Body welding main assembling device and system

Abstract

The present application relates to a kind of car body welding main assembly device and system, car body welding main assembly device includes servo clamping assembly, special clamping assembly and special positioning assembly, servo clamping assembly includes first servo module and the clamping mechanism connected with first servo module, first servo module is used to drive clamping mechanism movement along first direction and second direction;Special positioning assembly includes first special positioning component and second special positioning component, first special positioning component is used for the positioning of first vehicle body, and in the main assembly of second vehicle body, it is in the state of avoiding, special clamping assembly and second special positioning component are used for the clamping and positioning of second vehicle body, and in the main assembly of first vehicle body, it is in the state of avoiding.In the embodiment of the present application, two or more vehicle models share a servo clamping assembly, without setting clamping assembly for each vehicle model, reducing the number of fixtures, reducing the floor area of fixture storage location.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile production, in particular to a body welding main assembly device and system. BACKGROUND

[0002] At present, the frequency of automobile upgrading is high, therefore, when planning to build a welding production line, the welding production line is usually planned in the direction of multi-model co-line production.

[0003] The body welding main assembly station is one of the most important and complex stations in the welding production line. The body welding main assembly station usually adopts the OPENGATE scheme, in which the clamp on the main assembly station is a rigid clamp, and a set of clamps is designed for each vehicle model. When mixed-line production changes the vehicle model, the clamps need to be switched as a whole, and the corresponding clamp storage positions need to be increased in the line body according to the number of co-line vehicle models.

[0004] However, in the above-mentioned body welding main assembly station, the number of clamps is large, and the land area of the clamp storage position is large, thereby causing the construction cost and land area of the body welding main assembly station to be large. SUMMARY

[0005] One of the purposes of the present application is to provide a body welding main assembly device to at least solve the technical problem of large construction cost and land area of the body welding main assembly station in the prior art; the second purpose is to provide a body welding main assembly system.

[0006] In order to achieve the above-mentioned purposes, the technical scheme adopted by the present application is as follows:

[0007] A body welding main assembly device, comprising a servo clamping assembly, a special clamping assembly and a special positioning assembly, the servo clamping assembly comprising a first servo module and a clamping mechanism connected with the first servo module, the first servo module being used to drive the clamping mechanism to move in a first direction and a second direction, the first direction being perpendicular to the second direction;

[0008] The special positioning assembly comprises a first special positioning member and a second special positioning member, the first special positioning member being used for positioning the body of the first vehicle model and being in an avoiding state when the body of the second vehicle model is main assembled, the special clamping assembly and the second special positioning member being used for clamping and positioning the body of the second vehicle model and being in an avoiding state when the body of the first vehicle model is main assembled.

[0009] Further, it further comprises a servo support assembly, the servo support assembly comprising a second servo module and a support block connected with the second servo module, the second servo module being used to drive the support block to move in the second direction and a third direction, the third direction being perpendicular to the first direction and the second direction.

[0010] Further, the first gripper comprises a third servo module, a first hook pin assembly connected with the third servo module, a fourth servo module and a second hook pin assembly connected with the fourth servo module.

[0011] The first hook pin assembly is used for clamping and positioning the rear cross beam of the top cover, the third servo module is used for driving the first hook pin assembly to move along the first direction and the third direction, the second hook pin assembly is used for clamping and positioning the position plate, and the fourth servo module is used for driving the second hook pin assembly to move along the first direction and the third direction.

[0012] Further, the first hook pin assembly comprises two first hook pins which are arranged at intervals along the second direction, the second hook pin assembly comprises two second hook pins which are arranged at intervals along the second direction, and the first hook pin assembly and the second hook pin assembly are arranged at intervals along the first direction.

[0013] Further, the second gripper comprises a fifth servo module and a third hook pin assembly connected with the fifth servo module, the third hook pin assembly is used for clamping and positioning the front cross beam of the top cover, and the fifth servo module is used for driving the third hook pin assembly to move along the first direction and the third direction.

[0014] Further, two oppositely arranged clamp frames are further included, and a positioning mechanism is arranged on each clamp frame, the positioning mechanism comprises a first positioning mechanism, and the first positioning mechanisms on the two clamp frames are used for positioning the first gripper.

[0015] The first positioning mechanism comprises a first positioning column and a second positioning column, a gripper positioning pin, a first positioning surface and a second positioning surface are arranged on the first positioning column, a third positioning surface is arranged on the second positioning column, the gripper positioning pin extends along the third direction, the first positioning surface, the second positioning surface and the third positioning surface are parallel and perpendicular to the third direction.

[0016] Further, the positioning mechanism further comprises a second positioning mechanism, the second positioning mechanisms on the two clamp frames are used for positioning the second gripper, and the second positioning mechanism comprises a third positioning column which has the same structure as the first positioning column.

[0017] Further, the third hook pin assembly comprises two third hook pins which are arranged at intervals along the second direction.

[0018] Further, the servo positioning assembly comprises a sixth servo module and a vehicle body positioning pin connected to the sixth servo module, and the sixth servo module is configured to drive the vehicle body positioning pin to move in the first direction and the third direction.

[0019] Further, the servo positioning assembly, the servo support assembly, the special-purpose clamping assembly, the servo clamping assembly, the special-purpose positioning assembly and the positioning mechanism are symmetrically arranged along the second direction.

[0020] Further, the clamping mechanism comprises a first clamping ball and a second clamping ball, and the first clamping ball and the second clamping ball are configured to clamp the vehicle body, and the first clamping ball and the second clamping ball are in point contact with the vehicle body when clamping.

[0021] Further, the support block has a positioning support surface, and the positioning support surface is perpendicular to the second direction, and the positioning support surface is configured to support the overlap between the side wall assembly and the rocker assembly.

[0022] A vehicle body welding main assembly system, which comprises the vehicle body welding main assembly device according to any one of the above.

[0023] The beneficial effects of the embodiments of the present application are as follows:

[0024] In the embodiments of the present application, the first servo module is configured to drive the clamping mechanism to move in the first direction and the second direction, thereby adjusting the position of the clamping mechanism, so as to adapt to the clamping of vehicle bodies of different vehicle models, and realize that two or more vehicle models share one servo clamping assembly, without the need to set a clamping assembly for each vehicle model, thereby reducing the number of clamps and the construction cost of the vehicle body welding main assembly device. In addition, since two or more vehicle models share one servo clamping assembly, no additional clamping assembly needs to be placed in the clamp storage library, thereby reducing the floor area of the clamp storage library and the floor area of the vehicle body welding main assembly device. In addition, when switching the main assembly to a different vehicle model, the first special-purpose positioning member, the special-purpose clamping assembly and the second special-purpose positioning member do not need to be disassembled, thereby improving the efficiency of switching the main assembly to a different vehicle model. In addition, when a new vehicle model is introduced subsequently, the position of the clamping mechanism in the servo clamping assembly is adjusted by the first servo module, so as to match the newly introduced vehicle model, thereby improving the efficiency of introducing a new vehicle model. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Part of the structure schematic diagram of the vehicle body welding main assembly device provided by the embodiments of the present application;

[0026] Figure 2 Structure diagram of the servo clamping assembly provided by the embodiment of the present application;

[0027] Figure 3 Structure diagram of the clamping mechanism in the servo clamping assembly provided by the embodiment of the present application in different positions;

[0028] Figure 4 Structure diagram of the servo supporting assembly provided by the embodiment of the present application;

[0029] Figure 5 Structure diagram of the supporting block in the servo supporting assembly provided by the embodiment of the present application in different positions;

[0030] Figure 6 Structure diagram of the servo positioning assembly provided by the embodiment of the present application;

[0031] Figure 7 Structure diagram of the vehicle body positioning pin in the servo positioning assembly provided by the embodiment of the present application in different positions;

[0032] Figure 8 Structure diagram of the vehicle body welding main assembly device when main assembling the first vehicle body provided by the embodiment of the present application;

[0033] Figure 9 Structure diagram of the vehicle body welding main assembly device when main assembling the second vehicle body provided by the embodiment of the present application;

[0034] Figure 10 Structure diagram of the first gripper provided by the embodiment of the present application;

[0035] Figure 11 Top view diagram of the first gripper when grabbing the roof rear cross beam and the storage plate provided by the embodiment of the present application;

[0036] Figure 12 Structure diagram of the second gripper provided by the embodiment of the present application;

[0037] Figure 13 Structure diagram of the first positioning mechanism provided by the embodiment of the present application;

[0038] Figure 14 Top view diagram of the vehicle body welding main assembly device provided by the embodiment of the present application.

[0039] Wherein, 1- servo positioning assembly, 11- vehicle body positioning pin, 12- sixth servo module, 121- fifth X-direction movement mechanism, 122- fifth Z-direction movement mechanism, 2- servo support assembly, 21- support block, 211- positioning support surface, 22- second servo module, 221- second Y-direction movement mechanism, 222- first Z-direction movement mechanism, 3- special-purpose clamping assembly, 4- servo clamping assembly, 41- clamping mechanism, 411- first clamping ball, 412- second clamping ball, 42- first servo module, 421- first X-direction movement mechanism, 422- first Y-direction movement mechanism, 5- special-purpose positioning assembly, 51- first special-purpose positioning member, 52- second special-purpose positioning member, 6- positioning mechanism, 61- first positioning mechanism, 611- first positioning column, 6111- gripper positioning pin, 6112- first positioning surface, 6113- second positioning surface, 612- second positioning column, 6121- third positioning surface, 62- second positioning mechanism, 7- first gripper, 71- third servo module, 711- second X-direction movement mechanism, 712- second Z-direction movement mechanism, 72- first hook pin, 73- fourth servo module, 731- third X-direction movement mechanism, 732- third Z-direction movement mechanism, 74- second hook pin, 75- first docking portion, 76- main body frame, 8- clamp frame, 9- second gripper, 91- fifth servo module, 911- fourth X-direction movement mechanism, 912- fourth Z-direction movement mechanism, 92- third hook pin, 93- second docking portion, 94- main body rod, 100- first vehicle body, 200- second vehicle body, 300- roof front cross beam, 400- roof rear cross beam, 500- storage plate. DETAILED DESCRIPTION

[0040] Other advantages and effects of the present application can be easily understood by those skilled in the art from the above description of the embodiments of the present application. The present application can also be implemented or applied in other different embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, but not for limiting the protection scope of the present application.

[0041] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and the drawings only show the components related to the present application, but are not drawn according to the number, shape and size of the components in actual implementation. The type, number and ratio of the components in actual implementation can be arbitrarily changed, and the layout type of the components can be more complex.

[0042] With the rapid development of the automobile industry, the frequency of automobile upgrading is higher, which greatly shortens the product life cycle of automobiles. Therefore, when planning a new welding production line, the welding production line is usually planned in the direction of multi-model co-line production. The main body welding main assembly station is one of the most important and complex stations in the welding production line. The main assembly station usually adopts an OPEN GATE scheme. In this scheme, the clamp on the main assembly station is a rigid clamp, and a set of clamps corresponding to each vehicle type is designed. When mixed-line production changes the vehicle type, the clamps need to be switched as a whole, and the corresponding clamp storage positions need to be increased in the line body according to the number of co-line vehicle types. For example, when the main body welding main assembly station is used for A vehicle type main assembly, a set of clamps corresponding to the A vehicle type is used, and a set of clamps corresponding to the B vehicle type is placed in the clamp storage position. When switching the vehicle type, that is, when the main body welding main assembly station is switched from A vehicle type main assembly to B vehicle type main assembly, the main body welding main assembly station needs to switch a set of clamps corresponding to the A vehicle type to a set of clamps corresponding to the B vehicle type, and place the set of clamps corresponding to the A vehicle type in the clamp storage position. However, in the above-mentioned main body welding main assembly station, the number of clamps is large, and the area occupied by the clamp storage position is large, thereby causing the construction cost and the area occupied by the main body welding main assembly station to be large. In order to solve the above-mentioned problems, the embodiment of the present application provides a main body welding main assembly device and system.

[0043] In a first aspect, with reference to Figure 1 , Figure 2 , Figure 3 , Figure 8 and Figure 9 , the embodiment of the present application provides a main body welding main assembly device, which comprises a servo clamping assembly 4, a special clamping assembly 3 and a special positioning assembly 5. The servo clamping assembly 4 comprises a first servo module 42 and a clamping mechanism 41 connected with the first servo module 42. The first servo module 42 is used to drive the clamping mechanism 41 to move in a first direction and a second direction. The first direction is perpendicular to the second direction.

[0044] The special positioning assembly 5 comprises a first special positioning member 51 and a second special positioning member 52. The first special positioning member 51 is used for positioning the first vehicle body 100 and is in an avoiding state when the second vehicle body 200 is main assembled. The special clamping assembly 3 and the second special positioning member 52 are used for clamping and positioning the second vehicle body 200 and are in an avoiding state when the first vehicle body 100 is main assembled.

[0045] Specifically, the vehicle body welding main assembly position is provided with the vehicle body welding main assembly device to realize the vehicle body welding main assembly of the automobile. The vehicle body welding main assembly refers to welding the lower vehicle body assembly, left / right side wall assembly and rear wall, top cover several beams to form a vehicle body framework. The vehicle body welding main assembly device provided by the embodiment of the application is used for the vehicle body welding main assembly of two or more vehicle models. The servo clamping assembly 4, the special clamping assembly 3 and the special positioning assembly 5 are all installed on the clamp frame 8. The clamp frame 8 is provided with a plurality of different clamps, including the servo positioning assembly 1, the servo supporting assembly 2, the special clamping assembly 3, the servo clamping assembly 4, the special positioning assembly 5, the first gripper 7 and the second gripper 9.

[0046] The first direction is specifically an X direction, and the direction indicated by an X arrow in Figure 8 The second direction is specifically a Y direction, and the direction indicated by a Y arrow in Figure 8 The first servo module 42 includes a first X direction movement mechanism 421 and a first Y direction movement mechanism 422. The first X direction movement mechanism 421 is installed on the clamp frame 8, and the first Y direction movement mechanism 422 is connected with the first X direction movement mechanism 421. The clamping mechanism 41 is connected with the first Y direction movement mechanism 422. The first X direction movement mechanism 421 is used to drive the first Y direction movement mechanism 422 and the clamping mechanism 41 on the first Y direction movement mechanism 422 to move along the X direction, i.e., the first direction. The first Y direction movement mechanism 422 is used to drive the clamping mechanism 41 to move along the Y direction, i.e., the second direction. The first X direction movement mechanism 421 and the first Y direction movement mechanism 422 can drive the movement of the clamping mechanism 41 along the X direction and the Y direction. The first X direction movement mechanism 421 and the first Y direction movement mechanism 422 can both be realized by a servo motor and a linear module.

[0047] The clamping mechanism 41 is used to clamp the vehicle bodies of different vehicle models. For example, referring to Figure 3 , the clamping mechanism 41 clamps the first vehicle body 100 when at the e position, and clamps the second vehicle body 200 when at the f position. The clamping mechanism 41 is specifically used to clamp the side wall rear door frame C pillar area on the vehicle body. Referring to Figure 3 The servo clamping assembly 4 in the vehicle body welding main assembly device provided by the embodiment of the application can already meet the sharing of two vehicle models. When a new vehicle model or an upgraded vehicle model of an existing vehicle model is introduced, the position of the clamping mechanism 41 in the servo clamping assembly 4 can be adjusted by the first servo module 42, so as to match the newly introduced vehicle model.

[0048] The first special positioning member 51 is used for the positioning of the first vehicle body 100 and is not used for the positioning of other vehicle models. The special clamping assembly 3 and the second special positioning member 52 are used for the clamping and positioning of the second vehicle body 200. Referring to Figure 8In the main assembly of the first vehicle body 100, the special clamping assembly 3 and the second special positioning member 52 are in the avoiding state, at this time, the special clamping assembly 3 and the second special positioning member 52 are not in contact with the first vehicle body 100, so the main assembly of the first vehicle body 100 is not affected. Referring to Figure 9 In the main assembly of the second vehicle body 200, the first special positioning member 51 is in the avoiding state, at this time, the first special positioning member 51 is not in contact with the second vehicle body 200, so the main assembly of the second vehicle body 200 is not affected. Therefore, the first special positioning member 51, the special clamping assembly 3 and the second special positioning member 52 do not need to be disassembled when the main assembly of different vehicle types is switched, thereby improving the efficiency of switching the main assembly of different vehicle types.

[0049] The avoiding state of the first special positioning member 51, the avoiding state of the special clamping assembly 3 and the avoiding state of the second special positioning member 52 are all rigid avoiding states, that is, the structure of the first special positioning member 51, the special clamping assembly 3 and the second special positioning member 52 is unchanged, and only the first special positioning member 51 is designed to avoid the second vehicle body 200, and the special clamping assembly 3 and the second special positioning member 52 avoid the first vehicle body 100 according to the shape and size of the vehicle body itself.

[0050] In the embodiment of the present application, the first servo module 42 is provided, which can drive the clamping mechanism 41 to move in the first direction and the second direction, thereby adjusting the position of the clamping mechanism 41, so as to adapt to the clamping of the vehicle body of different vehicle types, realizing that two or more vehicle types share one servo clamping assembly 4, without the need to set a clamping assembly for each vehicle type, thereby reducing the number of clamps and the construction cost of the vehicle body welding main assembly device; in addition, two or more vehicle types share one servo clamping assembly 4, so that when the vehicle body of one of the vehicle types is welded and assembled, no additional clamping assembly needs to be placed in the clamp storage library, thereby the land area of the clamp storage library can be smaller, reducing the land area of the clamp storage library, and further reducing the land area of the vehicle body welding main assembly device. In addition, when a new vehicle type is introduced subsequently, the position of the clamping mechanism 41 in the servo clamping assembly 4 is adjusted by the first servo module 42, which can match the newly introduced vehicle type, thereby improving the efficiency of introducing new vehicle types.

[0051] Referring to Figure 1 , Figure 4 and Figure 5 The vehicle body welding main assembly device provided by the embodiment of the present application further comprises a servo support assembly 2, the servo support assembly 2 comprises a second servo module 22 and a support block 21 connected with the second servo module 22, and the second servo module 22 is used to drive the support block 21 to move in the second direction and the third direction, and the third direction is perpendicular to the first direction and the second direction.

[0052] Specifically, the servo support assembly 2 is mounted on the fixture frame 8. The third direction is specifically the Z-axis, see reference... Figure 8 The direction indicated by the Z-arrow. When assembling the main body of the vehicle body using the main body welding assembly device provided in this embodiment of the invention, the X, Y, and Z directions of the main body welding assembly device are aligned with the length, width, and height directions of the vehicle body, respectively. The second servo module 22 includes a second Y-axis motion mechanism 221 and a first Z-axis motion mechanism 222. The first Z-axis motion mechanism 222 is mounted on the fixture frame 8, and the second Y-axis motion mechanism 221 is connected to the first Z-axis motion mechanism 222. The support block 21 is connected to the second Y-axis motion mechanism 221. The first Z-axis motion mechanism 222 is used to drive the second Y-axis motion mechanism 221 and the support block 21 thereon to move along the Z-axis (i.e., the third direction). The second Y-axis motion mechanism 221 is used to drive the support block 21 to move along the Y-axis. The first Z-axis motion mechanism 222 and the second Y-axis motion mechanism 221 can drive the movement of the support block 21 along the Z and Y directions. Both the second Y-axis motion mechanism 221 and the first Z-axis motion mechanism 222 can be implemented using servo motors and linear modules.

[0053] Support block 21 is used to support the overlap between the side panel assembly and the sill assembly on the body of different vehicle models, for example, referring to... Figure 5 When the support block 21 is in position c, it supports the body 100 of the first vehicle model; when the support block 21 is in position d, it supports the body 200 of the second vehicle model. In this embodiment of the invention, by setting the second servo module 22, the support block 21 can be driven to move along the second direction and the third direction, thereby realizing the adjustment of the position of the support block 21, thus adapting to the support of different vehicle models, realizing the sharing of one servo support component 2 for two or more vehicle models, further reducing the number of clamps and reducing the footprint of the clamp storage space.

[0054] Reference Figure 10 , Figure 11 and Figure 14 The vehicle body welding main assembly device provided in this embodiment of the invention also includes a first gripper 7. The first gripper 7 includes a third servo module 71, a first hook assembly connected to the third servo module 71, a fourth servo module 73, and a second hook assembly connected to the fourth servo module 73. The first hook assembly is used to clamp and position the rear crossbeam 400 of the top cover. The third servo module 71 is used to drive the first hook assembly to move along a first direction and a third direction. The second hook assembly is used to clamp the positioning plate 500. The fourth servo module 73 is used to drive the second hook assembly to move along the first direction and a third direction.

[0055] Specifically, the third servo module 71 and the fourth servo module 73 are independent of each other. The third servo module 71 comprises a second X-direction movement mechanism 711 and a second Z-direction movement mechanism 712, the first gripper 7 comprises a main frame 76, the second X-direction movement mechanism 711 is installed on the main frame 76, the second Z-direction movement mechanism 712 is connected with the second X-direction movement mechanism 711, the first hook pin assembly is connected with the second Z-direction movement mechanism 712, the second X-direction movement mechanism 711 is used for driving the second Z-direction movement mechanism 712 and the first hook pin assembly on the second Z-direction movement mechanism 712 to move along the X-direction, and the second Z-direction movement mechanism 712 is used for driving the first hook pin assembly to move along the Z-direction.

[0056] The fourth servo module 73 comprises a third X-direction movement mechanism 731 and a third Z-direction movement mechanism 732, the third X-direction movement mechanism 731 is installed on the main frame 76, the third Z-direction movement mechanism 732 is connected with the third X-direction movement mechanism 731, the second hook pin assembly is connected with the third Z-direction movement mechanism 732, the third X-direction movement mechanism 731 is used for driving the third Z-direction movement mechanism 732 and the second hook pin assembly on the third Z-direction movement mechanism 732 to move along the X-direction, and the third Z-direction movement mechanism 732 is used for driving the second hook pin assembly to move along the Z-direction.

[0057] The second Z-direction movement mechanism 712, the second X-direction movement mechanism 711, the third Z-direction movement mechanism 732 and the third X-direction movement mechanism 731 can be realized in the mode of a servo motor and a linear module.

[0058] In the embodiment of the application, the top cover rear cross beam 400 and the storage plate 500 share the first gripper 7, so that the structure of the vehicle body welding main assembly device is simplified. In addition, through the arrangement of the third servo module 71 and the fourth servo module 73, the first hook pin assembly and the second hook pin assembly can be driven to move along the first direction and the third direction, so as to adjust the positions of the first hook pin assembly and the second hook pin assembly, thereby adapting to the clamping and positioning of the top cover rear cross beam 400 and the storage plate 500 of different vehicle models, realizing that two or more vehicle models share one first gripper 7, further reducing the number of clamps, and reducing the floor area occupied by the clamp storage library.

[0059] Referring to Figure 10 and Figure 11 The first hook pin assembly comprises two first hook pins 72, and the two first hook pins 72 are arranged at intervals along the second direction. The second hook pin assembly comprises two second hook pins 74, and the two second hook pins 74 are arranged at intervals along the second direction. The first hook pin assembly and the second hook pin assembly are arranged at intervals along the first direction.

[0060] Specifically, the two first hooks 72 are spaced apart along the Y direction, and the two second hooks 74 are spaced apart along the Y direction. The two first hooks 72 can be at the same height, and the two second hooks 74 can be at the same height. The heights of the two first hook assemblies along the Z direction when clamping the rear roof cross beam 400 and the heights of the two second hook assemblies along the Z direction when clamping the storage plate 500 can be set according to actual needs. The two first positioning holes corresponding to the two first hooks 72 on the rear roof cross beam 400 are spaced apart along the Y direction, and the two second positioning holes corresponding to the two second hooks 74 on the storage plate 500 are spaced apart along the Y direction.

[0061] For different vehicle models, the distance between the two first positioning holes on the rear roof cross beam 400 is fixed, and the distance between the two second positioning holes on the storage plate 500 is fixed, thereby realizing flexible positioning compatibility of the rear roof cross beam and the storage plate in X, Y and Z directions in different vehicle models. In addition, by fixing the distance between the two first positioning holes on the rear roof cross beam 400 and the distance between the two second positioning holes on the storage plate 500, it is not necessary to set a Y direction movement mechanism, thereby simplifying the structure of the vehicle body welding main assembly device and reducing the investment cost of the servo module.

[0062] Referring to Figure 12 With Figure 14 , the vehicle body welding main assembly device provided by the embodiment of the present application further comprises a second gripper 9, the second gripper 9 comprising a fifth servo module 91 and a third hook assembly connected with the fifth servo module 91, the third hook assembly being used for clamping and positioning a front roof cross beam 300, and the fifth servo module 91 being used for driving the third hook assembly to move along a first direction and a third direction.

[0063] Specifically, the fifth servo module 91 comprises a fourth X direction movement mechanism 911 and a fourth Z direction movement mechanism 912, and the second gripper 9 comprises a main rod 94, the fourth X direction movement mechanism 911 being installed on the main rod 94, the fourth Z direction movement mechanism 912 being connected with the fourth X direction movement mechanism 911, and the third hook assembly being connected with the fourth Z direction movement mechanism 912, the fourth X direction movement mechanism 911 being used for driving the fourth Z direction movement mechanism 912 and the third hook assembly thereon to move along the X direction, and the fourth Z direction movement mechanism 912 being used for driving the third hook assembly to move along the Z direction. The fourth X direction movement mechanism 911 and the fourth Z direction movement mechanism 912 can drive the third hook assembly to move along the Z direction and the X direction, and the fourth X direction movement mechanism 911 and the fourth Z direction movement mechanism 912 can both be realized by a servo motor and a linear module.

[0064] Referring to Figure 12The top cover front cross beam 300 of the first vehicle model is located at the g position, and the top cover front cross beam 300 of the second vehicle model is located at the h position. In the embodiment of the present application, the fifth servo module 91 is arranged to drive the third hook pin assembly to move in the first direction and the third direction, thereby adjusting the position of the third hook pin assembly, so as to adapt to the clamping positioning of the top cover front cross beams of different vehicle models, and the two or more vehicle models share one second gripper 9, thereby further reducing the number of clamps and the floor area of the clamp storage library.

[0065] With reference to Figure 1 , Figure 6 and Figure 7 , the body welding main assembly device provided by the embodiment of the present application further comprises a servo positioning assembly 1, the servo positioning assembly 1 comprises a sixth servo module 12 and a body positioning pin 11 connected with the sixth servo module 12, and the sixth servo module 12 is used to drive the body positioning pin 11 to move in the first direction and the third direction.

[0066] Specifically, the servo positioning assembly 1 is installed on the clamp frame 8, and the body positioning pin 11 is specifically used to cooperate with the positioning hole at the A-pillar of the upper side wall of the vehicle. The sixth servo module 12 comprises a fifth X-direction movement mechanism 121 and a fifth Z-direction movement mechanism 122, the fifth X-direction movement mechanism 121 is installed on the clamp frame 8, the fifth Z-direction movement mechanism 122 is connected with the fifth X-direction movement mechanism 121, and the body positioning pin 11 is connected with the fifth Z-direction movement mechanism 122. The fifth X-direction movement mechanism 121 is used to drive the fifth Z-direction movement mechanism 122 and the body positioning pin 11 thereon to move in the X direction, and the fifth Z-direction movement mechanism 122 is used to drive the body positioning pin 11 to move in the Z direction. The fifth X-direction movement mechanism 121 and the fifth Z-direction movement mechanism 122 can drive the body positioning pin 11 to move in the Z direction and the X direction. The fifth X-direction movement mechanism 121 and the fifth Z-direction movement mechanism 122 can both be realized by a servo motor and a linear module.

[0067] With reference to Figure 7 , the body positioning pin 11 positions the first vehicle body 100 when at the a position, and positions the second vehicle body 200 when at the b position. In the embodiment of the present application, the sixth servo module 12 is arranged to drive the body positioning pin 11 to move in the first direction and the third direction, thereby adjusting the position of the body positioning pin 11, so as to adapt to the positioning of the vehicle bodies of different vehicle models, and the two or more vehicle models share one servo positioning assembly 1, thereby further reducing the number of clamps and the floor area of the clamp storage library.

[0068] With reference to Figure 1 , Figure 8 , Figure 9 , Figure 13 and Figure 14The vehicle body welding main assembling device provided by the embodiment of the present application further comprises two oppositely arranged clamp frames 8, each of which is provided with a positioning mechanism 6, and the positioning mechanism 6 comprises a first positioning mechanism 61, and the first positioning mechanisms 61 on the two clamp frames 8 are used for positioning the first gripper 7.

[0069] Specifically, the material of the clamp frame 8 is steel. The first positioning face 6112, the second positioning face 6113 and the third positioning face 6121 are all perpendicular to the Z direction. Referring to Figure 10 The two ends of the main frame 76 of the first gripper 7 are respectively provided with two first butt joints 75, and the two first butt joints 75 are respectively matched with the first positioning mechanisms 61 on the two clamp frames 8, so as to realize the positioning of the first gripper 7. In the embodiment of the present application, the roof rear cross beam and the storage plate adopt the gripper positioning mode, and the clamp frame 8 only needs to be provided with the first positioning mechanisms 61 for positioning the first gripper 7, so that the overall structure of the clamp frame 8 is simplified.

[0070] Referring to Figure 1 and Figure 14 The positioning mechanism 6 further comprises a second positioning mechanism 62, and the second positioning mechanisms 62 on the two clamp frames 8 are used for positioning the second gripper 9, and the second positioning mechanism 62 comprises a third positioning column which has the same structure as the first positioning column 611.

[0071] Specifically, the structure of the third positioning column in the second positioning mechanism 62 is completely same as that of the first positioning column 611, and details are not repeated here. Referring to Figure 12 The two ends of the main rod 94 of the second gripper 9 are respectively provided with two second butt joints 93, and the two second butt joints 93 are respectively matched with the second positioning mechanisms 62 on the two clamp frames 8, so as to realize the positioning of the second gripper 9. In the embodiment of the present application, the roof front cross beam adopts the gripper positioning mode, and the clamp frame 8 only needs to be provided with the second positioning mechanisms 62 for positioning the second gripper 9, so that the overall structure of the clamp frame 8 is simplified.

[0072] Referring to Figure 12 The third hook pin assembly comprises two third hook pins 92, and the two third hook pins 92 are arranged at intervals along the second direction.

[0073] Specifically, the two third hooks 92 are arranged at intervals along the Y direction, and two third positioning holes corresponding to the two third hooks 92 are arranged at intervals along the Y direction on the front cross beam 300 of the roof. For different vehicle models, the interval between the two third positioning holes on the front cross beam 300 of the roof is fixed, thereby realizing flexible positioning compatibility of the front cross beam of the roof in the X, Y and Z directions for different vehicle models. In addition, by fixing the interval between the two third positioning holes on the front cross beam 300 of the roof, it is not necessary to arrange a Y-direction movement mechanism, thereby simplifying the structure of the body welding main assembly device and reducing the investment cost of the servo module.

[0074] With reference to Figure 1 , Figure 8 and Figure 9 , each of the two clamp frames 8 is provided with a servo clamping assembly 4, a special clamping assembly 3, a special positioning assembly 5, a servo supporting assembly 2 and a servo positioning assembly 1. The two clamp frames 8 are symmetrically arranged along the second direction, and the servo positioning assembly 1, the servo supporting assembly 2, the special clamping assembly 3, the servo clamping assembly 4, the special positioning assembly 5 and the positioning mechanism 6 on the two clamp frames 8 are symmetrically arranged along the second direction.

[0075] Specifically, the two clamp frames 8 are symmetrically arranged along the Y direction, and the various components provided on the two clamp frames 8 are also symmetrically arranged along the Y direction, that is, the servo positioning assembly 1, the servo supporting assembly 2, the special clamping assembly 3, the servo clamping assembly 4, the special positioning assembly 5 and the positioning mechanism 6 provided on the two clamp frames 8 are symmetrically arranged along the Y direction.

[0076] With reference to Figure 2 , the clamping mechanism 41 comprises a first clamping ball 411 and a second clamping ball 412, which are used to clamp the vehicle body and are in point contact with the vehicle body during clamping. The first clamping ball 411 and the second clamping ball 412 are used together to clamp the vehicle body. In the embodiment of the present application, the clamping point is designed in a spherical structure, and the first clamping ball 411 and the second clamping ball 412 are in point contact with the vehicle body during clamping, which can adapt to the changes in the surface of different vehicle models, effectively ensure the clamping of the vehicle body and not produce deformation.

[0077] With reference to Figure 5 , the supporting block 21 has a positioning supporting surface 211 which is perpendicular to the second direction and is used to support the lap joint between the side wall assembly and the rocker assembly.

[0078] The body welding main assembly device provided by the embodiment of the present application can design the fixtures of two or more vehicle models to be flexible and shared, thereby reducing the floor area of the fixture storage library, reducing the number of fixtures, and reducing the debugging time of the equipment when the subsequent vehicle models are introduced into the production line, improving the efficiency of the introduced vehicle models, and meeting the requirements of the site planning area and the investment cost.

[0079] The body welding main assembly device provided by the embodiment of the present application can meet the sharing of two vehicle models. When the subsequent upgraded vehicle models or new vehicle models of the existing vehicle models are introduced, the posture of the introduced vehicle models assembled on the fixture can be confirmed according to the positions of the special positioning assembly 5 and the special clamping assembly 3, and then the special positioning assembly 5 and the special clamping assembly 3 on the fixture can be partially shared or avoided between positioning different vehicle models by modifying the introduced vehicle model data, adding special positioning and clamping mechanisms of the introduced vehicle model, and small-scale modification of the existing fixture positioning and clamping mechanisms. Finally, the positions of the clamping mechanisms 41 in the servo clamping assembly 4 are adjusted by the first servo module 42, and the positions of the body positioning pins 11 in the servo positioning assembly 1 are adjusted by the sixth servo module 12, so as to match the positioning and clamping of the introduced vehicle model, that is, the multi-vehicle model sharing of the body welding main assembly device can be realized.

[0080] The body welding main assembly device provided by the embodiment of the present application can meet the sharing of two vehicle models. When the subsequent upgraded vehicle models or new vehicle models of the existing vehicle models are introduced, the posture of the introduced vehicle models assembled on the fixture can be confirmed according to the positions of the special positioning assembly 5 and the special clamping assembly 3, and then the special positioning assembly 5 and the special clamping assembly 3 on the fixture can be partially shared or avoided between positioning different vehicle models by modifying the introduced vehicle model data, adding special positioning and clamping mechanisms of the introduced vehicle model, and small-scale modification of the existing fixture positioning and clamping mechanisms. Finally, the positions of the clamping mechanisms 41 in the servo clamping assembly 4 are adjusted by the first servo module 42, and the positions of the body positioning pins 11 in the servo positioning assembly 1 are adjusted by the sixth servo module 12, so as to match the positioning and clamping of the introduced vehicle model, that is, the multi-vehicle model sharing of the body welding main assembly device can be realized.

[0081] It can be understood that the above examples are only examples listed for better understanding of the technical solutions of the embodiments of the present application, and are not the only limitation of the embodiments of the present application.

[0082] In the second aspect, the present application provides a body welding main assembly system, which comprises the body welding main assembly device of any one of the first aspect. Since the body welding main assembly system comprises the body welding main assembly device, it also has the beneficial effects of the body welding main assembly device. The body welding main assembly system provided by the embodiment of the present application comprises the structures of the body welding main assembly device in any one of the above embodiments, and details are not repeated here to avoid repetition.

[0083] The body welding main assembly system can further comprise a base on which the body welding main assembly device is installed. The body welding main assembly system can further comprise a mechanical hand and the like.

[0084] The above embodiments are only the preferred embodiments of the present application for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art based on the present application are within the protection scope of the present application.

Claims

1. A vehicle body welding main assembly device characterized by comprising: The device comprises a servo clamping assembly (4), a special clamping assembly (3) and a special positioning assembly (5), the servo clamping assembly (4) comprises a first servo module (42) and a clamping mechanism (41) connected with the first servo module (42), the first servo module (42) is used to drive the clamping mechanism (41) to move in a first direction and a second direction, the first direction is perpendicular to the second direction; The special positioning assembly (5) comprises a first special positioning component (51) and a second special positioning component (52), the first special positioning component (51) is used for positioning the first vehicle body (100), and is in a avoiding state when the second vehicle body (200) is assembled, the special clamping assembly (3) and the second special positioning component (52) are used for clamping and positioning the second vehicle body (200), and are in an avoiding state when the first vehicle body (100) is assembled; The device further comprises a servo support assembly (2), the servo support assembly (2) comprises a second servo module (22) and a support block (21) connected with the second servo module (22), the second servo module (22) is used to drive the support block (21) to move in the second direction and a third direction, the third direction is perpendicular to the first direction and the second direction; The device further comprises a first gripper (7), the first gripper (7) comprises a third servo module (71), a first hook pin assembly connected with the third servo module (71), a fourth servo module (73) and a second hook pin assembly connected with the fourth servo module (73); The first hook pin assembly is used for clamping and positioning a roof rear cross beam (400), the third servo module (71) is used to drive the first hook pin assembly to move in the first direction and the third direction, the second hook pin assembly is used for clamping and positioning a position plate (500), and the fourth servo module (73) is used to drive the second hook pin assembly to move in the first direction and the third direction; The device further comprises a second gripper (9), the second gripper (9) comprises a fifth servo module (91) and a third hook pin assembly connected with the fifth servo module (91), the third hook pin assembly is used for clamping and positioning a roof front cross beam (300), and the fifth servo module (91) is used to drive the third hook pin assembly to move in the first direction and the third direction.

2. The vehicle body welding main assembly apparatus according to claim 1, characterized by The first hook pin assembly comprises two first hook pins (72), and the two first hook pins (72) are arranged in the second direction; the second hook pin assembly comprises two second hook pins (74), and the two second hook pins (74) are arranged in the second direction, and the first hook pin assembly and the second hook pin assembly are arranged in the first direction.

3. The vehicle body welding main assembly apparatus according to claim 1, wherein The device further comprises two oppositely arranged clamp frames (8), each of the clamp frames (8) is provided with a positioning mechanism (6), and the positioning mechanism (6) comprises a first positioning mechanism (61), and the first positioning mechanisms (61) on the two clamp frames (8) are used for positioning the first gripper (7). The first positioning mechanism (61) comprises a first positioning column (611) and a second positioning column (612), the first positioning column (611) is provided with a gripper positioning pin (6111), a first positioning surface (6112) and a second positioning surface (6113), the second positioning column (612) is provided with a third positioning surface (6121), the gripper positioning pin (6111) extends along the third direction, the first positioning surface (6112), the second positioning surface (6113) and the third positioning surface (6121) are parallel and perpendicular to the third direction.

4. The vehicle body welding main assembly apparatus according to claim 3, wherein The positioning mechanism (6) further comprises a second positioning mechanism (62), the second positioning mechanism (62) on the two clamp frames (8) is used for positioning the second gripper (9), and the second positioning mechanism (62) comprises a third positioning column which is the same in structure as the first positioning column (611).

5. The vehicle body welding main assembly apparatus according to claim 1, wherein The third hook pin assembly comprises two third hook pins (92), and the two third hook pins (92) are arranged at intervals along the second direction.

6. The vehicle body welding main assembly device according to claim 1 or 2, characterized by The vehicle body welding main assembly system further comprises a servo positioning assembly (1), the servo positioning assembly (1) comprises a sixth servo module (12) and a vehicle body positioning pin (11) connected with the sixth servo module (12), and the sixth servo module (12) is used to drive the vehicle body positioning pin (11) to move along the first direction and the third direction.

7. The vehicle body welding main assembly apparatus according to claim 3, wherein Each of the clamp frames (8) is provided with the servo clamping assembly (4), the special clamping assembly (3), the special positioning assembly (5), the servo supporting assembly (2) and the servo positioning assembly (1), the two clamp frames (8) are symmetrically arranged along the second direction, and the servo positioning assembly (1), the servo supporting assembly (2), the special clamping assembly (3), the servo clamping assembly (4), the special positioning assembly (5) and the positioning mechanism (6) on the two clamp frames (8) are symmetrically arranged along the second direction.

8. The vehicle body welding main assembly device according to claim 1 or 2, characterized by The clamping mechanism (41) comprises a first clamping ball (411) and a second clamping ball (412), the first clamping ball (411) and the second clamping ball (412) are used to clamp the vehicle body, and the first clamping ball (411) and the second clamping ball (412) are in point contact with the vehicle body when clamping.

9. The vehicle body welding main assembly device according to claim 1 or 2, characterized by The supporting block (21) has a positioning supporting surface (211), the positioning supporting surface (211) is perpendicular to the second direction, and the positioning supporting surface (211) is used to support the overlap between the side wall assembly and the rocker assembly.

10. A vehicle body welding main assembly system characterized by comprising: The vehicle body welding main assembly system comprises the vehicle body welding main assembly device according to any one of claims 1-9.

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