Nut box welding positioning gripper, device and method for vehicle floor

Abstract

The present application relates to the technical field of vehicle welding, in particular to a nut box welding positioning gripper, device and method for vehicle floor. The device comprises a mounting turntable; one side of the mounting turntable is used for fixed connection with the end effector of a six-axis manipulator, and the other side of the mounting turntable is provided with a valve island; the outer circumferential surface of the mounting turntable is circumferentially divided into multiple mounting areas; at least one gripper mechanism is arranged in each mounting area, and the gripper mechanisms in different mounting areas are used for gripping different models of nut boxes of vehicle floor; the gripper mechanisms are arranged at intervals along the circumference of the mounting turntable, and the gripper mechanisms are electrically connected with the valve island; the valve island is used for controlling the gripper mechanisms, so that when the six-axis manipulator provided with the nut box welding positioning gripper for vehicle floor grips, carries and positions each nut box of vehicle floor, the six-axis manipulator can drive the mounting turntable to rotate around the central axis through the end effector to complete the switching of the gripper mechanisms.

Description

Technical Field

[0001] This invention relates to the field of vehicle welding technology, specifically to a welding positioning gripper, device, and method for a nut box on a vehicle floor. Background Technology

[0002] Since multiple nut boxes are usually welded to the vehicle floor, in the existing technology, multiple fixed fixtures are usually used to position all the nut boxes on the vehicle floor at one time before welding. However, such fixed fixtures are usually complex in structure, only produce a single model, and need to be replaced when the model being welded changes, resulting in low production efficiency.

[0003] To address the aforementioned issues, existing technologies typically employ six-axis robotic arms to grasp, transport, and position the various nut boxes on the vehicle floor. By setting different teaching trajectories in the control unit, the six-axis robotic arm can adapt to the welding and positioning work of nut boxes on vehicle floors of different models. However, since the nut boxes welded on vehicle floors usually include multiple models, the welding positioning grippers on existing six-axis robotic arms can typically only adapt to one model of nut box. This results in several problems when using a single six-axis robotic arm to grasp, transport, and position the various nut boxes on the vehicle floor. If a single six-axis robotic arm is used, it requires multiple removals and installations of different models of positioning grippers on the end effector of the six-axis robotic arm during the grasping, transporting, and positioning process, reducing production efficiency. If multiple six-axis robotic arms equipped with different models of positioning grippers are used, there are issues such as high investment costs, potential interference between the six-axis robotic arms, and high difficulty in teaching and programming each six-axis robotic arm. Summary of the Invention

[0004] This invention provides a welding positioning gripper, device, and method for nut boxes on vehicle floors. This addresses the problems in the prior art where existing six-axis robotic arms typically only accommodate one type of nut box. When using a single six-axis robotic arm to grip, move, and position the nut boxes, different positioning grippers need to be repeatedly installed and removed from the end effector, reducing production efficiency. Conversely, using multiple six-axis robotic arms equipped with different types of positioning grippers presents challenges such as high investment costs, potential interference between the robotic arms, and complex teaching and programming processes.

[0005] The technical solution adopted in this invention is: a nut box welding positioning gripper for vehicle floor, including a mounting turntable;

[0006] One side of the mounting turntable is fixedly connected to the end effector of the six-axis robot, and a valve island is mounted on the other side of the mounting turntable. The outer circumferential surface of the mounting turntable is divided into multiple mounting areas. Each mounting area is provided with at least one gripper mechanism, and the gripper mechanisms in different mounting areas are used to grip different types of nut boxes on the vehicle floor. The gripper mechanisms are arranged at intervals along the circumferential direction of the mounting turntable, and each gripper mechanism is electrically connected to the valve island, which is used to control each gripper mechanism.

[0007] By dividing the outer circumferential surface of the mounting turntable into multiple mounting areas, and providing at least one gripper mechanism in each mounting area, the gripper mechanisms in different mounting areas are used to grip different types of nut boxes for the vehicle floor. Furthermore, the gripper mechanisms are arranged at intervals along the circumference of the mounting turntable, enabling the nut box welding positioning gripper for the vehicle floor provided by this invention to adapt to various different types of nut boxes. When gripping, transporting, and positioning the nut boxes of the vehicle floor, the six-axis robot arm equipped with the nut box welding positioning gripper provided by this invention can drive the mounting turntable to rotate around its central axis via its end effector to complete the switching of the gripper mechanisms. This eliminates the need to disassemble and install different types of positioning grippers on the end effector of the six-axis robot arm, and also eliminates the need to arrange multiple... This invention utilizes a six-axis robot equipped with different types of positioning grippers to grasp, move, and position various nut boxes on a vehicle floor. It solves the problems of existing technologies where the welding positioning grippers on current six-axis robots are typically only compatible with one type of nut box. This leads to inefficiencies when using a single six-axis robot for grasping, moving, and positioning the nut boxes, requiring multiple disassemblies and reassemblies of different grippers on the end effector, thus reducing production efficiency. Conversely, using multiple six-axis robots with different types of positioning grippers presents challenges such as high investment costs, potential interference between robots, and complex teaching and programming of each robot.

[0008] Furthermore, the gripper mechanisms in different installation areas have the same structure but different dimensions; each gripper mechanism includes a cylinder gripper and a positioning plate.

[0009] The cylinder gripper includes a telescopic cylinder fixedly installed on the outer peripheral surface of the mounting turntable and a clamping part installed on the telescopic end of the telescopic cylinder;

[0010] The clamping part includes two symmetrically arranged jaws, and the telescopic cylinder is used to drive the two jaws of the clamping part to clamp the corresponding model of nut box.

[0011] The positioning plate is disposed between the two grippers and is fixedly connected to the outer shell of the telescopic cylinder. The side of the positioning plate away from the telescopic cylinder is provided with a mating surface for mating with the top surface of the corresponding model nut box. A first contact sensor is provided on the mating surface. The first contact sensor is used to send first contact information to the valve island. The valve island controls the telescopic cylinder according to the first contact information.

[0012] By providing a contact surface on the side of the positioning plate away from the telescopic cylinder for contacting the top surface of the corresponding model nut box, and by providing a first contact sensor on the contact surface, the nut box welding positioning gripper for vehicle floor provided by the present invention can determine whether the contact surface is in contact with the top surface of the corresponding model nut box through the first contact information sent by the first contact sensor during the gripping process of the nut box. After determining that the contact surface is in contact with the top surface of the corresponding model nut box, the telescopic cylinder is controlled by the valve island to make the two jaws of the clamping part clamp the corresponding model nut box, thus ensuring the gripping accuracy of the nut box welding positioning gripper for vehicle floor provided by the present invention.

[0013] Furthermore, the side of the positioning plate away from the telescopic cylinder is also provided with a positioning pin for engaging with the process hole on the top surface of the corresponding model of nut box.

[0014] By providing a positioning pin on the side of the positioning plate away from the telescopic cylinder for engaging with the process hole on the top surface of the corresponding model nut box, the gripper mechanism can achieve pre-positioning between the gripper mechanism and the corresponding model nut box by inserting the positioning pin into the process hole on the top surface of the corresponding model nut box before the two jaws of the gripping part of the gripper mechanism clamp the corresponding model nut box during the gripping process. Furthermore, this prevents the nut box from shifting in the horizontal direction perpendicular to the clamping direction of the two jaws during the gripping process, further improving the gripping accuracy of the nut box welding positioning gripper for vehicle floor provided by this invention and enhancing the consistency of the gripper mechanism in gripping the corresponding model nut box each time.

[0015] Furthermore, two limiting components are fixedly connected to the positioning plate. The two limiting components are symmetrically arranged on the left and right sides of the positioning plate. The two limiting components are used to limit the corresponding nut box to the opposite two sides. The limiting components are staggered from the gripper in the front-back direction.

[0016] By setting two limiting components, during the process of gripping a nut box of the corresponding model, before the two jaws of the gripping part of the gripper mechanism clamp the nut box of the corresponding model, the two limiting components can respectively limit the nut box of the corresponding model to the opposite two sides of the nut box of the corresponding model, preventing the nut box from deflecting in the horizontal plane. This further improves the gripping accuracy of the nut box welding positioning gripper for vehicle floor provided by the present invention, and improves the consistency of the gripper mechanism in gripping the nut box of the corresponding model each time.

[0017] Furthermore, a position sensor is installed on the telescopic cylinder, and the position sensor is electrically connected to the valve island. The position sensor is used to detect the telescopic position of the telescopic cylinder, and when the telescopic position of the telescopic cylinder reaches the preset telescopic position, it sends clamping information to the valve island.

[0018] By setting a position sensor for detecting the extension and retraction position of the telescopic cylinder, and by having the position sensor send clamping information to the valve island when the extension and retraction position of the telescopic cylinder reaches a preset extension and retraction position, the nut box welding positioning gripper for vehicle floor provided by the present invention can determine whether the two grippers of the corresponding gripper mechanism are clamping the corresponding model of nut box by detecting whether the valve island receives the clamping information sent by the corresponding position sensor. This can effectively prevent the nut box from falling off the gripper mechanism during the placement process.

[0019] Based on the nut box welding positioning gripper for vehicle floor provided by the present invention, the present invention also provides a nut box welding positioning device for vehicle floor, including a control unit, a six-axis robot, a loading table and the nut box welding positioning gripper for vehicle floor provided by the present invention.

[0020] One end of the mounting turntable is fixedly connected to the end effector of the six-axis robot, and the end effector is used to drive the mounting turntable to rotate around its central axis;

[0021] The upper surface of the loading platform is divided into multiple placement areas, the number of which is the same as the number of installation areas. Each placement area has multiple positioning stations, and the positioning stations in different placement areas are used to position and place different types of nut boxes. Each positioning station is equipped with a second contact sensor for contacting the nut box. Each second contact sensor is electrically connected to the control unit and is used to send second contact information to the control unit. The gripper mechanism is used to grip the nut box in the corresponding placement area.

[0022] Both the six-axis robotic arm and the valve island are electrically connected to the control unit. The control unit is used to control the operation of the valve island and the six-axis robotic arm to pick up the nut box on the loading platform and place it at the corresponding target position on the vehicle floor.

[0023] By dividing the upper surface of the loading platform into multiple placement areas, the number of placement areas being the same as the number of installation areas, and each placement area having multiple positioning stations, the positioning stations in different placement areas are used to position and place different types of nut boxes. This ensures that the gripper mechanism (i.e., the gripper mechanism of different models) in each installation area only grips the corresponding type of nut box in the corresponding placement area. In this way, when teaching the six-axis robot, it is only necessary to set the teaching trajectory of each gripper mechanism to grip the nut box at each positioning station in the corresponding placement area. Compared with the setting method that requires setting the teaching trajectory of each gripper mechanism to grip the nut box at all positioning stations on the loading platform, this can effectively reduce the amount of teaching programming for the six-axis robot and reduce the occurrence of program errors.

[0024] Meanwhile, by setting a second contact sensor for contacting the nut box at each of the positioning stations, and by electrically connecting each second contact sensor to the control unit, and by sending second contact information to the control unit, the control unit can determine whether a nut box of the corresponding model is placed at each of the positioning stations based on the received second contact information. This enables the control unit to automatically select the grasping target (i.e., automatically select the nut box to be grasped) and control the operation of the valve island and the six-axis robot according to the selected grasping target, so as to grasp the nut box on the loading platform to the corresponding target position on the vehicle floor.

[0025] Furthermore, each of the placement areas is provided with at least one placement sub-area, and the number of placement sub-areas in each of the placement areas corresponds to the number of gripper mechanisms in each of the installation areas;

[0026] Each of the placement sub-areas is provided with multiple positioning stations, and different gripper mechanisms are used to grip the nut boxes in different placement sub-areas.

[0027] By using different gripper mechanisms to grasp nut boxes in different placement sub-regions, each gripper mechanism only grasps the corresponding type of nut box in its respective placement sub-region. In this way, when teaching the six-axis robot, it is only necessary to set the teaching trajectory of each gripper mechanism to grasp the nut box at each positioning station in the corresponding placement sub-region, which can further reduce the amount of teaching programming for the six-axis robot and reduce the occurrence of program errors.

[0028] Furthermore, the valve island is also used to send the clamping information to the control unit after receiving the clamping information.

[0029] By enabling the valve island to send clamping information to the control unit upon receiving it, the control unit can control the operation of the valve island and the six-axis robot. When any of the gripper mechanisms clamps a nut box of the corresponding model, it can determine whether the gripper mechanism has clamped the nut box of the corresponding model by detecting whether it has received clamping information from the position sensor of that gripper mechanism. After determining that the nut box of the corresponding model has been clamped, the operation of the valve island and the six-axis robot is controlled to deliver the clamped nut box or drive other gripper mechanisms to grip the part. This effectively prevents the nut box from falling off the gripper mechanism during the placement process.

[0030] Furthermore, the nut box welding positioning device for the vehicle floor also includes a wiring harness. The mounting turntable has a wiring harness through hole that passes through both sides of the mounting turntable. The wiring harness is fixed to the robotic arm of the six-axis robot. One end of the wiring harness passes through the wiring harness through hole and is connected to the valve island. The other end of the wiring harness is used to connect to the control unit and also to the power supply.

[0031] The end effector of the six-axis robot drives the mounting turntable to rotate around its central axis at a maximum rotatable angle of 360 degrees.

[0032] By setting the maximum rotatable angle of the mounting turntable around its central axis to 360 degrees, the wiring harness can be effectively prevented from getting tangled with the robotic arm of the six-axis robot.

[0033] According to the vehicle floor nut box welding positioning device provided by the present invention, the present invention also provides a positioning method for the vehicle floor nut box welding positioning device, the positioning method comprising the following steps:

[0034] Step 1: Obtain the nut box information group of the vehicle floor to be welded. The nut box information group includes the quantity information of various types of nut boxes required for the vehicle floor to be welded and the placement trajectory information of each nut box.

[0035] Step 2: The control unit selects the corresponding model and quantity of nut boxes as gripping targets in the corresponding placement areas on the loading platform according to the quantity information;

[0036] Step 3: The control unit controls the six-axis robot and valve island to operate according to the grasping target, the placement trajectory information and the grasping trajectory information stored in the control unit, and grasps the selected nut box to the corresponding target position on the floor of the vehicle to be welded.

[0037] Furthermore, in step 2, the control unit makes a judgment based on the quantity information and the received second contact information. If the quantity of any type of nut box required for welding the vehicle floor is greater than the quantity of that type of nut box placed in the corresponding placement area, the control unit determines that a part needs to be loaded and the control unit suspends operation; otherwise, the control unit determines that no part needs to be loaded and the control unit selects the corresponding type and quantity of nut boxes as the gripping target in the corresponding placement area on the loading platform according to the quantity information.

[0038] Furthermore, the control unit makes a judgment based on the quantity information and the received second contact information. If the number of any type of nut box required for the vehicle floor to be welded is greater than the number of that type of nut box placed at each positioning station in the corresponding placement area, the control unit determines that the part needs to be loaded and the control unit suspends operation.

[0039] Otherwise, the control unit makes a secondary judgment based on the quantity information and the received second contact information. If the number of any type of nut box required for the vehicle floor to be welded is greater than the number of gripper mechanisms in the corresponding installation area, and the number of that type of nut box placed in any sub-area of ​​the corresponding placement area is zero, or the number of any type of nut box required for the vehicle floor to be welded is not greater than the number of gripper mechanisms in the corresponding installation area, but is greater than the number of sub-areas in the corresponding placement area where that type of nut box is placed, then the control unit determines that a part needs to be loaded, and the control unit suspends operation; otherwise, the control unit determines that no part needs to be loaded, and the control unit selects the corresponding type and quantity of nut boxes as gripping targets in the corresponding placement areas of the loading platform according to the quantity information.

[0040] By ensuring that the control unit determines that a part needs to be loaded when the number of any type of nut box required for welding the vehicle floor is greater than the number of nut boxes of that type placed in the corresponding placement area, the number of any type of nut box required for welding the vehicle floor is greater than the number of gripper mechanisms in the corresponding installation area, and the number of nut boxes of that type placed in any placement sub-area of ​​the corresponding placement area is zero, and the number of any type of nut box required for welding the vehicle floor is not greater than the number of gripper mechanisms in the corresponding installation area, but is greater than the number of placement sub-areas in the corresponding placement area where nut boxes of that type are placed, the nut box welding positioning device for the vehicle floor provided by the present invention can grab the maximum number of nut boxes each time when it is set to grab multiple nut boxes at once and then sequentially deliver each grabbed nut box to the corresponding target position, thus improving the gripping efficiency.

[0041] Furthermore, in step 3, the control unit controls the six-axis robot and valve island to operate according to the grasping target and the grasping trajectory information, so that the corresponding gripper mechanism can complete the grasping of the selected nut box;

[0042] The control unit controls the six-axis robot and valve island to operate according to the placement trajectory information, so that the gripper mechanism that has completed the gripping of the part moves the selected nut box to the target position on the floor of the vehicle to be welded.

[0043] The control unit controls the six-axis robot and valve island to operate based on the grasping target and the grasped object trajectory information, performing positioning between a certain gripper mechanism and a corresponding nut box. After positioning is completed, the valve island detects whether it has received the first contact information sent by the first contact sensor of the gripper mechanism; if not, the valve island sends positioning failure information to the control unit, and the control unit suspends operation and issues a positioning failure alarm upon receiving the positioning failure information; if yes, the valve island sends positioning success information to the control unit, and the control unit sends clamping information to the valve island upon receiving the positioning success information. Upon receiving the clamping information, the valve island controls the telescopic cylinder of the gripper mechanism to drive the two grippers of the gripper mechanism to clamp the nut box, completing the grasping of the nut box.

[0044] Furthermore, the valve island is also used to send clamping information to the control unit when it receives clamping information from the position sensor;

[0045] After the control unit sends clamping information to the valve island, it continuously detects whether it receives clamping information from the position sensor of the gripper mechanism within a preset time period, and makes a judgment based on the detection result. If not, the control unit determines that the clamping has failed, the control unit stops working, and issues a clamping failure alarm; if yes, the control unit determines that the clamping has succeeded and completes the gripping of the nut box. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the welding positioning gripper for the nut box of the vehicle floor in Example 1;

[0047] Figure 2 This is a schematic diagram of the gripper mechanism in Example 1;

[0048] Figure 3 This is a schematic diagram of the gripper mechanism in Example 1 gripping the corresponding model of nut box;

[0049] Figure 4 This is a schematic diagram of the welding positioning device for the nut box of the vehicle floor in Embodiment 2;

[0050] Figure 5 This is a schematic diagram of the upper platform in Example 2;

[0051] Among them: 1—welding and positioning gripper for nut box of vehicle floor, 2—six-axis robot, 3—loading table, 4—nut box, 5—wire harness;

[0052] 11—Installation turntable; 12—Valve island; 13—Grab mechanism;

[0053] 131—Telescopic cylinder, 132—Clamping part, 133—Positioning plate, 134—First contact sensor, 135—Positioning pin, 136—Limiting component;

[0054] 132.1—Gripper, 132.2—Fixed base, 132.3—Driver;

[0055] 133.1—Lamination surface;

[0056] 41—Nut box of type 1, 42—Nut box of type 2, 43—Nut box of type 3. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings:

[0058] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship of the vehicle, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0059] Example 1:

[0060] like Figures 1 to 3 As shown, this embodiment 1 provides a nut box welding positioning gripper 1 for a vehicle floor, including a mounting turntable 11;

[0061] One side of the mounting turntable 11 is used for fixed connection with the end effector of the six-axis robot, and the other side of the mounting turntable 11 is equipped with a valve island 12. The outer circumferential surface of the mounting turntable 11 is divided into multiple mounting areas along the circumference. Each mounting area is provided with at least one gripper mechanism 13. The gripper mechanisms 13 in different mounting areas are used to grip different types of nut boxes 4 on the vehicle floor. The gripper mechanisms 13 are arranged at intervals along the circumference of the mounting turntable 11. Each gripper mechanism 13 is electrically connected to the valve island 12, and the valve island 12 is used to control each gripper mechanism 13.

[0062] By dividing the outer circumferential surface of the mounting turntable 11 into multiple mounting areas, and providing at least one gripper mechanism 13 in each mounting area, the gripper mechanisms 13 in different mounting areas are used to grip different types of nut boxes 4 of the vehicle floor. Furthermore, the gripper mechanisms 13 are arranged at intervals along the circumference of the mounting turntable 11, enabling the nut box welding positioning gripper 1 for the vehicle floor provided by this invention to adapt to various different types of nut boxes 4. When the six-axis robot arm equipped with the nut box welding positioning gripper 1 for the vehicle floor provided by this invention grips, transports, and positions the various nut boxes 4 of the vehicle floor, the six-axis robot arm can drive the mounting turntable 11 to rotate around its central axis via its end effector to complete the switching of each gripper mechanism 13. This eliminates the need to disassemble and install different types of positioning grippers on the end effector of the six-axis robot arm, and also eliminates the need for... Multiple six-axis robots equipped with different types of positioning grippers are deployed to grasp, transport, and position the nut boxes on the vehicle floor. This solves the problems in existing technologies where the welding positioning grippers on current six-axis robots are typically only compatible with one type of nut box. This leads to several issues: if a single six-axis robot is used, it requires multiple removals and installations of different types of positioning grippers on the end effector, reducing production efficiency; if multiple six-axis robots with different types of positioning grippers are used, the investment cost is high, interference between the robots is likely, and the teaching and programming of each robot is difficult.

[0063] Among them, such as Figure 2 As shown, in this embodiment 1, the gripper mechanisms 13 in different installation areas have the same structure but different dimensions; each gripper mechanism 13 includes a cylinder gripper 132.1 and a positioning plate 133.

[0064] The cylinder gripper 132.1 includes a telescopic cylinder 131 fixedly installed on the outer peripheral surface of the mounting turntable 11 and a clamping part 132 installed on the telescopic end of the telescopic cylinder 131.

[0065] The clamping part 132 includes two symmetrically arranged jaws 132.1. The telescopic cylinder 131 is used to drive the two jaws 132.1 of the clamping part 132 to clamp the corresponding model of nut box 4.

[0066] A positioning plate 133 is disposed between two grippers 132.1 and is fixedly connected to the outer shell of the telescopic cylinder 131. The side of the positioning plate 133 away from the telescopic cylinder 131 is provided with a mating surface 133.1 for mating with the top surface of the corresponding model nut box 4. A first contact sensor 134 is provided on the mating surface 133.1. The first contact sensor 134 is used to send first contact information to the valve island 12. The valve island 12 controls the telescopic cylinder 131 according to the first contact information.

[0067] By providing a contact surface 133.1 on the side of the positioning plate 133 away from the telescopic cylinder 131 for contacting the top surface of the corresponding model nut box 4, and by providing a first contact sensor 134 on the contact surface 133.1, the nut box welding positioning gripper 1 for vehicle floor provided by the present invention can determine whether the contact surface 133.1 is in contact with the top surface of the corresponding model nut box 4 through the first contact information sent by the first contact sensor 134 during the gripping of the nut box 4. After determining that the contact surface 133.1 is in contact with the top surface of the corresponding model nut box 4, the telescopic cylinder 131 is controlled by the valve island 12 to make the two grippers 132.1 of the clamping part 132 clamp the corresponding model nut box 4, thus ensuring the gripping accuracy of the nut box welding positioning gripper 1 for vehicle floor provided by the present invention.

[0068] Specifically, in this embodiment 1, as follows: Figure 2 As shown, the clamping part 132 includes two symmetrically arranged grippers 132.1, two symmetrically arranged driving members 132.3, and a fixed seat 132.2 fixedly connected to the outer shell of the telescopic cylinder 131; the fixed seat 132.2 is sleeved on the telescopic rod of the telescopic cylinder 131, so that the telescopic rod of the telescopic cylinder 131 can freely extend and retract within the fixed seat 132.2;

[0069] Both drive components 132.3 are hinged at one end to the telescopic rod of the telescopic cylinder 131; each of the two drive components 132.3 is hinged at the other end to a gripper 132.1; the middle of each gripper 132.1 is hinged to the fixed base 132.2, and one end of each gripper 132.1 is hinged to the drive component 132.3 on the same side; the other end of each gripper 132.1 is used to hold the nut box 4.

[0070] In this embodiment 1, as Figure 2 As shown, the side of the positioning plate 133 away from the telescopic cylinder 131 is also provided with a positioning pin 135 for cooperating with the process hole on the top surface of the nut box 4 of the corresponding model.

[0071] By providing a positioning pin 135 on the side of the positioning plate 133 away from the telescopic cylinder 131 for engaging with the process hole on the top surface of the corresponding model nut box 4, the gripper mechanism 13 can achieve pre-positioning between the gripper mechanism 13 and the corresponding model nut box 4 by inserting the positioning pin 135 into the process hole on the top surface of the corresponding model nut box 4 before the two jaws 132.1 of the gripping part 132 of the gripper mechanism 13 clamp the corresponding model nut box 4 during the gripping process. Furthermore, during the clamping process of the two jaws 132.1 of the gripping part 132 of the gripper mechanism 13, the nut box 4 is prevented from shifting in the horizontal direction perpendicular to the clamping direction of the two jaws 132.1. This further improves the gripping accuracy of the nut box welding positioning gripper 1 for vehicle floor provided by the present invention and enhances the consistency of the gripper mechanism 13 in gripping the corresponding model nut box 4 each time.

[0072] In this embodiment 1, as Figure 2 As shown, two limiting members 136 are also fixedly connected to the upper part of the positioning plate 133. The two limiting members 136 are symmetrically arranged on the left and right sides of the positioning plate 133. The two limiting members 136 are used to limit the corresponding nut box 4 to the opposite two sides respectively. The limiting members 136 are staggered from the gripper 132.1 in the front-back direction.

[0073] By setting two limiting members 136, during the process of gripping the corresponding model of nut box 4, before the two grippers 132.1 of the gripping part 132 of the gripper mechanism 13 grip the corresponding model of nut box 4, the two limiting members 136 can respectively limit the nut box 4 to the opposite two sides of the corresponding model of nut box 4, preventing the nut box 4 from deflecting in the horizontal plane. This further improves the gripping accuracy of the nut box welding positioning gripper 1 for vehicle floor provided by the present invention, and improves the consistency of the gripper mechanism 13 in gripping the corresponding model of nut box 4 each time.

[0074] Preferably, in this embodiment 1, a position sensor is installed on the telescopic cylinder 131. The position sensor is electrically connected to the valve island 12. The position sensor is used to detect the telescopic position of the telescopic cylinder 131 and send clamping information to the valve island 12 when the telescopic position of the telescopic cylinder 131 reaches the preset telescopic position.

[0075] By setting a position sensor to detect the extension position of the telescopic cylinder 131, and making the position sensor send clamping information to the valve island 12 when the extension position of the telescopic cylinder 131 reaches the preset extension position, the nut box welding positioning gripper 1 for the vehicle floor provided by the present invention can determine whether the two grippers 132.1 of the corresponding gripper mechanism 13 are clamping the corresponding model of nut box 4 by detecting whether the valve island 12 receives the clamping information sent by the corresponding position sensor. This can effectively prevent the nut box 4 from falling off the gripper mechanism 13 during the placement process.

[0076] Example 2:

[0077] like Figure 4 box Figure 5 As shown, based on the nut box welding positioning gripper 1 for vehicle floor provided in Embodiment 1, Embodiment 2 provides a nut box welding positioning device for vehicle floor, including a control unit, a six-axis robot 2, a loading table 3, and the nut box welding positioning gripper 1 for vehicle floor provided in Embodiment 1;

[0078] One end of the mounting turntable 11 is fixedly connected to the end effector of the six-axis robot 2. The end effector is used to drive the mounting turntable 11 to rotate around its central axis.

[0079] The upper surface of the loading platform 3 is divided into multiple placement areas, the number of which is the same as the number of installation areas. Each placement area is equipped with multiple positioning stations. The positioning stations in different placement areas are used to position and place different types of nut boxes 4. Each positioning station is equipped with a second contact sensor for contacting the nut box 4. Each second contact sensor is electrically connected to the control unit. The second contact sensor is used to send second contact information to the control unit. The gripper mechanism 13 is used to grip the nut box 4 in the corresponding placement area.

[0080] Both the six-axis robot 2 and the valve island 12 are electrically connected to the control unit. The control unit is used to control the operation of the valve island 12 and the six-axis robot 2 to grab the nut box 4 on the loading platform 3 and place it to the corresponding target position on the vehicle floor.

[0081] By dividing the upper surface of the loading platform 3 into multiple placement areas, the number of placement areas is the same as the number of installation areas. Each placement area is equipped with multiple positioning stations, and the positioning stations in different placement areas are used to position and place different models of nut boxes 4. This ensures that the gripper mechanism 13 (i.e., different models of gripper mechanism 13) in each installation area only grips the corresponding model of nut box 4 in the corresponding placement area. In this way, when teaching the six-axis robot 2, it is only necessary to set the teaching trajectory of each gripper mechanism 13 to grip the nut box 4 at each positioning station in the corresponding placement area. Compared with the setting method that requires setting the teaching trajectory of each gripper mechanism 13 to grip the nut box 4 at all positioning stations on the loading platform 3, it can effectively reduce the amount of teaching programming for the six-axis robot 2 and reduce the occurrence of program errors.

[0082] Meanwhile, by setting a second contact sensor for contacting the nut box 4 at each positioning station, and by electrically connecting each second contact sensor to the control unit, the second contact sensor sends second contact information to the control unit. This allows the control unit to determine whether the corresponding model of nut box 4 is placed at each positioning station based on the received second contact information. Consequently, the control unit can automatically select the grasping target (i.e., automatically select the nut box 4 to be grasped) and control the operation of the valve island 12 and the six-axis robot 2 according to the selected grasping target, so as to grasp the nut box 4 on the loading platform 3 to the corresponding target position on the vehicle floor.

[0083] Specifically, in this embodiment 2, the upper surface of the loading platform 3 is divided into three placement areas (including a first placement area, a second placement area, and a third placement area), wherein, as shown... Figure 5 As shown, each positioning station in the first placement area is used to place the first type of nut box 41, each positioning station in the second placement area is used to place the second type of nut box 42, and each positioning station in the third placement area is used to place the third type of nut box 43.

[0084] The outer circumferential surface of the mounting turntable 11 of the nut box welding positioning gripper 1 of the vehicle floor is divided into three mounting areas (including a first mounting area, a second mounting area, and a third mounting area) along the circumferential direction. Three first gripper mechanisms are provided in the first mounting area, four second gripper mechanisms are provided in the second mounting area, and one third gripper mechanism is provided in the third mounting area. The first gripper mechanisms are used to grip the first type of nut box 41, the second gripper mechanisms are used to grip the second type of nut box 42, and the third gripper mechanism is used to grip the third type of nut box 43.

[0085] Preferably, in this embodiment 2, each placement area is provided with at least one placement sub-area, and the number of placement sub-areas in each placement area corresponds to the number of gripper mechanisms 13 in each installation area (specifically, in this embodiment 2, the first placement area is provided with three placement sub-areas, the second placement area is provided with four placement sub-areas, and the third placement area is provided with one placement sub-area).

[0086] Each placement sub-area is equipped with multiple positioning stations, and different gripper mechanisms 13 are used to grip the nut boxes 4 in different placement sub-areas (that is, different first gripper mechanisms are used to grip the first type of nut box 41 in different placement sub-areas in the first placement area, different second gripper mechanisms are used to grip the second type of nut box 42 in different placement sub-areas in the second placement area, and different third gripper mechanisms are used to grip the third type of nut box 43 in the placement sub-area in the third placement area).

[0087] By using different gripper mechanisms 13 to grip the nut boxes 4 in different placement sub-areas, each gripper mechanism 13 grips the corresponding type of nut box 4 only in its corresponding placement sub-area. In this way, when teaching the six-axis robot 2, it is only necessary to set the teaching trajectory of each gripper mechanism 13 to grip the nut box 4 at each positioning station in the corresponding placement sub-area, which can further reduce the amount of teaching programming for the six-axis robot 2 and reduce the occurrence of program errors.

[0088] Preferably, the valve island 12 is also used to send the clamping information to the control unit after receiving the clamping information.

[0089] By enabling the valve island 12 to send clamping information to the control unit after receiving clamping information, the control unit can control the operation of the valve island 12 and the six-axis robot 2. When any gripper mechanism 13 clamps a nut box 4 of the corresponding model, it can detect whether it has received clamping information from the position sensor of the gripper mechanism 13 to determine whether the gripper mechanism 13 has clamped the nut box 4 of the corresponding model. After determining that the nut box 4 of the corresponding model has been clamped, the control unit can then control the operation of the valve island 12 and the six-axis robot 2 to deliver the clamped nut box 4 or drive other gripper mechanisms 13 to grip the part. This effectively prevents the nut box 4 from falling off the gripper mechanism 13 during the placement process.

[0090] Preferably, in this embodiment 2, as Figure 4As shown, the nut box welding positioning device for the vehicle floor also includes a wiring harness 5. A wiring harness through hole is provided on the mounting turntable 11. The wiring harness through hole passes through both sides of the mounting turntable 11. The wiring harness 5 is fixed on the robotic arm of the six-axis robotic arm 2. One end of the wiring harness 5 passes through the wiring harness through hole and is connected to the valve island 12. The other end of the wiring harness 5 is used to connect to the control unit. The other end of the wiring harness 5 is also used to connect to the power supply.

[0091] The end effector of the six-axis robot 2 drives the mounting turntable 11 to rotate around its central axis at a maximum rotatable angle of 360 degrees.

[0092] By setting the maximum rotatable angle of the mounting turntable 11 around its central axis to 360 degrees, the end effector of the six-axis robot 2 can effectively prevent the wire harness 5 from getting tangled with the robotic arm of the six-axis robot 2.

[0093] Example 3:

[0094] According to the vehicle floor nut box welding positioning device provided in Embodiment 2, Embodiment 3 provides a positioning method for the vehicle floor nut box welding positioning device, the positioning method including the following steps:

[0095] Step 1: Obtain the information group of nut box 4 for the vehicle floor to be welded. The information group of nut box 4 includes the quantity information of various types of nut boxes 4 required for the vehicle floor to be welded and the placement trajectory information of each required nut box 4.

[0096] Step 2: The control unit selects the corresponding model and quantity of nut boxes 4 as the gripping targets in the corresponding placement areas on the loading platform 3 according to the quantity information;

[0097] Step 3: The control unit controls the six-axis robot 2 and valve island 12 to operate based on the target grasping information, the placement trajectory information and the grasping trajectory information stored in the control unit, so as to grasp the selected nut box 4 and place it on the corresponding target position on the floor of the vehicle to be welded.

[0098] Furthermore, in step 2, the control unit makes a judgment based on the quantity information and the received second contact information. If the quantity of any type of nut box 4 required for the vehicle floor to be welded is greater than the quantity of that type of nut box 4 placed in the corresponding placement area, the control unit determines that it needs to load the part and the control unit suspends its work; otherwise, the control unit determines that it does not need to load the part, and the control unit selects the corresponding type and quantity of nut boxes 4 as the gripping target in the corresponding placement area on the loading platform 3 according to the quantity information.

[0099] Preferably, the control unit makes a judgment based on the quantity information and the received second contact information. If the quantity of any type of nut box 4 required for the vehicle floor to be welded is greater than the quantity of that type of nut box 4 placed at each positioning station in the corresponding placement area, the control unit determines that the part needs to be installed and the control unit suspends operation.

[0100] Otherwise, the control unit makes a secondary judgment based on the quantity information and the received second contact information. If the number of any type of nut box 4 required for the vehicle floor to be welded is greater than the number of gripper mechanisms 13 in the corresponding installation area, and the number of that type of nut box 4 placed in any sub-area of ​​the corresponding placement area is zero, or the number of any type of nut box 4 required for the vehicle floor to be welded is not greater than the number of gripper mechanisms 13 in the corresponding installation area, but greater than the number of sub-areas in the corresponding placement area where that type of nut box 4 is placed, then the control unit determines that loading is required and the control unit suspends operation; otherwise, the control unit determines that loading is not required, and the control unit selects the corresponding type and quantity of nut boxes 4 as the gripping target in each corresponding placement area on the loading platform 3 according to the quantity information.

[0101] By ensuring that the control unit determines that a part needs to be loaded when the number of any type of nut box 4 required for welding the vehicle floor is greater than the number of nut boxes 4 of that type placed in the corresponding placement area, the number of any type of nut box 4 required for welding the vehicle floor is greater than the number of gripper mechanisms 13 in the corresponding installation area, and the number of nut boxes 4 of that type placed in any placement sub-area of ​​the corresponding placement area is zero, and the number of any type of nut box 4 required for welding the vehicle floor is not greater than the number of gripper mechanisms 13 in the corresponding installation area, but greater than the number of placement sub-areas in the corresponding placement area where nut boxes 4 of that type are placed, the nut box welding positioning device for the vehicle floor provided by the present invention can grab the maximum number of nut boxes 4 each time when it is set to grab multiple nut boxes 4 at once and then sequentially deliver each grabbed nut box 4 to the corresponding target position, thus improving the gripping efficiency.

[0102] Furthermore, in step 3, the control unit controls the six-axis robot 2 and valve island 12 to operate according to the grasping target and grasping trajectory information, so that the corresponding gripper mechanism 13 completes the grasping of the selected nut box 4;

[0103] The control unit controls the six-axis robot 2 and valve island 12 to operate according to the part placement trajectory information, so that the gripper mechanism 13 that has completed the part grabbing moves the selected nut box 4 to the corresponding target position on the floor of the vehicle to be welded.

[0104] The control unit controls the six-axis robot 2 and valve island 12 to operate based on the grasping target and grasping trajectory information, performing positioning between a certain gripper mechanism 13 and a corresponding nut box 4. After positioning is completed, the valve island 12 checks whether it receives the first contact information sent by the first contact sensor 134 of the gripper mechanism 13. If not, the valve island 12 sends a positioning failure message to the control unit. After receiving the positioning failure message, the control unit suspends operation and issues a positioning failure alarm. If yes, the valve island 12 sends a positioning success message to the control unit. After receiving the positioning success message, the control unit sends a clamping message to the valve island 12. After receiving the clamping message, the valve island 12 controls the telescopic cylinder 131 of the gripper mechanism 13 to drive the two grippers 132.1 of the gripper mechanism 13 to clamp the nut box 4, completing the grasping of the nut box 4.

[0105] Furthermore, the valve island 12 is also used to send clamping information to the control unit when it receives clamping information from the position sensor;

[0106] After the control unit sends clamping information to the valve island 12, it continuously checks whether it receives clamping information from the position sensor of the gripper mechanism 13 within a preset time period, and makes a judgment based on the detection result. If not, the control unit determines that the clamping has failed, the control unit stops working, and issues a clamping failure alarm; if yes, the control unit determines that the clamping has succeeded and completes the gripping of the nut box 4.

[0107] The welding positioning gripper, device, and method for the nut box of the vehicle floor provided by the present invention have at least the following technical effects or advantages:

[0108] 1. By dividing the outer circumferential surface of the mounting turntable 11 into multiple mounting areas, and providing at least one gripper mechanism 13 in each mounting area, the gripper mechanisms 13 in different mounting areas are used to grip different types of nut boxes 4 of the vehicle floor; and the gripper mechanisms 13 are arranged at intervals along the circumference of the mounting turntable 11, so that the nut box welding positioning gripper 1 of the vehicle floor provided by the present invention can be adapted to multiple different types of nut boxes 4. When the six-axis robot arm equipped with the nut box welding positioning gripper 1 of the vehicle floor provided by the present invention grips, transports and positions each nut box 4 of the vehicle floor, the six-axis robot arm can drive the mounting turntable 11 to rotate around its central axis through its end effector to complete the switching of each gripper mechanism 13, without the need to disassemble and install different types of positioning grippers on the end effector of the six-axis robot arm, and without Multiple six-axis robots equipped with different types of positioning grippers are needed to grasp, transport, and position the various nut boxes on the vehicle floor. This solves the problem in the existing technology where the welding positioning grippers on existing six-axis robots can usually only be adapted to one type of nut box. This leads to the problem that if a single six-axis robot is used, it is necessary to repeatedly install and remove different types of positioning grippers on the end effector of the six-axis robot during the grasping, transporting, and positioning of the nut boxes, which reduces production efficiency. If multiple six-axis robots equipped with different types of positioning grippers are used, there are technical problems such as high investment costs, easy interference between the six-axis robots, and high difficulty in teaching and programming each six-axis robot.

[0109] 2. By providing a contact surface 133.1 on the side of the positioning plate 133 away from the telescopic cylinder 131 for contacting the top surface of the corresponding model nut box 4; and by providing a first contact sensor 134 on the contact surface 133.1, the nut box welding positioning gripper 1 for the vehicle floor provided by the present invention can determine whether the contact surface 133.1 is in contact with the top surface of the corresponding model nut box 4 through the first contact information sent by the first contact sensor 134 during the gripping of the nut box 4. After determining that the contact surface 133.1 is in contact with the top surface of the corresponding model nut box 4, the telescopic cylinder 131 is controlled by the valve island 12 to make the two grippers 132.1 of the clamping part 132 clamp the corresponding model nut box 4, thus ensuring the gripping accuracy of the nut box welding positioning gripper 1 for the vehicle floor provided by the present invention.

[0110] 3. By providing a positioning pin 135 on the side of the positioning plate 133 away from the telescopic cylinder 131 for engaging with the process hole on the top surface of the corresponding model nut box 4, the gripper mechanism 13 can achieve pre-positioning between the gripper mechanism 13 and the corresponding model nut box 4 by inserting the positioning pin 135 into the process hole on the top surface of the corresponding model nut box 4 before the two jaws 132.1 of the gripping part 132 of the gripper mechanism 13 clamp the corresponding model nut box 4 during the gripping process. Furthermore, during the clamping process of the two jaws 132.1 of the gripping part 132 of the gripper mechanism 13, the nut box 4 is prevented from shifting in the horizontal direction perpendicular to the clamping direction of the two jaws 132.1. This further improves the gripping accuracy of the nut box welding positioning gripper 1 for vehicle floor provided by the present invention and enhances the consistency of the gripper mechanism 13 in gripping the corresponding model nut box 4 each time.

[0111] 4. By setting two limiting members 136, during the process of gripping the corresponding model of nut box 4, before the two grippers 132.1 of the gripping part 132 of the gripper mechanism 13 grip the corresponding model of nut box 4, the two limiting members 136 can respectively limit the nut box 4 to the opposite two sides of the corresponding model of nut box 4, preventing the nut box 4 from deflecting in the horizontal plane. This further improves the gripping accuracy of the nut box welding positioning gripper 1 for vehicle floor provided by the present invention, and improves the consistency of the gripper mechanism 13 in gripping the corresponding model of nut box 4 each time.

[0112] 5. By setting a position sensor for detecting the extension position of the telescopic cylinder 131, and making the position sensor send clamping information to the valve island 12 when the extension position of the telescopic cylinder 131 reaches the preset extension position, the nut box welding positioning gripper 1 for the vehicle floor provided by the present invention can determine whether the two grippers 132.1 of the corresponding gripper mechanism 13 are clamping the corresponding model of nut box 4 by detecting whether the valve island 12 receives the clamping information sent by the corresponding position sensor. This can effectively prevent the nut box 4 from falling off the gripper mechanism 13 during the placement process.

[0113] 6. By dividing the upper surface of the loading platform 3 into multiple placement areas, the number of placement areas is the same as the number of installation areas. Each placement area is equipped with multiple positioning stations, and the positioning stations in different placement areas are used to position and place different models of nut boxes 4. This ensures that the gripper mechanism 13 (i.e., different models of gripper mechanism 13) in each installation area only grips the corresponding model of nut box 4 in the corresponding placement area. In this way, when teaching the six-axis robot 2, it is only necessary to set the teaching trajectory of each gripper mechanism 13 to grip the nut box 4 at each positioning station in the corresponding placement area. Compared with the setting method that requires setting the teaching trajectory of each gripper mechanism 13 to grip the nut box 4 at all positioning stations on the loading platform 3, it can effectively reduce the amount of teaching programming for the six-axis robot 2 and reduce the occurrence of program errors.

[0114] Meanwhile, by setting a second contact sensor for contacting the nut box 4 at each positioning station, and by electrically connecting each second contact sensor to the control unit, the second contact sensor sends second contact information to the control unit. This allows the control unit to determine whether the corresponding model of nut box 4 is placed at each positioning station based on the received second contact information. Consequently, the control unit can automatically select the grasping target (i.e., automatically select the nut box 4 to be grasped) and control the operation of the valve island 12 and the six-axis robot 2 according to the selected grasping target, so as to grasp the nut box 4 on the loading platform 3 to the corresponding target position on the vehicle floor.

[0115] 7. By using different gripper mechanisms 13 to grip the nut boxes 4 in different placement sub-areas, each gripper mechanism 13 grips the corresponding type of nut box 4 only in the corresponding placement sub-area. In this way, when teaching the six-axis robot 2, it is only necessary to set the teaching trajectory of each gripper mechanism 13 to grip the nut box 4 at each positioning station in the corresponding placement sub-area, which can further reduce the amount of teaching programming for the six-axis robot 2 and reduce the occurrence of program errors.

[0116] 8. By enabling the valve island 12 to send clamping information to the control unit after receiving clamping information, the control unit can control the operation of the valve island 12 and the six-axis robot 2. When any gripper mechanism 13 clamps a nut box 4 of the corresponding model, it can detect whether it has received clamping information from the position sensor of the gripper mechanism 13 to determine whether the gripper mechanism 13 has clamped the nut box 4 of the corresponding model. After determining that the nut box 4 of the corresponding model has been clamped, the operation of the valve island 12 and the six-axis robot 2 is controlled to deliver the clamped nut box 4 or drive other gripper mechanisms 13 to grip the part. This can effectively prevent the nut box 4 from falling off the gripper mechanism 13 during the part placement process.

[0117] 9. By setting the maximum rotatable angle of the six-axis robot 2's end effector to drive the mounting turntable 11 to rotate around its central axis to 360 degrees, the entanglement of the wire harness 5 with the robot arm of the six-axis robot 2 can be effectively avoided.

[0118] 10. By ensuring that the number of any type of nut box 4 required for welding the vehicle floor is greater than the number of that type of nut box 4 placed in the corresponding placement area, the number of any type of nut box 4 required for welding the vehicle floor is greater than the number of gripper mechanisms 13 in the corresponding installation area, and the number of that type of nut box 4 placed in any placement sub-area of ​​the corresponding placement area is zero, and the number of any type of nut box 4 required for welding the vehicle floor is not greater than the number of gripper mechanisms 13 in the corresponding installation area, but greater than the number of placement sub-areas in the corresponding placement area where that type of nut box 4 is placed, the control unit determines that a part needs to be loaded. This allows the nut box welding positioning device for the vehicle floor provided by the present invention to be configured to grip multiple nut boxes 4 at once and then sequentially deliver each gripped nut box 4 to the corresponding target position. This ensures that the nut box welding positioning device for the vehicle floor provided by the present invention can grip the maximum number of nut boxes 4 each time, improving the gripping efficiency.

[0119] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should be considered within the protection scope of the present invention.

Claims

1. A positioning method for a nut box welding positioning device for a vehicle floor, characterized in that: The nut box welding positioning device for the vehicle floor includes a control unit, a six-axis robot, a loading table, and a nut box welding positioning gripper for the vehicle floor. The nut box welding positioning gripper for the vehicle floor includes an installation turntable; One side of the mounting turntable is fixedly connected to the end effector of a six-axis robot, and a valve island is mounted on the other side of the mounting turntable. The outer circumferential surface of the mounting turntable is divided into multiple mounting areas. Each mounting area is provided with at least one gripper mechanism, and the gripper mechanisms in different mounting areas are used to grip different types of nut boxes on the vehicle floor. The gripper mechanisms are arranged at intervals along the circumferential direction of the mounting turntable, and each gripper mechanism is electrically connected to the valve island, which is used to control each gripper mechanism. The gripper mechanisms in different installation areas have the same structure but different dimensions; each gripper mechanism includes a cylinder gripper and a positioning plate. The cylinder gripper includes a telescopic cylinder fixedly installed on the outer peripheral surface of the mounting turntable and a clamping part installed on the telescopic end of the telescopic cylinder; The clamping part includes two symmetrically arranged jaws, and the telescopic cylinder is used to drive the two jaws of the clamping part to clamp the corresponding model of nut box. The positioning plate is disposed between the two grippers and is fixedly connected to the outer shell of the telescopic cylinder. The side of the positioning plate away from the telescopic cylinder is provided with a mating surface for mating with the top surface of the corresponding model nut box. A first contact sensor is provided on the mating surface. The first contact sensor is used to send first contact information to the valve island. The valve island controls the telescopic cylinder according to the first contact information. The positioning plate is also provided with a positioning pin on the side away from the telescopic cylinder for cooperating with the process hole on the top surface of the nut box of the corresponding model. Two limiting components are also fixedly connected to the positioning plate. The two limiting components are symmetrically arranged on the left and right sides of the positioning plate. The two limiting components are used to limit the corresponding nut box to the opposite two sides. The limiting components are staggered from the gripper in the front-back direction. A position sensor is installed on the telescopic cylinder. The position sensor is electrically connected to the valve island. The position sensor is used to detect the telescopic position of the telescopic cylinder and send clamping information to the valve island when the telescopic position of the telescopic cylinder reaches the preset telescopic position. One end of the mounting turntable is fixedly connected to the end effector of the six-axis robot, and the end effector is used to drive the mounting turntable to rotate around its central axis; The upper surface of the loading platform is divided into multiple placement areas, the number of which is the same as the number of installation areas. Each placement area has multiple positioning stations, and the positioning stations in different placement areas are used to position and place different types of nut boxes. Each positioning station is equipped with a second contact sensor for contacting the nut box. Each second contact sensor is electrically connected to the control unit and is used to send second contact information to the control unit. The gripper mechanism is used to grip the nut box in the corresponding placement area. The six-axis robot and the valve island are both electrically connected to the control unit. The control unit is used to control the operation of the valve island and the six-axis robot to grab the nut box on the loading platform and place it at the corresponding target position on the vehicle floor. Each of the placement areas is provided with at least one placement sub-area, and the number of placement sub-areas in each of the placement areas corresponds to the number of gripper mechanisms in each of the installation areas; Each of the placement sub-areas is provided with multiple positioning stations, and different gripper mechanisms are used to grip the nut boxes in different placement sub-areas; The valve island is also used to send the clamping information to the control unit after receiving the clamping information; The positioning method includes the following steps: Step 1: Obtain the nut box information group of the vehicle floor to be welded. The nut box information group includes the quantity information of various types of nut boxes required for the vehicle floor to be welded and the placement trajectory information of each nut box. Step 2: The control unit selects the corresponding model and quantity of nut boxes as gripping targets in the corresponding placement areas on the loading platform according to the quantity information; Step 3: The control unit controls the six-axis robot and valve island to operate according to the grasping target, the placement trajectory information and the grasping trajectory information stored in the control unit, and grasps the selected nut box to the corresponding target position on the floor of the vehicle to be welded.

2. The positioning method of the nut box welding positioning device for the vehicle floor according to claim 1, characterized in that: In step 2, the control unit makes a judgment based on the quantity information and the received second contact information. If the number of any type of nut box required for the vehicle floor to be welded is greater than the number of that type of nut box placed in the corresponding placement area, the control unit determines that the part needs to be installed and the control unit suspends operation. Otherwise, if the control unit determines that no loading is required, the control unit selects the corresponding model and quantity of nut boxes as the gripping target in the corresponding placement area on the loading platform according to the quantity information.

3. The positioning method of the nut box welding positioning device for the vehicle floor according to claim 1, characterized in that: In step 3, the control unit controls the six-axis robot and valve island to operate according to the grasping target and the grasping trajectory information, so that the corresponding gripper mechanism can complete the grasping of the selected nut box. The control unit controls the six-axis robot and valve island to operate according to the placement trajectory information, so that the gripper mechanism that has completed the gripping of the part moves the selected nut box to the target position on the floor of the vehicle to be welded. The control unit controls the six-axis robot and valve island to operate based on the grasping target and the grasped object trajectory information, performing positioning between a certain gripper mechanism and a corresponding nut box. After positioning is completed, the valve island detects whether it has received the first contact information sent by the first contact sensor of the gripper mechanism; if not, the valve island sends positioning failure information to the control unit, and the control unit suspends operation and issues a positioning failure alarm upon receiving the positioning failure information; if yes, the valve island sends positioning success information to the control unit, and the control unit sends clamping information to the valve island upon receiving the positioning success information. Upon receiving the clamping information, the valve island controls the telescopic cylinder of the gripper mechanism to drive the two grippers of the gripper mechanism to clamp the nut box, completing the grasping of the nut box.

Images