Flexible welding tooling for vehicle body floor and welding method

Abstract

The application discloses a kind of vehicle body floor flexible welding tool and welding method, comprising: moving mechanism, clamping mechanism, welding mechanism and control system;Moving mechanism includes first sliding table, second sliding table and third sliding table;Clamping mechanism, floor one sequence clamp and floor two sequence clamp are respectively slidably arranged on the first sliding table;The welding mechanism, welding handling robot is slidably arranged on the second sliding table, right welding tongs and gripper are arranged on the second sliding table side, and welding robot is slidably arranged on the third sliding table;The control system is used to control the movement of clamp and robot on sliding table, the replacement of robot welding tool and the welding and handling of robot, to realize the flexible welding of vehicle body floor. Through the double-flexible production mode and tool structure of "clamp displacement" + "welding equipment displacement", floor one sequence, floor two sequence assembly and floor repair welding welding requirements are combined in one station, to realize one-stop automatic welding.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile welding, and more particularly to a flexible welding tool and method for a vehicle body floor. BACKGROUND

[0002] When welding a body-in-white floor assembly, the floor is usually divided into assembly areas, and an industrial layout of "fixed station + special welding equipment + special handling robot" is adopted. This method is suitable for the industrial implementation of a body-in-white automatic welding line with a large factory area and fast production rhythm. However, for a body-in-white automatic welding line with a short production line body and slow production rhythm, but requiring automation for production, the existing industrialization scheme does not have good factory utilization and investment return rate. SUMMARY

[0003] In view of the above defects or improvement needs of the prior art, the present application provides a flexible welding tool and method for a vehicle body floor. Under the condition of limited factory resources and low production rhythm, the process scheme and tool structure of the integrated workstation are used to improve the utilization of the factory and equipment, and a high degree of automation welding line is obtained.

[0004] To achieve the above-mentioned purpose, according to one aspect of the present application, a flexible welding tool for a vehicle body floor is provided, comprising: a moving mechanism, a clamping mechanism, a welding mechanism and a control system.

[0005] The moving mechanism comprises a first sliding table, a second sliding table and a third sliding table, and the second sliding table and the third sliding table are arranged on both sides of the first sliding table.

[0006] The clamping mechanism comprises a first floor sequence clamp and a second floor sequence clamp, and the first floor sequence clamp and the second floor sequence clamp are respectively arranged on the first sliding table.

[0007] The welding mechanism comprises a welding handling robot, a welding robot, a first welding tongs, a second welding tongs, a first gun changing disc, a second gun changing disc and a gripper. The welding handling robot is arranged on the second sliding table, the first welding tongs and the gripper are arranged on one side of the second sliding table, the welding robot is arranged on the third sliding table, and the second welding tongs is arranged on one side of the third sliding table. The welding handling robot and the welding robot are provided with the first gun changing disc, and the first welding tongs, the second welding tongs and the gripper are provided with the second gun changing disc.

[0008] The control system is used to control the movement of the clamps and robots on the sliding table, the replacement of the welding tools of the robots, and the welding and handling of the robots, so as to realize the flexible welding of the vehicle body floor.

[0009] Further, the floor one sequence clamp and the floor two sequence clamp are provided with a speed reducer, the first sliding table is provided with a rack, a driving gear of the speed reducer is engaged with the rack, and the speed reducer is controlled to operate by a control system.

[0010] Further, the first sliding table is provided with a proximity switch, and the floor one sequence clamp and the floor two sequence clamp are provided with proximity switch contacts on the same side close to each other, and the proximity switch is in communication connection with the control system.

[0011] Further, the first welding position is provided with the proximity switch, and the floor one sequence clamp slides to the first welding position to trigger the proximity switch through the proximity switch contacts.

[0012] Further, the second welding position is provided with the proximity switch, and the floor two sequence clamp slides to the first welding position to trigger the proximity switch through the proximity switch contacts.

[0013] Further, an out-of-position detection switch is arranged between the two proximity switches, and the out-of-position detection switch is in communication connection with the control system.

[0014] Further, a collision prevention support is arranged between the first welding position and the second welding position.

[0015] Further, the floor one sequence clamp and the floor two sequence clamp are provided with guide rail sliders at the bottom, and the floor one sequence clamp and the floor two sequence clamp are arranged on the first sliding table through the guide rail sliders.

[0016] Further, the first gun changing disc and the second gun changing disc are provided with signal interfaces, and the welding carrying robot and the welding robot switch the welding torches and / or grippers through the first gun changing disc and the second gun changing disc.

[0017] According to another aspect of the present application, a flexible welding method for a vehicle body floor is provided, which comprises the following steps:

[0018] An operator clamps the floor framework assembly and the floor panel assembly on the floor one sequence clamp, the control system controls the floor one sequence clamp to move to the first welding position, the control system controls the welding carrying robot to be connected with the first welding torch and the welding robot to be connected with the second welding torch, the floor framework assembly and the floor panel assembly are welded to obtain a floor one sequence assembly, the welding carrying robot is connected with the gripper to pick up the floor one sequence assembly, the welding robot is connected with the second welding torch to perform repair welding on the floor one sequence assembly, and the welding carrying robot transports the floor one sequence assembly to the floor two sequence clamp.

[0019] The operator clamps the front wall assembly, the left side wall assembly, the right side wall assembly and the floor one sequence assembly on the floor two sequence clamp, the floor two sequence clamp moves to the second welding position, the control system controls the welding transfer robot to be connected with the first welding tongs and controls the welding robot to be connected with the second welding tongs, and the floor one sequence assembly is welded with the front wall assembly, the left side wall assembly and the right side wall assembly to obtain the floor assembly.

[0020] The floor one sequence clamp, the welding transfer robot, the first welding tongs, the gripper, the welding robot, the floor two sequence clamp and the second welding tongs are returned to the original positions, and the welding is completed.

[0021] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0022] 1. The vehicle body floor flexible welding tool and the welding method, a servo sliding table clamp + movable robot + welding gun / gripper quick change flexible tool is designed, the clamp is arranged on the sliding table to realize the displacement of the clamp, the movable robot is used to realize the accessibility of the welding positions of each assembly in the workstation, and the welding gun / gripper quick change mode is used to realize the welding of parts at different positions of the floor.

[0023] 2. The vehicle body floor flexible welding tool and the welding method, the vehicle body floor flexible welding method combining the servo sliding table clamp + movable robot + welding gun / gripper quick change solves the problems of overcapacity, space and energy waste of the production line with low production rhythm.

[0024] 3. The present application combines the floor one sequence, the floor two sequence assembly and the floor repair welding requirements in one station through the double flexible production mode and tool structure of "clamp displacement" + "welding equipment displacement", and realizes automatic welding through one workstation. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a floor one sequence assembly welding structure of the present application.

[0026] Figure 2 It is a floor assembly overall structure diagram of the present application.

[0027] Figure 3 It is a floor assembly welding structure diagram of the present application.

[0028] Figure 4 It is a vehicle body floor flexible welding tool overall structure schematic diagram of the present application.

[0029] Figure 5 It is a driving and braking assembly schematic diagram of the floor one sequence clamp and the floor two sequence clamp of the present application.

[0030] Figure 6 Fig. 1 is a schematic view of the welding station and the loading station position of the present application;

[0031] Figure 7 Fig. 2 is a schematic view of the brake assembly of the first floor clamp and the second floor clamp of the present application;

[0032] Figure 8 Fig. 3 is a schematic view of the gun changer structure of the present application.

[0033] In all the drawings, the same reference signs refer to the same technical features, in particular: 1 - first floor clamp, 2 - first sliding table, 3 - welding handling robot, 4 - first welding gun, 5 - gripper, 6 - welding robot, 7 - second sliding table, 8 - second floor clamp, 9 - second welding gun, 10 - proximity switch, 11 - third sliding table, 12 - proximity switch contact, 13 - overtravel detection switch, 14 - anti-collision support, 15 - first gun changer, 16 - second gun changer. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0035] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an" and "said" used herein also include the plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0037] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0038] The body floor flexible welding tool and welding method can be applied to the field of body-in-white floor welding of vehicles, and in particular to the body floor welding of vehicles such as buses, trucks, off-road vehicles, and the like.

[0039] As shown in Figure 1 , Figure 2 and Figure 3 , the floor assembly of the non-load-bearing body is composed of a floor framework assembly, a floor panel assembly, a front wall assembly, a left side wall assembly, and a right side wall assembly. According to the lap relationship of each assembly, the welding of the floor framework assembly and the floor panel assembly needs to be performed first to form a floor primary assembly, as shown in Figure 2 . Then, the welded floor primary assembly is supplemented, and the supplemented floor primary assembly is welded with the front wall assembly, the left side wall assembly, and the right side wall assembly to obtain the floor assembly, as shown in Figure 3 . According to the welding process sequence, the floor framework assembly and the floor panel assembly are welded first, the floor primary assembly is supplemented at the un-welded position, and then the floor primary assembly is welded with the front wall assembly, the left side wall assembly, and the right side wall assembly to form the floor assembly. According to the process flow, three workstations are required, and a welding robot and a handling robot must be provided at each workstation. This production process is suitable for a body-in-white automatic welding line with a large factory area and a fast production rhythm, but for a high-automation scene with a slow production rhythm and limited production area, there is a problem of capacity and resource waste.

[0040] In order to meet the capacity and automation requirements, a new welding process and tool of "servo sliding table clamp + mobile robot + welding gun / grasping hand quick change flexible tool" is developed. The present application provides a body floor flexible welding tool, as shown in Figures 4-8 . The body floor flexible welding tool of the embodiment of the present application comprises a moving mechanism, a clamping mechanism, a welding mechanism, and a control system.

[0041] As shown in Figure 4 , the moving mechanism comprises a first sliding table (2), a second sliding table (7), and a third sliding table (11), and the second sliding table (7) and the third sliding table (11) are arranged on both sides of the first sliding table (2).

[0042] The clamping mechanism comprises a first floor clamp (1) and a second floor clamp (8), and the first floor clamp (1) and the second floor clamp (8) are respectively arranged on the first sliding table (2) in a sliding mode;

[0043] The welding mechanism comprises a welding transfer robot (3), a welding robot (6), a first welding torch (4), a second welding torch (9), a first gun changing disc (15), a second gun changing disc (16) and a gripper (5), as shown in the figure. Figure 8 The welding transfer robot (3) is arranged on the second sliding table (7) in a sliding mode, the first welding torch (4) and the gripper (5) are arranged on one side of the second sliding table (7), the welding robot (6) is arranged on the third sliding table (11) in a sliding mode, and the second welding torch (9) is arranged on one side of the third sliding table (11).

[0044] The control system is used for controlling the movement of the clamps and the robots on the sliding tables, the replacement of the welding tools of the robots, and the welding and transfer of the robots, so as to realize flexible welding of the body floor.

[0045] Specifically, in one embodiment of the present application, the first sliding table (2) is a clamp sliding table, and the first sliding table (2) is provided with a first loading position and a second loading position on the left and right sides, respectively.

[0046] Further, in one embodiment of the present application, the floor first-order clamp (1) and the floor second-order clamp (8) are provided with a speed reducer, the first sliding table (2) is provided with a rack, the driving gear of the speed reducer is engaged with the rack, and the speed reducer is controlled to operate by a control system. Under the control of the control system, the speed reducer drives the driving gear to rotate on the rack of the first sliding table (2), thereby driving the floor first-order clamp (1) and / or the floor second-order clamp (8) to slide on the first sliding table (2). The engagement of the gear of the speed reducer with the rack of the first sliding table (2) can realize quick control and conversion of starting and stopping of the floor first-order clamp (1) and / or the floor second-order clamp (8). In the above embodiment of the present application, the movement of the floor first-order clamp (1) and the floor second-order clamp (8) on the first sliding table (2) is realized by the engagement of the gear of the speed reducer with the rack of the sliding table. In other embodiments of the present application, the movement of the floor first-order clamp (1) and the floor second-order clamp (8) on the first sliding table (2) can also be realized by setting rollers, sliding blocks and the like driven by a power assembly to drive the movement of the floor first-order clamp (1) and the floor second-order clamp (8) on the first sliding table (2).

[0047] Further, in one embodiment of the present application, the first sliding table (2) is provided with a proximity switch (10), the floor first-order clamp (1) and the floor second-order clamp (8) are provided with proximity switch contacts (12) on the side close to each other, and the proximity switch (10) is in communication connection with the control system. Specifically, as shown in FIG. 1, the proximity switch (10) is arranged on the first sliding table (2), and the proximity switch contacts (12) are arranged on the side close to each other of the floor first-order clamp (1) and the floor second-order clamp (8). When the floor first-order clamp (1) and the floor second-order clamp (8) are in the position shown in FIG. 1, the proximity switch contacts (12) are in the state of being close to each other, and the proximity switch (10) is in the state of being closed. When the floor first-order clamp (1) and the floor second-order clamp (8) are in the position shown in FIG. 2, the proximity switch contacts (12) are in the state of being away from each other, and the proximity switch (10) is in the state of being opened. The proximity switch (10) is in communication connection with the control system, and the control system can control the proximity switch (10) to be opened or closed according to the state of the proximity switch (10). Figure 5 and Figure 7As shown, the first sliding table (2) is provided with a proximity switch (10) at the first welding position and the second welding position, and the floor first-order clamp (1) and the floor second-order clamp (8) are provided with a proximity switch contact (12) on the side close to each other. Under the control of the control system, the floor first-order clamp (1) and / or the floor second-order clamp (8) is driven by the power gear of the speed reducer to rotate on the rack of the first sliding table (2), and then the floor first-order clamp (1) and / or the floor second-order clamp (8) is driven to slide on the first sliding table (2). When the floor first-order clamp (1) and / or the floor second-order clamp (8) reaches the first welding position and / or the second welding position, the proximity switch contact (12) triggers the proximity switch (10), and the proximity switch (10) transmits the signal that the floor first-order clamp (1) and / or the floor second-order clamp (8) reaches the first welding position and / or the second welding position to the control system. The control system controls the speed reducer to stop rotating, and at this time, the floor first-order clamp (1) and / or the floor second-order clamp (8) stops at the first welding position and / or the second welding position, and the welding handling robot (3) and the welding robot (6) weld the device on the floor first-order clamp (1) and / or the floor second-order clamp (8) at the first welding position and / or the second welding position. The proximity switch and the proximity switch contact can make the floor first-order clamp (1) and / or the floor second-order clamp (8) accurately stop at the first welding position and / or the second welding position, and improve the welding efficiency of the floor first-order assembly and the floor assembly.

[0048] In other embodiments of the present application, if the movement of the floor first-order clamp (1) and the floor second-order clamp (8) on the first sliding table (2) is driven by the power assembly, the proximity switch (10) and the proximity switch contact (12) can still control the power assembly to start and stop by the control system to limit the position of the floor first-order clamp (1) and the floor second-order clamp (8) on the first sliding table (2).

[0049] Further, in a preferred embodiment of the present application, an out-of-position detection switch (13) is arranged between the two proximity switches (10) at the first welding position and the second welding position, and the out-of-position detection switch (13) is in communication connection with the control system. Under the control of the control system, the floor first-order clamp (1) and / or the floor second-order clamp (8) is driven by the power gear of the speed reducer to rotate on the rack of the first sliding table (2), and in turn drives the floor first-order clamp (1) and / or the floor second-order clamp (8) to slide on the first sliding table (2). When the floor first-order clamp (1) and / or the floor second-order clamp (8) reaches the first welding position and / or the second welding position, the proximity switch contact (12) triggers the proximity switch (10), and the proximity switch (10) transmits a signal to the control system that the floor first-order clamp (1) and / or the floor second-order clamp (8) has reached the first welding position and / or the second welding position. The control system controls the speed reducer to stop rotating. At this time, if the floor first-order clamp (1) and / or the floor second-order clamp (8) does not trigger the proximity switch, the floor first-order clamp (1) and / or the floor second-order clamp (8) passes through the first welding position and / or the second welding position, and reaches the out-of-position detection switch (13) to trigger the out-of-position detection switch (13). The out-of-position detection switch (13) transmits a signal to the control system, the control system reports an error, and each component stops running for maintenance.

[0050] Further, in a preferred embodiment of the present application, an anti-collision support (14) is arranged between the first welding position and the second welding position, specifically, the anti-collision support (14) is arranged between the two proximity switches (10), preferably, the anti-collision support (14) is arranged between the two out-of-position detection switches (13). Under the control of the control system, the floor first-order clamp (1) and / or the floor second-order clamp (8) is driven by the power gear rotating on the rack of the first sliding table (2), thereby driving the floor first-order clamp (1) and / or the floor second-order clamp (8) to slide on the first sliding table (2). When the floor first-order clamp (1) and / or the floor second-order clamp (8) reaches the first welding position and / or the second welding position, the proximity switch contact (12) triggers the proximity switch (10), and the proximity switch (10) transmits a signal to the control system that the floor first-order clamp (1) and / or the floor second-order clamp (8) has reached the first welding position and / or the second welding position. The control system controls the reduction gear to stop rotating. At this time, if the floor first-order clamp (1) and / or the floor second-order clamp (8) does not trigger the proximity switch, the floor first-order clamp (1) and / or the floor second-order clamp (8) passes through the first welding position and / or the second welding position and reaches the out-of-position detection switch (13), which triggers the out-of-position detection switch (13). If the floor first-order clamp (1) and / or the floor second-order clamp (8) is still moving at this time, the anti-collision support (14) prevents the collision between the floor first-order clamp (1) and the floor second-order clamp (8) to prevent the extrusion or damage of the clamp or device. Specifically, the anti-collision support (14) can be a mechanical limiting component. The anti-collision support (14) provides a safety distance between the floor first-order clamp (1) and the floor second-order clamp (8) to prevent the extrusion or damage of the clamp or device. The anti-collision support (14) can be a resilient member, such as sponge, rubber, spring, etc. The material or structure of the anti-collision support (14) of the present application is not limited to this, as long as it can suppress the movement of the floor first-order clamp (1) and / or the floor second-order clamp (8) and has a buffering function.

[0051] Further, in an optional embodiment of the present application, the floor first-order clamp (1) and the floor second-order clamp (8) are provided with guide rail sliders at the bottom, and the floor first-order clamp (1) and the floor second-order clamp (8) are slidably arranged on the first sliding table (2) through the guide rail sliders. Under the control of the control system, the floor first-order clamp (1) and / or the floor second-order clamp (8) are driven by the power gear to rotate on the rack of the first sliding table (2), and then the floor first-order clamp (1) and / or the floor second-order clamp (8) are driven to slide on the first sliding table (2). By arranging guide rail sliders at the bottom of the floor first-order clamp (1) and the floor second-order clamp (8), the floor first-order clamp (1) and the floor second-order clamp (8) can slide on the guide rail, which can reduce the movement resistance of the floor first-order clamp (1) and the floor second-order clamp (8) and realize the rapid displacement of the clamp.

[0052] In a preferred embodiment of the present application, the second sliding table (7) and the third sliding table (11) are arranged on both sides of the first sliding table (2), and the second sliding table (7) and the third sliding table (11) are parallel to the first sliding table (2).

[0053] Further, in an optional embodiment of the present application, the welding carrying robot (3) is slidably arranged on the second sliding table (7), and the welding robot (6) is slidably arranged on the third sliding table (11). The second sliding table (7) and the third sliding table (11) are displacement tracks of the welding carrying robot (3) and the welding robot (6). Under the control of the control system, the welding carrying robot (3) and the welding robot (6) can move to the designated position for welding through the structure and movement mode of the floor first-order clamp (1) and the floor second-order clamp (8).

[0054] It should be noted that the planning of specific welding points and welding paths belongs to the prior art, and will not be repeated here.

[0055] Further, in an optional embodiment of the present application, the welding transfer robot (3) is slidingly arranged on the second sliding table (7), the first welding tongs (4) and the gripper (5) are arranged on one side of the second sliding table (7) (the side away from the first sliding table (2)), the welding robot (6) is slidingly arranged on the third sliding table (11), and the second welding tongs (9) are arranged on one side of the third sliding table (11) (the side away from the first sliding table (2)); the welding transfer robot (3) and the welding robot (6) are provided with a first gun changing disc (15), and the first welding tongs (4), the second welding tongs (9) and the gripper (5) are provided with a second gun changing disc (16); specifically, the first gun changing disc (15) and the second gun changing disc (16) are connectable or separable devices controlled by communication of the robot and the control system, and the first gun changing disc (15) and the second gun changing disc (16) of the present application are integrated with compressed air, circulating water and signal cable interfaces, so that the functions of the gripper (5) for part grabbing, welding of the welding tongs and the like can be realized after the first gun changing disc (15) and the second gun changing disc (16) are connected,

[0056] Here, the gun changing disc needs to be specifically described. The gun changing disc is a robot tool quick changing device, also known as a tool quick changing disc, a quick changing tool disc, a quick changer, a quick changer, a quick changing clamp, a jig quick changer and the like. It is a flexible connecting tool used in the end effector in the industry robot industry. The robot tool quick changing disc is divided into a robot side (Master side) and a tool side (Tool side). The robot side is installed on the front end arm of the robot, and the tool side is installed on the execution tool (the tool is a welding tongs, a gripper and the like). The tool quick changing device can quickly realize the electrical, gas and liquid communication between the robot side and the execution tool. One robot side can be used in combination with multiple tool sides according to the actual situation of the user, increase the flexible manufacturing of the robot production line, increase the efficiency of the robot production line and reduce the production cost. In the embodiment of the present application, the first gun changing disc (15) is the robot side, and the second gun changing disc (16) is the tool side. Integrating compressed air, circulating water and signal cable interfaces on the gun changing disc belongs to the prior art, and there are mature products on the market for realizing the above functions, which will not be described here.

[0057] In an embodiment of the present application, the lengths of the second sliding table (7) and the third sliding table (11) are the same as or similar to or longer than the first sliding table (2), so that when the welding transfer robot (3) and the welding robot (6) are connected with the welding tongs or the gripper, the parts clamped on the floor one sequence clamp (1) when the floor one sequence clamp (1) is located at the first loading position or the parts clamped on the floor two sequence clamp (8) when the floor two sequence clamp (8) is located at the second loading position can be welded or gripped.

[0058] In one embodiment of the present application, the first gun changer (15) and the second gun changer (16) are provided with signal interfaces, and the welding transfer robot (3) and the welding robot (6) switch the welding tongs and / or grippers through the first gun changer (15) and the second gun changer (16).

[0059] In one embodiment of the present application, the number of the first welding tongs (4) and / or the second welding tongs (9) is not less than one, and the plurality of first welding tongs can be different models, which are used to realize the actual welding requirements in specific production, for example, in a certain model of Dongfeng Mengshi, the first welding tongs (4) and the second welding tongs (9) are both two welding tongs of different models, and the welding transfer robot (3) and the welding robot (6) switch the welding tongs of different models through the first gun changer (15) and the second gun changer (16) to realize different welding requirements during the welding process.

[0060] The body floor flexible welding tool of the present application designs a flexible tool of servo sliding table clamp + movable robot + welding gun / gripper quick change, realizes the displacement of the clamp by arranging the clamp on the sliding table, realizes the accessibility of the welding positions of each assembly in the workstation by the movable robot, and realizes the welding of parts at different positions of the floor by the welding gun / gripper quick change mode. The method of the present application realizes the welding of the floor assembly by only two robots and two welding stations, and saves the occupied space.

[0061] The present application combines the floor first sequence assembly, the floor second sequence assembly and the floor repair welding requirements in one station through the double flexible production mode of "clamp displacement" + "welding equipment displacement" and the tool structure, and realizes the automatic welding through one workstation.

[0062] Based on the above embodiment, the present application provides a body floor flexible welding method, which comprises the following steps:

[0063] The operator clamps the floor skeleton assembly and the floor panel assembly on the floor first sequence clamp (1), the control system controls the floor first sequence clamp (1) to move to the first welding position, the control system controls the welding transfer robot (3) to be connected with the first welding tongs (4) and the welding robot (6) to be connected with the second welding tongs (9), the floor skeleton assembly and the floor panel assembly are welded to obtain the floor first sequence assembly, the welding transfer robot (3) is connected with the gripper (5) to grasp the floor first sequence assembly, the welding robot (6) is connected with the second welding tongs (9) to repair weld the floor first sequence assembly, and the welding transfer robot (3) transports the floor first sequence assembly to the floor second sequence clamp (8).

[0064] The operator clamps the front wall assembly, the left side wall assembly, the right side wall assembly and the floor first sequence assembly on the floor second sequence clamp (8), the floor second sequence clamp (8) moves to the second welding position, the control system controls the welding transfer robot (3) to be connected with the first welding clamp (4), the welding robot (6) to be connected with the second welding clamp (9), and the floor first sequence assembly is welded with the front wall assembly, the left side wall assembly and the right side wall assembly to obtain the floor assembly.

[0065] The floor first sequence clamp (1), the welding transfer robot (3), the first welding clamp (4), the gripper (5), the welding robot (6), the floor second sequence clamp (8) and the second welding clamp (9) are homed, and the welding is completed.

[0066] Specifically, as shown in Figure 4 and Figure 6 The floor first sequence clamp (1) is initially positioned at the first loading position, and the floor second sequence clamp (8) is initially positioned at the second loading position, and after assembling parts thereon, it is moved to the welding position for welding by the robot.

[0067] It should be noted that when the floor framework assembly and the floor panel assembly are welded, and the front wall assembly, the left side wall assembly, the right side wall assembly and the floor first sequence assembly are welded, the relative positions of the floor framework assembly, the floor panel assembly, the front wall assembly, the left side wall assembly, the right side wall assembly and the floor first sequence assembly, the welding points and the clamping positions on the clamps are prior art in the field, and will not be described here.

[0068] The "servo sliding table clamp + mobile robot + welding gun / gripper quick change" combined flexible welding method of the vehicle body floor of the application solves the problems of overproduction, space and energy waste of the production line with low production rhythm.

[0069] Those skilled in the art will readily understand that the above description is only a preferred embodiment of the application and is not intended to limit the application, and any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A body floor flex welding fixture, characterized by, The utility model relates to a flexible welding device for vehicle body floor, which comprises a moving mechanism, a clamping mechanism, a welding mechanism and a control system. The moving mechanism comprises a first sliding table (2), a second sliding table (7) and a third sliding table (11), the second sliding table (7) and the third sliding table (11) are arranged on both sides of the first sliding table (2), the length of the second sliding table (7) and the third sliding table (11) is the same as or longer than that of the first sliding table (2). The clamping mechanism comprises a first floor clamping device (1) and a second floor clamping device (8), the first floor clamping device (1) and the second floor clamping device (8) are respectively arranged on the first sliding table (2) in a sliding mode. The welding mechanism comprises a welding transfer robot (3), a welding robot (6), a first welding torch (4), a second welding torch (9), a first gun changing disc (15), a second gun changing disc (16) and a gripper (5), the welding transfer robot (3) is arranged on the second sliding table (7) in a sliding mode, the first welding torch (4) and the gripper (5) are arranged on one side of the second sliding table (7), the welding robot (6) is arranged on the third sliding table (11) in a sliding mode, and the second welding torch (9) is arranged on one side of the third sliding table (11); the welding transfer robot (3) and the welding robot (6) are provided with the first gun changing disc (15), the first welding torch (4), the second welding torch (9) and the gripper (5) are provided with the second gun changing disc (16), the first gun changing disc (15) and the second gun changing disc (16) are provided with a signal interface, and the welding transfer robot (3) and the welding robot (6) switch the welding torch and / or the gripper through the first gun changing disc (15) and the second gun changing disc (16). The control system is used for controlling the movement of the clamping device and the robot on the sliding table, the replacement of the welding tool of the robot, the welding and transfer of the robot, realizing flexible welding of the vehicle body floor, combining the first floor assembly and the second floor assembly and the floor repair welding requirement in one station through the double-flexible production mode of the clamping device and the welding equipment, and realizing automatic welding through one workstation. The welding method of the tooling comprises the following steps: An operator clamps the floor framework assembly and the floor panel assembly on the first floor clamping device (1), the control system controls the first floor clamping device (1) to move to a first welding position, the control system controls the welding transfer robot (3) to be connected with the first welding torch (4) and the welding robot (6) to be connected with the second welding torch (9), the floor framework assembly and the floor panel assembly are welded to obtain the first floor assembly, the welding transfer robot (3) is connected with the gripper (5) to pick up the first floor assembly, the welding robot (6) is connected with the second welding torch (9) to perform repair welding on the first floor assembly, and the welding transfer robot (3) transports the first floor assembly to the second floor clamping device (8). ​ The operator clamps the front wall assembly, left side wall assembly, right side wall assembly and floor one sequence assembly on the floor two sequence clamp (8), moves the floor two sequence clamp (8) to the second welding position, controls the welding transfer robot (3) to be connected with the first welding tongs (4), controls the welding robot (6) to be connected with the second welding tongs (9), and welds the floor one sequence assembly with the front wall assembly, left side wall assembly and right side wall assembly to obtain the floor assembly. The floor one sequence clamp (1), welding transfer robot (3), first welding tongs (4), gripper (5), welding robot (6), floor two sequence clamp (8) and second welding tongs (9) are homed, and the welding is completed.

2. The flexible welding fixture for a vehicle body floor as defined in claim 1, wherein The floor one sequence clamp (1) and the floor two sequence clamp (8) are provided with a speed reducer, the first sliding table (2) is provided with a rack, the power gear of the speed reducer is engaged with the rack, and the speed reducer is controlled to operate by the control system.

3. The body floor flexibility welding fixture of claim 2, wherein, The first sliding table (2) is provided with a proximity switch (10), the proximity switch (10) is provided with a proximity switch contact (12) on one side close to the floor one sequence clamp (1) and the floor two sequence clamp (8), and the proximity switch (10) is in communication connection with the control system.

4. The body floor flexibility welding tooling of claim 3, wherein, The first welding position is provided with a proximity switch (10), and the proximity switch contact (12) of the floor one sequence clamp (1) triggers the proximity switch (10) when the floor one sequence clamp (1) slides to the first welding position.

5. The body floor flexibility welding fixture of claim 4, wherein, The second welding position is provided with a proximity switch (10), and the proximity switch contact (12) of the floor two sequence clamp (8) triggers the proximity switch (10) when the floor two sequence clamp (8) slides to the second welding position.

6. The body floor flexibility welding fixture of claim 5, wherein, The two proximity switches (10) are provided with an out-of-position detection switch (13) therebetween, and the out-of-position detection switch (13) is in communication connection with the control system.

7. The body floor flexibility welding fixture of claim 1, wherein, The first welding position and the second welding position are provided with a collision prevention support (14) therebetween.

8. The body floor flexibility welding fixture of claim 1, wherein, The floor one sequence clamp (1) and the floor two sequence clamp (8) are provided with guide rail sliding blocks at the bottom, and the floor one sequence clamp (1) and the floor two sequence clamp (8) are slidably arranged on the first sliding table (2) through the guide rail sliding blocks.

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