A device for assembling and testing front and rear ends of a continuous die for an automobile

Abstract

The application provides a device for front and rear end assembly and detection of an automobile continuous die, comprising a drilling mechanism, a pressing mechanism, a vibration detection mechanism, a clamping mechanism, a track truss and a numerical control console; the drilling mechanism, the pressing mechanism and the vibration detection mechanism are fixedly arranged on the ground or a table top; the clamping mechanism is hung on the track truss, the track truss is supported on the ground or the table top through a truss column, and the clamping mechanism is located above the drilling mechanism, the pressing mechanism and the vibration detection mechanism; the continuous die production and detection equipment provided by the application integrates carrying, assembly, drilling, manufacturing and detection, has a reliable structure, a novel idea, simple integrated operation, is convenient to use, saves labor cost, shortens working hours, reduces processes, can produce automobile continuous dies in large quantities, greatly improves the production efficiency and detection speed of the continuous die, and meets the precision requirement and efficiency requirement of the continuous die production.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical manufacturing, in particular to a device for assembling and detecting front and rear ends of a continuous die for automobiles. BACKGROUND

[0002] The continuous die is widely used in the vehicle industry, and is also called progressive die or step die. The continuous die is a kind of stamping die, which can complete multiple processes at different positions simultaneously in one stroke of a press machine. The continuous die has a complex structure, large quality and high maintenance difficulty. The manufacturing requires high precision, long cycle and high cost. Since each process is completed at different stations, the positioning cumulative error will affect the precision of the workpiece. Moreover, the steps of carrying, drilling and installation need to be completed manually, so the precision of the workpiece produced by the continuous die is not high, and the manpower and resources are wasted. The front and rear ends of the assembled continuous die need to be further detected to check whether the connection and assembly of the front and rear ends are firm and qualified. The detection process needs to be carried out at multiple angles. Since the continuous die has a large quality, the position of the continuous die needs to be adjusted manually each time, which is very laborious. In order to improve the production efficiency and precision of the continuous die and save labor, an integrated device for assembling and detecting the front and rear ends of the continuous die for automobiles is needed, which can realize the integration and digitization of the manufacturing process of the continuous die to meet the requirements of high precision and detection convenience for the assembly of the front and rear ends of the continuous die, and improve the production efficiency of the stamping die in the automobile industry. SUMMARY

[0003] In order to solve the above technical problems, the present application provides a device for assembling and detecting the front and rear ends of a continuous die for automobiles, which comprises a drilling mechanism, a pressing mechanism, a vibration detection mechanism, a clamping mechanism, a track truss and a numerical control console.

[0004] The drilling mechanism, the pressing mechanism and the vibration detection mechanism are fixedly arranged on the ground or the table top.

[0005] The clamping mechanism is hung on the track truss, the track truss is supported on the ground or the table top through the truss column, and the clamping mechanism is located above the drilling mechanism, the pressing mechanism and the vibration detection mechanism.

[0006] The numerical control console is arranged on the ground or the table top or the truss column of the track truss, and the numerical control console is connected with the drilling mechanism, the pressing mechanism, the vibration detection mechanism and the track truss through control lines or wireless communication.

[0007] The drilling mechanism comprises a drilling platform, a drilling tool column, a horizontal moving mechanism, a drilling tool, and a drilling tool lifting mechanism; the bottom of the drilling platform is provided with universal adjusting feet, so that the drilling mechanism is installed on the ground or a table top or is moved slightly according to the processing requirement; the drilling platform is provided with a drill bit through hole and a mold positioning clamp; the lower end of the drilling tool column is fixed on the drilling platform, and the upper end of the drilling tool column is provided with a column counterweight; the middle part of the horizontal moving mechanism is sleeved on the drilling tool column through a sliding sleeve; the drilling tool is connected with the lifting end of the drilling tool lifting mechanism, and the fixed end of the drilling tool lifting mechanism is arranged at the telescopic end of the horizontal moving mechanism.

[0008] Further, the horizontal moving mechanism comprises a sliding seat, a sliding rod, a sliding rod counterweight, and a sliding driving cylinder; the middle part of the sliding seat is provided with a sliding sleeve penetrating upward and downward, which is sleeved on the drilling tool column through the sliding sleeve, and the sliding sleeve has a self-locking function; the sliding seat is provided with a sliding channel through hole in the horizontal direction, the sliding rod is arranged in the sliding channel through hole, and the drilling tool lifting mechanism and the sliding rod counterweight are respectively arranged at the two ends of the sliding rod; the sliding driving cylinder is arranged in the sliding seat, the push rod of the sliding driving cylinder is connected with the drilling tool lifting mechanism, and the drilling tool lifting mechanism is moved horizontally forward and backward under the sliding action of the sliding rod;

[0009] The drilling tool lifting mechanism comprises a lifter shell, a lifting driving motor, a lifting slide rail, a lifting rack, and a manual gear shaft; the lifter shell is fixedly connected with the end of the sliding rod of the horizontal moving mechanism; the lifting driving motor is arranged in the lifter shell; the lifting slide rail is arranged outside the lifter shell, the lifting rack is arranged on the shell of the drilling tool, and the lifting slide rail and the lifting rack are arranged in parallel; the shell of the drilling tool is slidably connected with the lifting slide rail through a sliding block, the output shaft of the lifting driving motor is connected with a gear, and the gear is engaged with the lifting rack; the manual gear shaft is pivoted in the lifter shell through a bearing, is arranged in parallel with the output shaft gear of the lifting driving motor, and is engaged with the lifting rack; one end of the manual gear shaft penetrates through the lifter shell, and a rotating handle is arranged outside the manual gear shaft. The lifter shell is provided with a counterweight support rod, and the upper part of the counterweight support rod is provided with a drilling tool counterweight; the sliding driving cylinder and the lifting driving motor are connected with a numerical control console, data transmission is performed, and the sliding driving cylinder and the lifting driving motor are controlled by the numerical control console.

[0010] The pressing mechanism comprises a pressing platform, a first side positioning assembly, a second side positioning assembly, a pressing device, an end positioning baffle, and a mold support table; the bottom of the pressing platform is provided with universal adjusting feet, so that the pressing mechanism is installed on the ground or a table top or is moved slightly according to the processing requirement; the first side positioning assembly and the second side positioning assembly are respectively arranged at the front and rear ends of the pressing platform; the pressing device and the end positioning baffle are respectively arranged at the front and rear ends of the pressing platform and are located outside the first side positioning assembly and the second side positioning assembly; and the mold support table is arranged on the pressing platform and is located between the pressing device and the end positioning baffle.

[0011] Further, the first side positioning assembly and the second side positioning assembly are identical in structure, and each includes a side positioning fixed plate and a side positioning electric cylinder. The side positioning fixed plate is fixed to one side of the pressing platform through a fixed plate support, and the side positioning electric cylinder is fixed to the other side of the pressing platform through an electric cylinder support. The side positioning electric cylinder is arranged opposite to the side positioning fixed plate. Each of the first side positioning assembly and the second side positioning assembly includes at least two side positioning electric cylinders, and the side positioning electric cylinders are arranged in parallel on the electric cylinder support.

[0012] The pressing device includes pressing sliding rails, a pressing push plate, a push plate sliding seat, and a pressing driving cylinder. The pressing sliding rails are at least two and are arranged in parallel on the pressing platform. The pressing push plate is fixed to the push plate sliding seat, and the bottom of the push plate sliding seat is connected to the pressing sliding rails through a sliding block. The pressing driving cylinder is fixed to the pressing platform, and the push rod of the pressing driving cylinder is parallel to the pressing sliding rails. The push rod is connected to the bottom of the push plate sliding seat. The end positioning baffle is fixed to the pressing platform through a support frame and is arranged opposite to the pressing mechanism. The side positioning electric cylinder and the pressing driving cylinder are connected to the numerical control console for data transmission and are controlled by the numerical control console.

[0013] The vibration detection mechanism includes a detection mechanism base, a detection mechanism frame, an upper vibration sliding table, and a lower vibration sliding table. The detection mechanism base is fixed to the ground or a table top through bolts. The detection mechanism frame is a rectangular frame, the lower end of which is fixed to the ground or the table top, and the upper end of which is fixed to a track truss. The upper vibration sliding table is fixed to the detection mechanism frame. The lower part of the upper vibration sliding table is provided with horizontal sliding rails perpendicular to the working surface of the detection mechanism frame. A sliding plate is connected to the sliding rails in a sliding manner. An upper vibration sliding table telescopic cylinder is arranged between the sliding plate and the upper vibration sliding table. The telescopic rod of the upper vibration sliding table telescopic cylinder is hinged to the sliding plate, and the cylinder body of the upper vibration sliding table telescopic cylinder is fixedly connected to the upper vibration sliding table. The lower part of the sliding plate is provided with a vibrator. The lower vibration sliding table is connected to the detection mechanism frame in a vertical sliding manner. The detection mechanism frame is provided with a first fixed pulley. The lower vibration sliding table is connected with a counterweight rope. The counterweight rope passes through the first fixed pulley and is connected to a detection mechanism counterweight at the other end. The detection mechanism frame is provided with a lower vibration sliding table telescopic cylinder, and the telescopic cylinder of the lower vibration sliding table telescopic cylinder is connected to the lower vibration sliding table. The upper vibration sliding table telescopic cylinder and the lower vibration sliding table telescopic cylinder are connected to the numerical control console for data transmission and are controlled by the numerical control console.

[0014] Further, the sliding plate of the upper vibration sliding table is provided with an electric winch and a second fixed pulley. The rope connected to the vibrator passes through a through hole in the sliding plate, passes through the second fixed pulley, and is connected to the electric winch. The detection mechanism base is provided with a sliding positioning pin for auxiliary fixing of a continuous die. The electric winch is connected to the numerical control console for data transmission and is controlled by the numerical control console.

[0015] The clamping mechanism comprises a clamp rotary elevator, a lifting tool, and a double-clamp clamp; the top of the clamp rotary elevator is provided with a guide wheel, which is hung in the slide of the track truss through the guide wheel; the lower end of the telescopic rod of the clamp rotary elevator is connected with the lifting tool, the lower part of the lifting tool is provided with a U-shaped connecting frame, the double-clamp clamp is connected with the two ends of the U-shaped connecting frame of the lifting tool through rotary shafts; the telescopic rod of the clamp rotary elevator has a function of rotating along the vertical central axis to drive the double-clamp clamp to rotate.

[0016] The double-clamp clamp comprises a clamp housing, a rotary motor, a first set of clamps, and a second set of clamps; the clamp housing is provided with the rotary motor, which is fixed in the clamp housing; the rotary shaft of the rotary motor penetrates through the side wall of the clamp housing and is fixedly connected with the U-shaped connecting frame of the lifting tool; the rotary motor controls the tilting movement of the double-clamp clamp; the first set of clamps and the second set of clamps are respectively arranged at the upper and lower ends of the clamp housing; the first set of clamps and the second set of clamps have the same structure and respectively comprise a pair of clamping jaws and a clamp driving cylinder; the pair of clamping jaws are oppositely arranged and are hinged to the clamp housing through a hinge shaft at the middle part of the clamping jaw; the push rod and the cylinder body of the clamp driving cylinder are respectively hinged to the rear end of the pair of clamping jaws; the clamp rotary elevator, the rotary motor, and the clamp driving cylinder are connected with the numerical control console for data transmission and are controlled by the numerical control console.

[0017] The side and rear of the clamp housing are further provided with artificial grippers.

[0018] The track truss comprises first truss slide rails, second truss slide rails, and truss moving motors; two first truss slide rails are parallelly arranged at the upper part of the track truss; the two ends of the second truss slide rails are slidably connected with the two first truss slide rails; the first truss slide rails and the second truss slide rails are horizontally orthogonally arranged; the two ends of the second truss slide rails are respectively provided with first truss moving motors; the top of the clamping mechanism is slidably connected with the second truss slide rails, and the top of the clamping mechanism is provided with a second truss moving motor.

[0019] The first and second truss slide rails are provided with hollow slide rails, the bottom of the hollow slide rail is provided with an open slide, the upper part of the two ends of the second truss slide rail is provided with a guide wheel, the second truss slide rail is hung upside down below the first truss slide rail through the guide wheel arranged in the hollow slide rail of the first truss slide rail, the top of the clamping mechanism is also provided with a guide wheel, the clamping mechanism is hung upside down below the second truss slide rail through the guide wheel arranged in the hollow slide rail of the second truss slide rail, the motor output shaft of the first and second truss moving motors is provided with a coaxial driving wheel, the driving wheel of the first truss moving motor is frictionally connected with the first truss slide rail, the first truss moving motor drives the second truss slide rail to slide along the first truss slide rail through the frictional force between the driving wheel and the first truss slide rail, the driving wheel of the second truss moving motor is frictionally connected with the second truss slide rail, the second truss moving motor drives the clamping mechanism to slide along the second truss slide rail through the frictional force between the driving wheel and the second truss slide rail, and the first and second truss moving motors are connected with the numerical control console to perform data transmission and be controlled by the numerical control console.

[0020] The numerical control console runs a motion control program or method for the clamping mechanism, the motion of the clamping mechanism includes translational motion, tilting motion and rotational motion, and the translational and tilting control of the clamping mechanism includes that x, y and z are displacements of the clamping mechanism along X, Y and Z axes, the X and Y axis displacements are realized by the track truss, the Z axis displacement is realized by the clamp rotary elevator, and β is an inclination angle of the clamping mechanism along the Y axis.

[0021]

[0022]

[0023]

[0024]

[0025]

[0026] The j→i homogeneous coordinate transformation matrix is:

[0027]

[0028] Wherein The β→i homogeneous coordinate transformation matrix of the inclination angle of the clamping mechanism along the Y axis is:

[0029] The z→i homogeneous coordinate transformation matrix of the displacement of the clamping mechanism along the Z axis is:

[0030] The y→i homogeneous coordinate transformation matrix of the displacement of the clamping mechanism along the Y axis is:

[0031] Displacement transformation matrix of the clamping mechanism along the X axis;

[0032] The rotation control of the clamping mechanism includes: decomposing the parts in the continuous mold assembly into various features, and the smallest decomposition is a feature point with its own feature coordinate system; the coordinate system used is a three-dimensional right-handed coordinate system, and the position of a point in a coordinate system is described by a 3×1 column vector. A p to represent:

[0033]

[0034] Among them, p x , p y , p z They are the three coordinate components of point P in the coordinate system {A};

[0035] Likewise, A p B Used to describe the position of the characteristic coordinate system {B} relative to the coordinate system {A}, which means the three coordinate components of the coordinate origin of {B} in {A};

[0036] For the deviation transfer of each feature point in space, the feature coordinate system is recorded as {B}, and the three unit principal vectors x B 、y B 、z B The direction cosines relative to the reference coordinate system {A} form a 3×3 matrix to represent the orientation of the coordinate system {B} relative to {A}:

[0037]

[0038] in, It is called the rotation matrix superscript, A is the reference coordinate system, and subscript B is the coordinate system being described; Three column vectors A x B 、 A y B 、 A z B They are all unit vectors and are perpendicular to each other. These 9 elements satisfy:

[0039] A x B · A x B = A y B · A y B = A z B · A z B =1

[0040] A x B · A y B = A y B · A z B = A z B · A x B = 0

[0041] Rotation matrix is orthogonal, satisfying the condition:

[0042]

[0043]

[0044] For the axis x, y, z as the rotation transformation of the rotation angle θ, its rotation matrix is respectively:

[0045]

[0046]

[0047]

[0048] Where R(x, θ) represents the transformation of coordinate system {B} rotating θ angle around the x axis of coordinate system {A}, and the others are analogously; the position of the feature point is described by the position vector, and the orientation of the point is described by the rotation matrix, so as to obtain the complete pose description of the feature point coordinate system {B}, that is:

[0049]

[0050] Where, A p B and are the position vector and rotation matrix of coordinate system {B} relative to the reference coordinate system {A}; when any point P is transformed from coordinate system {B} to coordinate system {A}, the transformation is recorded as:

[0051]

[0052] Where, A p and B p are the coordinates of point P in coordinate systems {A} and {B}, respectively;

[0053] Change the formula to homogeneous form:

[0054]

[0055] Let:

[0056]

[0057] wherein, is the homogeneous coordinate transformation matrix.

[0058] Based on the reference information chain, each feature coordinate system is uniquely determined. The point coordinates of the two features (Head Feature and Tail Feature) associated with the KC in their respective coordinate systems are obtained by sequentially passing through the homogeneous coordinate transformation. The homogeneous coordinate transformation from the Tail Feature point to the Head Feature point is represented as:

[0059]

[0060] wherein, hf p and tf p represent the positions of the feature points in the Head Feature coordinate system and the Tail Feature coordinate system, respectively, and are each a 4x1 homogeneous column vector; n represents the number of chains experienced by the reference information chain associated with the KC; T(i) represents the rotation homogeneous coordinate transformation matrix between the feature coordinate systems sequentially passed through by the KC.

[0061] Working principle of the application:

[0062] The clamping mechanism controlled by the numerical control console is displaced on the rail truss according to the above control method, clamps the continuous mold front end from the continuous mold front end rack, moves to the drilling mechanism, and after the drilling mechanism drills the connecting hole in the continuous mold front end, the clamping mechanism moves the continuous mold front end to the pressing mechanism, and the first side positioning assembly of the pressing mechanism positions and clamps the continuous mold front end; the clamping mechanism clamps the continuous mold rear end from the continuous mold rear end rack, moves to the drilling mechanism, and after the drilling mechanism drills the connecting hole in the continuous mold rear end, the clamping mechanism moves the continuous mold rear end to the pressing mechanism, the connecting end of the continuous mold front end and the continuous mold rear end are butt jointed, and the second side positioning assembly of the pressing mechanism positions and clamps the continuous mold rear end; the pressing device and the end positioning baffle of the pressing mechanism jointly act on the continuous mold front and rear ends to press them, and a worker further fixes them by screwing a screw into the connecting drilled hole of the continuous mold front and rear ends, thereby completing the final assembly.

[0063] The clamping mechanism clamps the assembled continuous mold front and rear ends, moves to the vibration detection mechanism, and sequentially detects the horizontal and vertical vibrations of the continuous mold front and rear ends. After the detection is completed, the clamping mechanism clamps the continuous mold front and rear ends and moves them to the storage table to store the continuous mold.

[0064] Advantages of the application:

[0065] The continuous die production and inspection equipment provided by the application integrates carrying, assembling, drilling, manufacturing and inspection, has reliable structure, novel design, simple integrated operation, is convenient to use, saves labor cost, shortens working hours, reduces working procedures, can produce automobile continuous dies in large quantities, greatly improves the production efficiency and inspection speed of the continuous die, meets the precision and efficiency requirements of continuous die production, overcomes the problems caused by traditional continuous die manual processing and inspection, has good compatibility, different sizes of continuous dies can be produced and inspected in batches through the equipment, and the production efficiency of the die for the automobile industry is improved. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 It is a schematic diagram of the overall structure of the application;

[0067] Figure 2 It is a schematic diagram of the drilling mechanism structure of the application;

[0068] Figure 3 It is a schematic diagram of the horizontal moving mechanism structure of the drilling mechanism of the application;

[0069] Figure 4 It is a schematic diagram of the horizontal moving mechanism structure of the drilling mechanism of the application;

[0070] Figure 5 It is a schematic diagram of the pressing mechanism structure of the application;

[0071] Figure 6 It is a schematic diagram of the vibration detection mechanism structure of the application;

[0072] Figure 7 It is a schematic diagram of the vibration detection mechanism structure of the application;

[0073] Figure 8 It is a schematic diagram of the clamping mechanism structure of the application;

[0074] Figure 9 It is a schematic diagram of the double-clamping fixture structure of the clamping mechanism of the application Figure 1 ;

[0075] Figure 10 It is a schematic diagram of the double-clamping fixture structure of the clamping mechanism of the application Figure 2 ;

[0076] Figure 11 It is a schematic diagram of the track truss structure of the application;

[0077] Figure 12 It is a schematic diagram of the pose of three parts A, B and C in the embodiment of the application;

[0078] Figure 13 It is a schematic diagram of the transformation of the point coordinates in the respective coordinate systems through homogeneous coordinate transformation in the embodiment of the application;

[0079] 1, drilling mechanism 2, pressing mechanism 3, vibration detection mechanism 4, clamping mechanism 5, track truss 6, numerical control console;

[0080] 101, drilling platform 102, drill column 103, horizontal movement mechanism 104, drill 105, drill lifting mechanism 106, column counterweight 107, sliding sleeve 108, sliding seat 109, sliding rod 110, sliding rod counterweight 111, lifter housing 112, lifting slide rail 113, lifting rack 114, manual gear shaft 115, rotating handle 116, counterweight support rod 117, drill counterweight;

[0081] 201, pressing platform 202, first side positioning assembly 203, second side positioning assembly 204, pressing device 205, end positioning baffle 206, mold support table 207, side positioning fixed plate 208, side positioning electric cylinder 209, fixed plate support 210, electric cylinder support 211, pressing slide rail 212, pressing push plate 213, push plate sliding seat 214, pressing drive cylinder;

[0082] 301, detection mechanism base 302, detection mechanism frame 303, upper vibration sliding table 304, lower vibration sliding table 305, sliding plate 306, upper vibration sliding table telescopic cylinder 307, vibrator 308, auxiliary vibration support 309, first fixed pulley 310, counterweight rope 311, detection mechanism counterweight 312, lower vibration sliding table telescopic cylinder 313, electric winch 314, second fixed pulley 315, sliding positioning pin;

[0083] 401, clamp rotary elevator 402, lifting tool 403, double-clamp clamp 404, guide wheel 405, clamp housing 406, first group of clamps 407, second group of clamps 408, rotating shaft 409, clamp jaw 410, clamp drive cylinder 411, hinged shaft 412, artificial gripper;

[0084] 501, first truss slide rail 502, second truss slide rail 503, first truss moving motor 504, second truss moving motor 505, truss column. DETAILED DESCRIPTION

[0085] Reference Figures 1-13 shown:

[0086] The embodiment provides a device for front and rear end assembly and detection of a continuous die of an automobile, which comprises a drilling mechanism 1, a pressing mechanism 2, a vibration detection mechanism 3, a clamping mechanism 4, a track truss 5 and a numerical control console 6;

[0087] The drilling mechanism 1, the pressing mechanism 2 and the vibration detection mechanism 3 are fixedly arranged on the ground or a table top;

[0088] The clamping mechanism 4 is hung upside down on the track truss 5, the track truss 5 is supported on the ground or the table by the truss column, and the clamping mechanism 4 is located above the drilling mechanism 1, the pressing mechanism 2 and the vibration detection mechanism 3.

[0089] The numerical control console 6 is arranged on the ground or the table or the truss column of the track truss 5, and is connected with the drilling mechanism 1, the pressing mechanism 2, the vibration detection mechanism 3 and the track truss 5 through control lines or wireless communication.

[0090] The drilling mechanism 1 comprises a drilling platform 101, a drilling column 102, a horizontal moving mechanism 103, a drill 104 and a drill lifting mechanism 105; the bottom of the drilling platform 101 is provided with a universal adjusting foot, so that the drilling mechanism 1 can be installed on the ground or the table or moved slightly according to the processing requirement; the drilling platform 101 is provided with a drill bit through hole and a mold positioning clamp (not shown in the figure); the lower end of the drilling column 102 is fixed on the drilling platform 101 by bolts, and the upper end of the drilling column 102 is provided with a column counterweight 106; the middle part of the horizontal moving mechanism 103 is sleeved on the drilling column 102 through a sliding sleeve 107; the drill 104 is connected with the lifting end of the drill lifting mechanism 105, and the fixed end of the drill lifting mechanism 105 is arranged at the telescopic end of the horizontal moving mechanism 103.

[0091] Further, the horizontal moving mechanism 103 comprises a sliding seat 108, a sliding rod 109, a sliding rod counterweight 110 and a sliding drive cylinder; the middle part of the sliding seat 108 is provided with a sliding sleeve 107 penetrating upward and downward, which is sleeved on the drilling column 102 through the sliding sleeve 107; the sliding sleeve 107 has a self-locking function, so that the height of the horizontal moving mechanism 103 can be adjusted according to the thickness or height position of the mold, and then the height distance between the drill 104 and the mold is adjusted; the sliding seat 108 is provided with a sliding channel through hole in the horizontal direction, the sliding rod 109 is arranged in the sliding channel through hole, the drill lifting mechanism 105 of the drill 104 and the sliding rod counterweight 110 are arranged at two ends of the sliding rod 109 respectively, and the sliding rod counterweight 110 is used for keeping balance; the sliding drive cylinder is an electric cylinder arranged in the sliding seat 108, the push rod of the sliding drive cylinder is connected with the drill lifting mechanism 105, the drill lifting mechanism 105 is pushed to move horizontally forward and backward under the sliding action of the sliding rod 109, and then the drill 104 can move forward and backward according to the position of the required drilling;

[0092] Further, the drill lifting mechanism 105 comprises a lifter housing 111, a lifting drive motor, a lifting slide rail 112, a lifting rack 113, and a manual gear shaft 114. The lifter housing 111 is fixedly connected to the end of the slide rod 109 of the horizontal moving mechanism 103. The lifting drive motor is arranged in the lifter housing 111. The lifting slide rail 112 is arranged outside the lifter housing 111, and the lifting rack 113 is arranged on the shell of the drill 104. The lifting slide rail 112 is arranged in parallel with the lifting rack 113. The shell of the drill 104 is slidingly connected to the lifting slide rail 112 through a sliding block. The output shaft of the lifting drive motor is connected with a gear, which is engaged with the lifting rack 113. The lifting drive motor outputs torque, which is transmitted through the gear and the rack to drive the drill 104 to move up and down on the lifting slide rail 112. The drill 104 moves from top to bottom to perform drilling. The manual gear shaft 114 is pivotally connected in the lifter housing 111 through a bearing, is arranged in parallel with the gear of the output shaft of the lifting drive motor, and is engaged with the lifting rack 113. One end of the manual gear shaft 114 penetrates through the lifter housing 111, and a rotating handle 115 is arranged outside the lifter housing 111. The staff can adjust the height of the drill 104 by rotating the rotating handle 115 to adapt to molds with different thicknesses or position heights. The lifter housing 111 is provided with a counterweight support rod 116, and the upper part of the counterweight support rod 116 is provided with a drill counterweight 117. The slide drive cylinder and the lifting drive motor are connected with the numerical control console 6 to transmit data and are controlled by the numerical control console 6. The column counterweight 106, the slide rod counterweight 110, and the drill counterweight 117 simultaneously prevent the drill 104 or the whole drilling mechanism 1 from shaking during drilling, thereby avoiding affecting the drilling precision.

[0093] The pressing mechanism 2 comprises a pressing platform 201, a first side positioning assembly 202, a second side positioning assembly 203, a pressing device 204, an end positioning baffle 205, and a mold support table 206. The bottom of the pressing platform 201 is provided with universal adjusting feet, so that the pressing mechanism 2 can be installed on the ground or a table or moved slightly according to the processing requirements. The first side positioning assembly 202 and the second side positioning assembly 203 are arranged at the front and rear ends of the pressing platform 201, respectively. The pressing device 204 and the end positioning baffle 205 are arranged at the front and rear ends of the pressing platform 201, respectively, and are located outside the first side positioning assembly 202 and the second side positioning assembly 203. The mold support table 206 is arranged on the pressing platform 201 and is located between the pressing device 204 and the end positioning baffle 205.

[0094] Further, the first side positioning assembly 202 and the second side positioning assembly 203 are the same structure, respectively including a side positioning fixed plate 207 and a side positioning electric cylinder 208, the side positioning fixed plate 207 is fixed on one side of the pressing platform 201 through a fixed plate support 209, the side positioning electric cylinder 208 is fixed on the other side of the pressing platform 201 through an electric cylinder support 210, the side positioning electric cylinder 208 is arranged opposite to the side positioning fixed plate 207; The first side positioning assembly 202 and the second side positioning assembly 203 respectively include at least two side positioning electric cylinders 208, the side positioning electric cylinders 208 are arranged in parallel on the electric cylinder support; The side positioning electric cylinder 208 is controlled by the numerical control console to push the front and rear ends of the continuous die, and cooperates with the side positioning fixed plate 207 to clamp and position the front and rear ends of the continuous die;

[0095] The pressing device 204 includes a pressing slide rail 211, a pressing push plate 212, a push plate sliding seat 213, and a pressing drive cylinder 214, the pressing slide rail 211 is at least two, and is arranged in parallel on the pressing platform 201; The pressing push plate 212 is fixed on the push plate sliding seat 213 through a support, and the bottom of the push plate sliding seat 213 is connected with the pressing slide rail 211 through a sliding block; The pressing drive cylinder 214 is fixed on the pressing platform 201, the push rod of the pressing drive cylinder 214 is parallel to the pressing slide rail 211, the push rod is connected with the bottom of the push plate sliding seat 213, and the push plate sliding seat 213 can be pushed to move on the pressing slide rail 211, thereby pressing or relaxing the front and rear ends of the continuous die; The end positioning baffle 205 is fixed on the pressing platform 201 through a support frame and is arranged opposite to the pressing mechanism 2; The side positioning electric cylinder 208 and the pressing drive cylinder 214 are connected with the numerical control console 6, data transmission is carried out, and the operation control is received by the numerical control console 6.

[0096] The vibration detection mechanism 3 comprises a detection mechanism base 301, a detection mechanism frame 302, an upper vibration sliding table 303, and a lower vibration sliding table 304. The detection mechanism base 301 is fixed on the ground or a table top by bolts. The detection mechanism frame 302 is a rectangular frame, the lower end of which is fixed on the ground or a table top by bolts, and the upper end and the middle part of which are fixed on the crossbeam of the track truss 5 by bolts. The upper vibration sliding table 303 is fixed on the detection mechanism frame 302. The upper vibration sliding table 303 comprises two groups of triangular supports arranged in parallel. The lower part of the triangular support is provided with a horizontal sliding rail perpendicular to the working surface of the detection mechanism frame 302. A sliding plate 305 is slidably connected with the sliding rail. An upper vibration sliding table telescopic cylinder 306 is arranged between the sliding plate 305 and the upper vibration sliding table 303. The telescopic rod of the upper vibration sliding table telescopic cylinder 306 is hinged to the sliding plate 305, and the cylinder body of the upper vibration sliding table telescopic cylinder 306 is fixedly connected with the upper vibration sliding table 303. The lower part of the sliding plate 305 is hung with a vibrator 307. The upper vibration sliding table telescopic cylinder 306 pushes the sliding plate 305 to slide forward and backward, changes the position of the vibrator 307, and thus realizes vibration detection at different points. The lower vibration sliding table 304 comprises a sliding seat slidably connected with the detection mechanism frame 302 in the vertical direction, and a continuous die auxiliary vibration support 308 fixed on the sliding seat. A first fixed pulley 309 is arranged on the detection mechanism frame 302. A counterweight rope 310 is connected to the lower vibration sliding table 304. The counterweight rope 310 passes around the first fixed pulley 309 and is connected to a detection mechanism counterweight 311 at the other end. A lower vibration sliding table telescopic cylinder 312 is arranged on the detection mechanism frame 302. The telescopic cylinder of the lower vibration sliding table telescopic cylinder 312 is connected with the lower vibration sliding table 304, pushes the lower vibration sliding table 304 to slide up and down, changes the position height of the continuous die auxiliary vibration support 308 to adapt to continuous dies of different sizes, and fixes the continuous die together with the detection mechanism base 301. The upper vibration sliding table telescopic cylinder 306 and the lower vibration sliding table telescopic cylinder 312 are connected with the numerical control console 6, perform data transmission, and are controlled by the numerical control console 6.

[0097] Further, the sliding plate 305 of the upper vibration sliding table 303 is provided with an electric winch 313 and a second fixed pulley 314. A rope connected with the vibrator 307 passes through a through hole on the sliding plate 305, passes around the second fixed pulley 314, and is connected with the electric winch 313. The electric winch 313 pulls the vibrator 307 to change the height, realizes vibration detection at different height points, and the like. The detection mechanism base 301 is provided with a sliding positioning pin 315 for assisting in fixing the continuous die. The electric winch 313 is connected with the numerical control console 6, performs data transmission, and is controlled by the numerical control console 6.

[0098] The clamping mechanism 4 includes a clamp rotary elevator 401, a lifting tool 402, and a double-clamp clamp 403; the clamp rotary elevator 401 is a smart-power type elevator, which is an existing device, and the top of the clamp rotary elevator 401 is provided with a guide wheel 404, which is hung in a slide of a rail truss 5 through the guide wheel 404; the lower end of an extension rod of the clamp rotary elevator 401 is connected with the lifting tool 402, and the lower part of the lifting tool 402 is provided with a U-shaped connecting frame; the double-clamp clamp 403 is connected with the U-shaped connecting frame at both ends of the lifting tool 402 through rotary shafts 408 at both sides of the double-clamp clamp 403; the clamp rotary elevator 401 can drive the double-clamp clamp 403 to move up and down to reach a suitable clamping height.

[0099] The double-clamp clamp 403 includes a clamp housing 405, a rotary motor, a first set of clamps 406, and a second set of clamps 407; the clamp housing 405 is provided with the rotary motor, which is fixed in the clamp housing 405; the rotary shaft 408 of the rotary motor penetrates the side wall of the clamp housing 405 and is fixedly connected with the U-shaped connecting frame of the lifting tool 402; the rotary motor outputs torque through the rotary shaft 408 and swings the clamp housing 405 up and down by reaction force to find the most suitable clamping angle; the first set of clamps 406 and the second set of clamps 407 are respectively arranged at the upper end and the lower end of the clamp housing 405; the first set of clamps 406 and the second set of clamps 407 are the same in structure and respectively include a pair of clamping jaws 409 and a clamp driving cylinder 410; the pair of clamping jaws 409 are oppositely arranged and are hingedly connected with the clamp housing 405 at the middle part of the clamping jaws 409 through a hinge shaft 411; the push rod and the cylinder body of the clamp driving cylinder 410 are respectively hingedly connected with the rear end of the pair of clamping jaws 409; the clamp driving cylinder 410 drives the connected clamping jaws 409 to rotate around the hinge shaft 411 when the clamp driving cylinder 410 extends and retracts; according to the principle of a lever, the other end of the clamping jaws 409 moves in the same direction or the opposite direction; when the other end of the clamping jaws 409 moves in the same direction, the clamping jaws 409 are in a clamping state; the clamp rotary elevator 401, the rotary motor, and the clamp driving cylinder 410 are connected with a numerical control console 6 for data transmission and are controlled by the numerical control console 6.

[0100] The side surface and the rear surface of the clamp housing 405 are further provided with artificial grippers 412, and a worker can control the double-clamp clamp 403 to rotate to a suitable clamping angle through the artificial grippers 412.

[0101] The track truss 5 includes first truss slide rails 501, second truss slide rails 502 and truss moving motors, two first truss slide rails 501 are parallel arranged at the upper part of the track truss 5, the second truss slide rails 502 are slidably connected with the two first truss slide rails 501 at both ends, and the first truss slide rails 501 and the second truss slide rails 502 are horizontally orthogonal arranged; the two ends of the second truss slide rails 502 are respectively provided with first truss moving motors 503, and the two first truss moving motors 503 drive the second truss slide rails 502 to move along the first truss slide rails 501; the top of the clamping mechanism 4 is slidably connected with the second truss slide rails 502, the top of the clamping mechanism 4 is provided with a second truss moving motor 504, the second truss moving motor 504 drives the clamping mechanism 4 to slide along the second truss slide rails 502, and helps the clamping mechanism 4 to move horizontally and longitudinally to the above of the required clamping position.

[0102] The first truss slide rails 501 and the second truss slide rails 502 are provided with hollow slide rails, the bottom of the hollow slide rails is provided with an open slide; the upper part of the two ends of the second truss slide rails 502 is provided with a guide wheel, the second truss slide rails 502 are hung upside down below the first truss slide rails 501 through the guide wheels arranged in the hollow slide rails of the first truss slide rails 501; the top of the clamping mechanism 4 is also provided with a guide wheel, the clamping mechanism 4 is hung upside down below the second truss slide rails 502 through the guide wheel arranged in the hollow slide rails of the second truss slide rails 502; the motor output shafts of the first truss moving motors 503 and the second truss moving motors 504 are provided with coaxial drive wheels, the drive wheels of the first truss moving motors 503 are frictionally connected with the first truss slide rails 501, the first truss moving motors 503 drive the second truss slide rails 502 to slide along the first truss slide rails 501 through the frictional force between the drive wheels and the first truss slide rails 501; the drive wheels of the second truss moving motors 504 are frictionally connected with the second truss slide rails 502, the second truss moving motors 504 drive the clamping mechanism 4 to slide along the second truss slide rails 502 through the frictional force between the drive wheels and the second truss slide rails 502; the first truss moving motors 503 and the second truss moving motors 504 are connected with the numerical control console 6, data transmission is carried out, and the first truss moving motors 503 and the second truss moving motors 504 are controlled by the numerical control console 6.

[0103] The numerical control console 6 runs a motion control program for the clamping mechanism 4, the motion of the clamping mechanism 4 includes translation motion, inclination motion and rotation motion, and the translation and inclination control of the clamping mechanism 4 includes that x, y and z are the displacement of the clamping mechanism 4 along the X, Y and Z axes, and β is the inclination angle of the clamping mechanism 4 along the Y axis:

[0104]

[0105]

[0106]

[0107]

[0108]

[0109] j→i homogeneous coordinate transformation matrix:

[0110]

[0111] wherein clamping mechanism along Y-axis inclination angle transformation matrix;

[0112] clamping mechanism along Z-axis displacement transformation matrix;

[0113] clamping mechanism along Y-axis displacement transformation matrix;

[0114] clamping mechanism along X-axis displacement transformation matrix;

[0115] The rotation control of the clamping mechanism 4 includes: in the modeling process, the parts in the continuous mold assembly body are decomposed into features, and the decomposition is to the minimum, that is, a feature point with its own feature coordinate system; these features establish constraint relationships with other features in the modeling process, and the KC of the assembly body is represented in the form of "measurement relationship" in the model. Through the constraint relationship between these features and the measurement relationship of the assembly body, the analysis of the assembly body KC and the assembly constraint relationship deviation transmission loop is generated, so as to analyze the deviation of the KC in the loop.

[0116] As shown in Figure 12 , three parts A, B and C form an assembly body, and whether the key characteristics KC of the assembly body meets the requirements is determined by the relative position of the measurement features A1 and C2 on the parts A and C, and the relative position of the two measurement features is transmitted along the features on the three parts A, B and C. To be precise, KC determines a loop of the assembly body ABC: A1-A2-B1-B3-C1-C2. The assembly body contains the following deviation factors: the tolerance of A1-A2 and the deformation factor of B1-B3; the superposition of the tolerance and deformation of C1-C2; the assembly connection error of A2-B1 and B3-C1.

[0117] The coordinate system adopted is a three-dimensional right-handed coordinate system. The position of a point in a coordinate system is represented by a 3x1 column vector A p.

[0118]

[0119] wherein, p x , py , p z are the three coordinate components of point P in coordinate system {A};

[0120] Similarly, A p B is used to describe the position of feature coordinate system {B} relative to coordinate system {A}, which means that the three coordinate components of the origin of {B} in {A};

[0121] In order to study the deviation transmission of each feature point in space, not only the position of the feature coordinate system needs to be known, but also the orientation of the feature coordinate needs to be known. For the deviation transmission of each feature point in space, let the feature coordinate system be {B}, and the three unit principal vectors x B , y B , z B of coordinate system {B} relative to the direction cosine of the reference coordinate system {A} form a 3x3 matrix to represent the orientation of coordinate system {B} relative to {A}:

[0122]

[0123] Among them, called the rotation matrix superscript, A is the reference coordinate system, and subscript B is the described coordinate system; Only 3 of the 9 elements of are independent. Three column vectors A x B , A y B , A z B are unit vectors, and are perpendicular to each other, and the 9 elements satisfy:

[0124] A x B · A x B = A y B · A y B = A z B · A z B =1

[0125] A x B @ A y B = A y B · A z B = A z B · A xB = 0

[0126] It can be seen that the rotation matrix is orthogonal, satisfying the condition:

[0127]

[0128]

[0129] For the rotation transformation of the axes x, y, z as the rotation angle θ, the rotation matrixes are respectively:

[0130]

[0131]

[0132]

[0133] where R(x, θ) represents the transformation of the coordinate system {B} rotating θ angle around the x axis of the coordinate system {A}, and the others are analogously; the position of the feature point is described by the position vector, and the orientation of the point is described by the rotation matrix, so as to obtain the complete pose description of the coordinate system {B} of the feature point, that is:

[0134]

[0135] where, A p B and is the position vector and the rotation matrix of the coordinate system {B} relative to the reference coordinate system {A}; when an arbitrary point P is transformed from the coordinate system {B} to the coordinate system {A}, the transformation is denoted as:

[0136]

[0137] where, A p and B p are the coordinates of the point P in the coordinate systems {A} and {B} respectively;

[0138] In order to facilitate cumulative calculation, the formula is changed to homogeneous form:

[0139]

[0140] Let:

[0141]

[0142] where, is the homogeneous coordinate transformation matrix.

[0143] Based on the datum information chain, each feature coordinate system is uniquely determined. The point coordinates of the two features (Head Feature and Tail Feature) associated with KC are transformed in their respective coordinate systems by means of the homogeneous coordinate transformation, as shown in Figure 13

[0144]

[0145] wherein, hf p and tf p represent the positions of the feature points in the Head Feature coordinate system and the Tail Feature coordinate system, respectively, and are each a 4x1 homogeneous column vector; n represents the number of links experienced by the datum information chain associated with KC; and T(i) represents the rotation homogeneous coordinate transformation matrix between the feature coordinate systems experienced in turn by KC in transmission.

[0146] Working principle of the present application:

[0147] The numerical control console 6 controls the first truss moving motor 503 and the second truss moving motor 504 to drive the clamping mechanism 4 to move horizontally and longitudinally on the track truss 5, the clamping mechanism 4 reaches above the continuous mold front end rack, the clamp rotating elevator 401 of the clamping mechanism 4 drives the double clamp clamp 403 to move downward to the appropriate clamping position height, and a continuous mold front end is clamped from the continuous mold front end rack and moved to the drilling mechanism 1; the drilling mechanism 1 drives the drill 104 to move to the predetermined drilling position through the horizontal moving mechanism 103 and the lifting mechanism 105, drills the connecting hole in the continuous mold front end, and then the clamping mechanism 4 moves the continuous mold front end to the pressing mechanism 2; the first side positioning assembly 202 of the pressing mechanism 2 positions and clamps the continuous mold front end; the clamping mechanism 4 clamps the continuous mold rear end from the continuous mold rear end rack, repeats the above steps, moves to the drilling mechanism 1, and then the clamping mechanism 4 moves the continuous mold rear end to the pressing mechanism 2 after the drilling mechanism 1 drills the connecting hole in the continuous mold rear end; the connecting end of the continuous mold front end and the continuous mold rear end are butt-jointed, and the second side positioning assembly 203 of the pressing mechanism 2 positions and clamps the continuous mold rear end; the pressing device 204 and the end positioning baffle 205 of the pressing mechanism 2 jointly press the continuous mold front end and rear end;

[0148] The staff further fixes the continuous mold front end and rear end by screwing screws into the connecting drilled holes, and finally assembles the continuous mold front end and rear end;

[0149] ​Clamping mechanism 4 clamps the front and rear ends of the assembled continuous mold, moves to the vibration detection mechanism 3, the lower vibration slide cylinder 312 of the lower vibration slide mechanism 3 pulls the lower vibration slide 304 to slide upward, the front and rear ends of the continuous mold are placed between the lower vibration slide 304 and the measuring mechanism base 301, and the position of the sliding positioning pin 315 and the height of the lower vibration slide 304 are adjusted to fix the continuous mold; the upper vibration slide cylinder 306 pushes the sliding plate 305 to slide forward and backward, changes the horizontal position of the vibrator 307, the electric winch 313 pulls the vibrator 307 to change the height, and the vibration detection of different points is realized; the front and rear ends of the continuous mold are sequentially subjected to horizontal and vertical vibration detection, whether the assembly is firm is detected, after the detection is completed, the clamping mechanism 4 clamps the front and rear ends of the continuous mold and runs to the storage table to store the continuous mold.

Claims

1. A device for assembling and testing the front and rear ends of automobile progressive molds, characterized by: It includes drilling mechanism, pressing mechanism, vibration detection mechanism, clamping mechanism, track truss and CNC table; The drilling mechanism, pressing mechanism and vibration detection mechanism are fixed on the ground or table; The drilling mechanism includes a drilling platform, a drilling column, a horizontal movement mechanism, a drilling tool, and a drilling tool lifting mechanism; the bottom of the drilling platform is provided with a universal adjustment foot, so that the drilling mechanism can be installed on the ground or a table or moved slightly according to processing requirements; the drilling platform is provided with a drill bit through-hole and a mold positioning fixture; the lower end of the drilling column is fixed to the drilling platform, and the upper end of the drilling column is provided with a column counterweight; the middle part of the horizontal movement mechanism is provided on the drilling column through a sliding sleeve, the drilling tool is connected to the lifting end of the drilling tool lifting mechanism, and the fixed end of the drilling tool lifting mechanism is provided at the telescopic end of the horizontal movement mechanism; The clamping mechanism includes a clamping platform, a first side positioning assembly, a second side positioning assembly, a clamping device, an end positioning baffle, and a mold support platform; the bottom of the clamping platform is provided with a universal adjustment foot, so that the clamping mechanism can be installed on the ground or a table or moved slightly according to processing requirements; the first side positioning assembly and the second side positioning assembly are respectively arranged at the front and rear ends of the clamping platform; the clamping device and the end positioning baffle are respectively arranged at the front and rear ends of the clamping platform, and are located on the outside of the first side positioning assembly and the second side positioning assembly; the mold support platform is arranged on the clamping platform, and is located between the clamping device and the end positioning baffle; The vibration detection mechanism includes a detection mechanism base, a detection mechanism frame, an upper vibration slide, and a lower vibration slide. The detection mechanism base is fixed to the ground or a table by bolts; the lower end of the detection mechanism frame is fixed to the ground or a table, and the upper end is fixed to the track truss; the upper vibration slide is fixed to the detection mechanism frame and is provided with a vibrator; the lower vibration slide is vertically slidably connected to the detection mechanism frame; The clamping mechanism is hung upside down on the track truss, and the track truss is supported on the ground or table through the truss columns. The clamping mechanism is located above the drilling mechanism, the pressing mechanism, and the vibration detection mechanism; The clamping mechanism includes a clamp rotary elevator, a sling, and a double-clamp clamp; the top of the clamp rotary elevator is provided with a guide wheel, which is hung in the slideway of the track truss through the guide wheel; the bottom end of the telescopic rod at the lower end of the clamp rotary elevator is connected to the sling, and the lower part of the sling is provided with a U-shaped connecting frame, and the two sides of the double-clamp clamp are connected to the two ends of the U-shaped connecting frame of the sling through a rotating shaft; the telescopic rod of the clamp rotary elevator has the function of rotating along the vertical center axis; The numerical control table is arranged on the ground or table top or the truss column of the track truss, and is respectively connected with the drilling mechanism, the pressing mechanism, the vibration detection mechanism and the track truss through control lines or wireless communication.

2. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 1, characterized in that: The horizontal movement mechanism of the drilling mechanism includes a sliding seat, a sliding rod, a sliding rod counterweight and a sliding drive cylinder. The middle part of the sliding seat is provided with a sliding sleeve that passes through the upper and lower parts and is arranged on the drilling tool column through the sliding sleeve. The sliding sleeve has a braking self-locking function; the sliding seat is provided with a through slide hole in the horizontal direction, the sliding rod is arranged in the slide hole, and the drilling tool lifting mechanism and the sliding rod counterweight of the drilling tool are respectively arranged at both ends of the sliding rod; the sliding drive cylinder is arranged inside the sliding seat, and the push rod of the sliding drive cylinder is connected to the drilling tool lifting mechanism, pushing the drilling tool lifting mechanism to move horizontally forward and backward under the sliding action of the sliding rod; The drill tool lifting mechanism includes a lifter housing, a lifting drive motor, a lifting slide rail, a lifting rack, and a manual gear shaft, and the lifter housing is fixedly connected to the slide rod end of the horizontal moving mechanism; the lifting drive motor is arranged in the lifter housing; the lifting slide rail is arranged outside the lifter housing, the lifting rack is arranged on the outer shell of the drill tool, and the lifting slide rail is arranged parallel to the lifting rack; the outer shell of the drill tool is slidably connected to the lifting slide rail through a slider, and the output shaft of the lifting drive motor is connected to a gear, which is meshed with the lifting rack through the gear; the manual gear shaft is pivotally connected to the lifter housing through a bearing, is arranged parallel to the output shaft gear of the lifting drive motor, and meshes with the lifting rack; one end of the manual gear shaft passes through the lifter housing, and a rotating handle is provided on the outside; a counterweight support rod is provided on the lifter housing, and a drill tool counterweight is provided on the upper part of the counterweight support rod; the sliding drive cylinder and the lifting drive motor are connected to the CNC table.

3. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 1, characterized in that: The first side positioning assembly and the second side positioning assembly of the clamping mechanism have the same structure, and respectively include a side positioning fixing plate and a side positioning electric cylinder. The side positioning fixing plate is fixed to one side of the clamping platform through a fixing plate bracket, and the side positioning electric cylinder is fixed to the other side of the clamping platform through an electric cylinder bracket. The side positioning electric cylinder is arranged opposite to the side positioning fixing plate; the first side positioning assembly and the second side positioning assembly respectively include at least two side positioning electric cylinders, which are arranged in parallel on the electric cylinder bracket. The clamping device includes a clamping slide rail, a clamping push plate, a push plate sliding seat, and a clamping drive cylinder. There are at least two clamping slide rails, which are arranged in parallel on the clamping platform; the clamping push plate is fixed on the push plate sliding seat, and the bottom of the push plate sliding seat is slidably connected to the clamping slide rail through a slider; the clamping drive cylinder is fixed on the clamping platform, and the push rod of the clamping drive cylinder is parallel to the clamping slide rail, and the push rod is connected to the bottom of the push plate sliding seat; the end positioning baffle is fixed on the clamping platform through a support frame and is arranged opposite to the clamping mechanism; the side positioning electric cylinder and the clamping drive cylinder are connected to the CNC table.

4. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 1, characterized in that: The lower part of the upper vibration slide is provided with a horizontal slide rail perpendicular to the working surface of the detection mechanism frame, and the sliding plate is slidably connected to the slide rail; an upper vibration slide telescopic cylinder is provided between the sliding plate and the upper vibration slide, the telescopic rod of the upper vibration slide telescopic cylinder is hinged to the sliding plate, and the cylinder body of the upper vibration slide telescopic cylinder is fixedly connected to the upper vibration slide; the vibrator is hung on the lower part of the sliding plate; a first fixed pulley is provided on the detection mechanism frame, and a counterweight rope is connected to the lower vibration slide, the counterweight rope passes around the first fixed pulley, and the other end is connected to the counterweight of the detection mechanism; a lower vibration slide telescopic cylinder is provided on the detection mechanism frame, and the telescopic rod of the lower vibration slide telescopic cylinder is connected to the lower vibration slide; The upper vibration slide telescopic cylinder and the lower vibration slide telescopic cylinder are connected with the numerical control table.

5. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 4, characterized in that: The sliding plate of the upper vibration slide is provided with an electric winch and a second fixed pulley. The rope connected to the vibrator passes through the through hole on the sliding plate, bypasses the second fixed pulley and is connected to the electric winch; the base of the detection mechanism is provided with a sliding positioning pin for assisting in fixing the continuous mold; the electric winch is connected to the CNC table.

6. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 1, characterized in that: The double-clamp fixture of the clamping mechanism includes a fixture shell, a rotating motor, a first group of fixtures and a second group of fixtures. The fixture shell is provided with a rotating motor, which is fixed in the fixture shell. The rotating shaft of the rotating motor passes through the side wall of the fixture shell and is fixedly connected to the U-shaped connecting frame of the sling; the first group of fixtures and the second group of fixtures are respectively arranged at the upper and lower ends of the fixture shell. The first group of fixtures and the second group of fixtures have the same structure, respectively including a pair of clamps and a clamp driving cylinder, the pair of clamps are arranged opposite to each other, the middle part of the clamps is hinged to the fixture shell by a hinge shaft, and the push rod and the two ends of the cylinder body of the clamp driving cylinder are respectively hinged to the rear end of a pair of clamps; the fixture rotating elevator, rotating motor and clamp driving cylinder are connected to the CNC table for data transmission and are controlled by the CNC table operation.

7. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 6, characterized in that: Manual grippers are also provided on the side and rear of the clamp housing.

8. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 1, characterized in that: The track truss includes a first truss slide rail, a second truss slide rail and a truss moving motor. The two first truss slide rails are arranged in parallel on the upper part of the track truss. The two ends of the second truss slide rail are slidably connected to the two first truss slide rails. The first truss slide rail and the second truss slide rail are arranged horizontally and orthogonally; the two ends of the second truss slide rail are respectively provided with a first truss moving motor; the top of the clamping mechanism is slidably connected to the second truss slide rail, and the top of the clamping mechanism is provided with a second truss moving motor.

9. The device for assembling and testing the front and rear ends of a continuous mold for an automobile according to claim 8, characterized in that: The first truss slide and the second truss slide are provided with hollow slides, and the bottom of the hollow slide is provided with an open slide; guide wheels are provided on the upper parts of both ends of the second truss slide, and the second truss slide is hung upside down under the first truss slide through the guide wheels arranged in the hollow slide of the first truss slide; the top of the clamping mechanism is also provided with a guide wheel, and the clamping mechanism is hung upside down under the second truss slide through the guide wheels arranged in the hollow slide of the second truss slide; the motor output shafts of the first truss moving motor and the second truss moving motor are provided with a coaxial driving wheel, and the driving wheel of the first truss moving motor is frictionally connected with the first truss slide, and the first truss moving motor drives the second truss slide to slide along the first truss slide through the friction force between the driving wheel and the first truss slide; the driving wheel of the second truss moving motor is frictionally connected with the second truss slide, and the second truss moving motor drives the clamping mechanism to slide along the second truss slide through the friction force between the driving wheel and the second truss slide; the first truss moving motor and the second truss moving motor are connected to the CNC table.

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