hole 713 extends out of the outer side wall of the positioning pin seat sleeve 72, and the side air inlet hole 712 is communicated with the ventilation channel formed in the top plate of the main frame 10 of the fixture, and the ventilation channel is connected to the air source through a connecting pipe (such as being connected to the air outlet end of the corresponding control valve of the air compressor, and the detection air pipe is connected to the middle part of the connecting pipe, and the detection air pipe is communicated with the sensing end of the air tightness detection sensor, so that its operation status can be understood at all times. This embodiment adopts the SMC air tightness detection sensor), and an air jet pipe 15 is fixed on the top surface of the top plate of the main frame 10 of the fixture on one side of the upper positioning pin 71, and the air blowing end of the air blowing head 151 of the air jet pipe 15 is obliquely facing the upper part of the upper positioning pin 71, and the bottom end of this air jet pipe 15 is also connected to the corresponding ventilation channel formed on the top plate of the main frame 10 of the fixture, and the ventilation channel is connected to the air source through a connecting pipe (such as being connected to the air outlet end of the corresponding control valve of the air compressor).

[0044] In this embodiment, various airtight detection sensors and all control valves of the air compressor are electrically connected to the control host through electrical connection lines, and are controlled and operated by the control host. They are all conventional structures and will not be described in detail here. In the drawings of this embodiment, the clamping blocks of some hydraulic angle cylinders 13 and the upper clamping block 51 of the middle hydraulic angle cylinder 50 are partially rotated.

[0045] Working principle: When this embodiment is in use, when it needs to discharge materials, the upper positioning pins 71 of all telescopic positioning pin devices 70 are in a protruding shape. At this time, the side air inlet 712 and the side air outlet 713 are connected to the annular air guide groove 171 to ensure gas flow. At this time, the corresponding airtight detection sensor senses that the airtight state is low, indicating that the upper positioning pin 71 is in a protruding shape. At this time, the integral sub-frame 100 to be processed can be placed on the top plate of the main frame body 10 of the fixture by a robot, and the clamping plane 102 is pressed against the top surface of the corresponding product detection block 14 or the top surface of the main support column of the main detection support seat 121, and covers the product detection block 14 or the main support column. The middle detection through hole, the clamping block of the corresponding hydraulic angle cylinder 13 is pressed against the upper horizontal clamping surface 103 formed on the top surface of the corresponding frame extension 101. At this time, the bending sensing member 131 fixed on the side wall of the clamping block of the hydraulic angle cylinder 13 does not cover the middle through hole formed in the middle of the end face of the corresponding side sensing detection block 140. The airtightness state of the product detection block 14 and the side sensing detection block 140 (when not clamped, the bending sensing member 131 covers the middle through hole formed in the middle of the end face of the side sensing detection block 140, and its airtightness is high) changes, and the corresponding airtightness detection sensor transmits the sensing signal to the control host. The control host receives the signal, indicating that it is clamped in place;

[0046] Similarly, the lower beams of the front beam and the rear beam of the integral sub-frame 100 to be processed are clamped between the end of the corresponding side clamping block 161 and the top supporting end of the side auxiliary support cylinder 20. At this time, the side detection rod 162 no longer covers the middle through hole of the side product detection block 17 (when not clamped, the side detection rod 162 is at the bottom, covering the middle through hole of the side product detection block 17), and the airtightness state changes. The corresponding airtightness detection sensor transmits the sensing signal to the control host, and the control host receives the signal, indicating that it is clamped in place;

[0047] The left beam or right beam of the integral sub-frame 100 to be processed is clamped between the outer end of the corresponding edge clamping block 401 and the top support end of the edge auxiliary support cylinder 41, and the edge detection rod 43 no longer covers the middle through hole of the edge product detection block 42, and the principle is the same as above;

[0048] The middle transverse beam of the integral sub-frame 100 to be processed is clamped between the bottom end surface of the upper clamping block 51 of the corresponding middle hydraulic angle cylinder 50 and the top supporting end of the middle auxiliary support cylinder 52. At this time, the middle through hole of the middle product detection block 55 is far away from the side wall of the upper clamping block 51 of the middle hydraulic angle cylinder 50 (when not clamped, the side wall of the upper clamping block 51 of the middle hydraulic angle cylinder 50 covers the middle through hole of the middle product detection block 55). At this time, the airtightness state of the middle product detection block 55 changes, and the corresponding airtightness detection sensor transmits the sensing signal to the control host. The control host receives the signal, indicating that it is clamped in place.

[0049] Through the above signal, it can be known that the integral sub-frame 100 is clamped in place. At this time, the corresponding part of the integral sub-frame 100 can be processed. After the processing is completed, the upper positioning pin 71 of the telescopic positioning pin device 70 is retracted. At this time, the side air inlet hole 712 and the side air outlet hole 713 are not connected to the annular air guide groove 171. At this time, the corresponding airtight detection sensor senses that the airtight state is high, indicating that the upper positioning pin 71 is in a retracted state. Then, the push rods of all corresponding oil cylinders are returned to their positions (the hydraulic angle cylinder is rotated and lifted, which is a conventional action and will not be described in detail here), and the integral sub-frame 100 can be grabbed by the robot and taken out, which is very convenient.

[0050] After taking it out, the blowing end of the blowing head 151 of the air jet pipe 15 can blow air to the corresponding components to ensure that the processing waste thereon is blown away, such as blowing away the waste on the upper part of the upper positioning pin 71, to ensure the accurate position of the subsequent placement of the integral sub-frame 100, and to blow away the waste on the top surface of the product detection block 14 and the top surface of the main support column of the main detection support seat 121 to prevent the corresponding middle detection through hole from being blocked, thereby ensuring normal air tightness detection needs.

[0051] The telescopic positioning pin device 70 can position the integral sub-frame 100. When the integral sub-frame 100 needs to be taken out, the upper positioning pin 71 of the telescopic positioning pin device 70 can be retracted and no longer be in the positioning hole of the integral sub-frame 100, so that the upper positioning pin 71 will not be stuck with the integral sub-frame 100, which makes it convenient for the robot to grab the integral sub-frame 100 and take the material without damaging the upper positioning pin 71, thereby ensuring the service life.

[0052] Moreover, when placing, the plastic detection block 61 can block the integral sub-frame 100 that is not placed properly above, so that the corresponding clamping mechanisms such as the oil cylinder cannot completely clamp the integral sub-frame 100, so that the corresponding airtight detection sensor cannot detect the corresponding state, so that the subsequent robot will not force processing, thereby ensuring the integrity of the vehicle-type sub-frame 100 and the normal operation of the robot.

Claims

1. An integrated sub-frame five-axis automated fixture, comprising a fixture main frame (10), characterized in that: The front and rear parts of the left and right sides of the top plate of the clamp main frame (10) are formed with extension parts (11), the top surfaces of the extension parts (11) are fixed with support blocks (12), the top surfaces of the support blocks (12) are fixed with hydraulic angle cylinders (13), and the top surface of the support block (12) on one side of at least one hydraulic angle cylinder (13) is fixed with a product detection block (14); An air jet pipe (15) is installed on the main frame (10) of the clamp or in the support block (12), and a blow head (151) is formed or fixed at the top end of the air jet pipe (15), and the blow head (151) faces the top end side of the product detection block (14). The front and rear parts of the left and right sides of the integral sub-frame (100) to be processed are both formed with frame extension parts (101), and the bottom surface of one of the frame extension parts (101) is formed with a clamping plane (102), and the clamping plane (102) is pressed against the top surface of the corresponding product detection block (14) and covers the middle detection through hole of the product detection block (14), and the clamping block of the corresponding hydraulic angle cylinder (13) is pressed against the upper horizontal clamping surface (103) formed on the top surface of the corresponding frame extension part (101); A side auxiliary clamping oil cylinder (16) is fixed to the middle top surface of the front and rear parts of the top plate of the main frame (10) of the clamp, a side clamping block (161) is installed at the top end of the push rod of the side auxiliary clamping oil cylinder (16), a side detection rod body (162) is fixed to one side of the top end of the push rod of the side auxiliary clamping oil cylinder (16), and the side detection rod body (162) is located directly above the top surface of the side product detection block (17) fixed to the upper side wall of the corresponding side auxiliary clamping oil cylinder (16), and the middle of the side product detection block (17) The through hole faces the bottom surface of the side detection rod body (162); a side auxiliary support cylinder (20) is fixed on the top surface of the top plate of the clamp main frame body (10) at the inner side of the side auxiliary clamping oil cylinder (16); the top support end of the side auxiliary support cylinder (20) faces the bottom surface of the end of the corresponding side clamping block (161); the lower beam bodies of the front beam and the rear beam of the integral sub-frame (100) to be processed are clamped between the end of the corresponding side clamping block (161) and the top support end of the side auxiliary support cylinder (20).

2. The five-axis automated fixture for an integral subframe according to claim 1, characterized in that: At least two vertical blocks (30) are fixed to the left portion of the top surface of the top plate of the clamp main frame (10), a left auxiliary support cylinder (31) is fixed to the left side wall of the vertical block (30), and the support end of the left auxiliary support cylinder (31) is pressed against the right side wall of the left side beam of the integral sub-frame (100) to be processed.

3. The five-axis automated fixture for an integral subframe according to claim 1, characterized in that: At least two side auxiliary clamping oil cylinders (40) and corresponding two side auxiliary supporting cylinders (41) are fixed to the left and right parts of the top surface of the top plate of the main frame (10) of the clamp, the top supporting end of the side auxiliary supporting cylinder (41) is located directly below the outer end of the side clamping block (401) fixed to the top end of the push rod of the corresponding side auxiliary clamping oil cylinder (40), and the left side beam or the right side beam of the integral sub-frame (100) to be processed is clamped between the outer end of the corresponding side clamping block (401) and the top supporting end of the side auxiliary supporting cylinder (41); A side product detection block (42) is fixed to one side wall of the side auxiliary pressing oil cylinder (40), and a side detection rod body (43) is fixed to the end side wall of the push rod of the side auxiliary pressing oil cylinder (40), and the bottom surface of the side detection rod body (43) faces the middle through hole of the side product detection block (42) directly below.

4. The five-axis automated fixture for an integral subframe according to claim 1, characterized in that: At least two middle hydraulic angular cylinders (50) are fixed to the middle top surface of the top plate of the clamp main frame (10), the end bottom surface of the upper clamping block (51) fixed to the top end of the rod body of the middle hydraulic angular cylinder (50) faces the top support end of the corresponding middle auxiliary support cylinder (52) fixed to the middle top surface of the top plate of the clamp main frame (10), and the middle transverse beam of the integral sub-frame (100) to be processed is clamped between the end bottom surface of the upper clamping block (51) of the corresponding middle hydraulic angular cylinder (50) and the top support end of the middle auxiliary support cylinder (52); A vertical support rod (54) is fixed to the top surface of the top plate of the clamp main frame (10) on one side of the middle hydraulic angle cylinder (50), and a middle product detection block (55) is fixed to the upper side wall of the vertical support rod (54), and a middle through hole of the middle product detection block (55) corresponds to the side wall of the upper clamping block (51) of the middle hydraulic angle cylinder (50).

5. The five-axis automated fixture for an integral subframe according to claim 1, characterized in that: A plurality of vertical positioning blocks (60) are fixed to the left and right parts of the top surface of the top plate of the clamp main frame (10), a plastic detection block (61) is fixed to the top surface of the vertical positioning block (60), a side of the left side wall of the left side beam of the integral sub-frame (100) to be processed is close to a side of the corresponding plastic detection block (61), and a side of the left side wall of the right side beam of the integral sub-frame (100) to be processed is close to a side of the corresponding plastic detection block (61).

6. The five-axis automated fixture for an integral subframe according to claim 1, characterized in that: At least two telescopic positioning pin devices (70) are fixed on the top surface of the top plate of the clamp main frame (10), and the top ends of the upper positioning pins (71) of the telescopic positioning pin devices (70) are inserted into the corresponding positioning holes on the bottom surface of the integral sub-frame (100) to be processed.

7. The five-axis automated fixture for an integral subframe according to claim 1, characterized in that: The end of the air blowing head (151) is a flat air outlet.

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