Flexible clamp for plate positioning

Abstract

The invention relates to a flexible clamp for plate positioning, and belongs to the technical field of automobile assembly. The reference side mechanism comprises two reference seats which are symmetrically arranged in the first direction of the bracket, and a first driving assembly which is arranged on the bracket and is used for driving the two reference seats to get close to each other or get away from each other; the driving side mechanism comprises a first check block arranged on one side of the reference side mechanism in the second direction of the bracket, and a second driving assembly arranged on the bracket and used for driving the first check block to be close to or away from the reference seat; the supporting mechanism comprises a first supporting block arranged between the reference side mechanism and the driving side mechanism and a third driving assembly used for driving the first supporting block to ascend and descend in the third direction of the bracket. The multi-vehicle-type collinear production requirement can be met, the stable positioning performance effectively reduces the robot track adjusting frequency, and systematic optimization of the production efficiency can be achieved while the gluing quality consistency is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile assembly, in particular to a flexible clamp for positioning a plate. BACKGROUND

[0002] In the manufacturing process of automobile welding body-in-white, the connection quality of the door cover outer plate and the inner plate directly relates to the sealing performance and corrosion resistance of the door. The rolling edge and glue coating process are the key to achieving this connection, and the positioning accuracy of the outer plate glue coating is particularly important. However, the adaptability of the existing glue coating positioning clamp is poor, and it can usually only adapt to a single or a small number of vehicle models. This limitation leads to the need to frequently add or modify the clamp when new vehicle models are added, which not only increases procurement costs, but also complicates clamp management. In addition, the adjustment of the robot spraying trajectory further restricts production efficiency. Therefore, the existing technology cannot meet the flexible needs of multi-vehicle model inline production.

[0003] Currently, the main challenge faced by the door cover outer plate glue coating positioning clamp is how to adapt to the diversity of outer plate shapes. Due to the large differences in size, curvature and structure of the door cover outer plate of different vehicle models, traditional clamps cannot achieve stable and high-precision positioning. Unstable positioning can cause the glue coating trajectory to deviate, thereby affecting the coverage effect and uniformity of the sealant. In addition, small displacements or vibrations of the outer plate during positioning can also cause fluctuations in the glue coating quality. These problems highlight the shortcomings of existing clamps in terms of flexibility and universality, especially in large-scale multi-vehicle production, where their limitations are more obvious.

[0004] Therefore, it is particularly urgent to develop a flexible and universal door cover outer plate positioning clamp. The clamp needs to have the ability to adapt to the shapes of outer plates of multiple vehicle models, while ensuring that the positioning repeatability meets the requirements of the glue coating process. SUMMARY

[0005] In view of one or more of the deficiencies in the above background art, the embodiments of the present application provide a flexible clamp for positioning a plate to solve the problem of poor adaptability of glue coating positioning clamps in related technologies and the inability to meet the needs of multi-vehicle model inline production.

[0006] The embodiments of the present application provide a flexible clamp for positioning a plate, comprising: a bracket; a reference side mechanism comprising two reference seats symmetrically arranged along a first direction of the bracket, and a first driving assembly arranged on the bracket and used to drive the two reference seats to move closer to or away from each other; an active side mechanism comprising a first stop block arranged on one side of the reference side mechanism along a second direction of the bracket, and a second driving assembly arranged on the bracket and used to drive the first stop block to move closer to or away from the reference seat; The support mechanism comprises a first support block arranged between the reference side mechanism and the active side mechanism, and a third driving assembly for driving the first support block to ascend and descend along the third direction of the bracket.

[0007] In some embodiments, a centering mechanism is further included, which comprises two second stop blocks arranged between the reference side mechanism and the active side mechanism and symmetrically arranged along the first direction of the bracket, and a fourth driving assembly arranged on the bracket and used for driving the two second stop blocks to move closer to or farther away from each other.

[0008] In some embodiments, a base is further included, and the bracket is rotationally connected to the base; a turnover mechanism is connected between the base and the bracket, and is used for driving the bracket to turn over so as to switch the bracket between the first position and the second position.

[0009] In some embodiments, a first buffer for buffering the bracket in the first position and a second buffer for buffering the bracket in the second position are arranged on the base. A first pressing block for matching the first buffer and a second pressing block for matching the second buffer are arranged on the bracket.

[0010] In some embodiments, a first travel switch for detecting that the bracket moves to the first position and a second travel switch for detecting that the bracket moves to the second position are arranged on the base.

[0011] In some embodiments, the reference seat comprises a support connected to the first driving assembly, a support plate connected to the support, a baffle connected to one side of the support plate away from the first stop block, and two guide plates connected to the other sides of the support plate away from each other.

[0012] In some embodiments, the active side mechanism further comprises a moving frame and a fifth driving assembly connected between the moving frame and the second driving assembly; the first stop block is connected to the moving frame, and the fifth driving assembly is used for driving the moving frame to ascend and descend along the third direction of the bracket.

[0013] In some embodiments, two second support blocks symmetrically distributed along the first direction of the bracket are connected to the moving frame, and a center line of the first support block and the two second support blocks forms a triangle. Two third support blocks symmetrically distributed along the first direction of the bracket are connected to the bracket, the third support blocks are located between the reference seat and the second support blocks, the third support blocks extend along the second direction of the bracket, and one end of the third support blocks away from the reference seat is higher than the other end of the third support blocks away from the second support blocks.

[0014] In some embodiments, the locking mechanism comprises a locking seat connected to the base, and a first locking plate and a second locking plate connected to the bracket, wherein the locking seat, the first locking plate and the second locking plate are provided with a bolt hole; When the bracket is flipped to the first position, the bolt hole on the first locking plate is aligned with the bolt hole on the locking seat; when the bracket is flipped to the second position, the bolt hole on the second locking plate is aligned with the bolt hole on the locking seat.

[0015] In some embodiments, the base is provided with a bolt rod and a placing seat for storing the bolt rod, and the placing seat is provided with a third travel switch for detecting the position of the bolt rod.

[0016] The technical scheme provided by the present application has the beneficial effects of: The flexible clamp for positioning the plate provided by the embodiments of the present application is provided with a reference side mechanism, a driving side mechanism and a supporting mechanism on the bracket; the reference side mechanism comprises two reference seats symmetrically arranged along the first direction of the bracket, and a first driving assembly arranged on the bracket and used for driving the two reference seats to move closer to or farther away from each other; the driving side mechanism comprises a first stopper arranged on one side of the reference side mechanism along the second direction of the bracket, and a second driving assembly arranged on the bracket and used for driving the first stopper to move closer to or farther away from the reference seat; and the supporting mechanism comprises a first supporting block arranged between the reference side mechanism and the driving side mechanism, and a third driving assembly used for driving the first supporting block to move up and down along the third direction of the bracket.

[0017] Therefore, the first supporting block of the supporting mechanism can accurately support the appearance profile of the plate, and the two reference seats of the reference side mechanism and the first stopper of the driving side mechanism can cooperatively position the edge of the plate, which not only effectively protects the appearance quality of the plate, but also meets the precision requirements of the gluing process. The multi-directional adjustable structure design of the flexible clamp of the present application significantly improves the adaptability of the positioning system, which can meet the needs of multi-model collinear production, and the stable positioning performance effectively reduces the frequency of robot trajectory adjustment, thereby ensuring the consistency of the gluing quality while realizing the systematic optimization of production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any creative labor.

[0019] Figure 1 FIG. 1 is a structural schematic diagram of the flexible clamp of the present application; Figure 2Structure schematic view of the reference side mechanism of the embodiment of the present application; Figure 3 Sectional view schematic view of the first driving assembly of the embodiment of the present application; Figure 4 Structure schematic view of the active side mechanism of the embodiment of the present application; Figure 5 Structure schematic view of the support mechanism of the embodiment of the present application; Figure 6 Structure schematic view of the centering mechanism of the embodiment of the present application; Figure 7 Structure schematic view of the bracket in the first position of the embodiment of the present application; Figure 8 Structure schematic view of the bracket in the first position of the embodiment of the present application from another angle.

[0020] In the drawings, the components represented by the respective reference numerals are listed as follows: 1. bracket; 2. reference side mechanism; 21, reference seat; 211, support; 212, support plate; 213, baffle; 214, guide plate; 22, first driving assembly; 3. active side mechanism; 31, first stop block; 32, second driving assembly; 33, moving frame; 34, fifth driving assembly; 35, second support block; 4. support mechanism; 41, first support block; 42, third driving assembly; 5. centering mechanism; 51, second stop block; 52, fourth driving assembly; 6. base; 7, overturning mechanism; 8, first buffer; 9, first pressing block; 10, second buffer; 11, second pressing block; 12, first travel switch; 13, second travel switch; 14, third support block; 15, locking mechanism; 151, locking seat; 152, first locking plate; 153, second locking plate; 16, bolt rod; 17, placing seat; 18, third travel switch. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] In response to the deficiencies or one of the deficiencies raised in the above-mentioned background technology, an embodiment of the present application provides a flexible clamp for panel positioning to solve the problem that the gluing positioning clamp in the related technology has poor adaptability and cannot meet the production needs of multiple models on the same line.

[0023] See also Figures 1 to 8 As shown, an embodiment of the present application provides a flexible fixture for positioning a plate, comprising: Bracket 1; The reference side mechanism 2 includes two reference seats 21 symmetrically arranged along a first direction of the bracket 1, and a first driving assembly 22 provided on the bracket 1 and used to drive the two reference seats 21 to move toward or away from each other; The active-side mechanism 3 includes a first stopper 31 arranged on one side of the reference-side mechanism 2 along the second direction of the bracket 1, and a second driving assembly 32 provided on the bracket 1 and used to drive the first stopper 31 toward or away from the reference seat 21; The supporting mechanism 4 includes a first supporting block 41 disposed between the reference side mechanism 2 and the active side mechanism 3 , and a third driving assembly 42 for driving the first supporting block 41 to rise and fall along the third direction of the bracket 1 .

[0024] The flexible clamp of the embodiment of the present application realizes dynamic support adjustment of the two corners of the panel through the linkage of the two reference seats 21 symmetrically arranged along the first direction of the reference side mechanism 2 and the first drive component 22, so as to adapt to panels of different width specifications; the first stop block 31 of the active side mechanism 3 moves precisely along the second direction under the action of the second drive component 32, and forms a circumferential positioning constraint together with the reference seat 21; the first support block 41 of the supporting mechanism 4 rises and falls along the third direction under the control of the third drive component 42, and accurately positions and supports the appearance surface of the panel, so that panels of different specifications can be positioned.

[0025] Among them, such as Figure 1 As shown, the first direction is the X direction, corresponding to the width direction of the bracket 1; the second direction is the Y direction, corresponding to the length direction of the bracket 1; and the third direction is the Z direction, corresponding to the height direction of the bracket 1.

[0026] For example, the first drive assembly 22 can be a bidirectional linear electric slide with a double slide, which is driven by a bidirectional forward and reverse screw in conjunction with a motor to realize that the double slide drives the two reference bases 21 to move closer to or away from each other, or a pair of electric cylinders are used to drive the two reference bases 21 to move closer to or away from each other; the second drive assembly 32 and the third drive assembly 42 can both use a linear electric slide with a single slide, or an electric cylinder; The reference seat 21 is provided with a support surface, a positioning surface and a side stop surface perpendicular to the support surface, and the two side support surfaces can cooperate with the first support block 41 to form stable support, the positioning surface and the side stop surface can cooperate to preliminarily position the two corners of the plate member, and then cooperate with the first stop block 31 to be close to the plate member, so that accurate positioning and support of the plate member can be realized. The two reference seats 21 can be adjusted in the width direction of the bracket 1, the first stop block 31 can be adjusted in the length direction of the bracket 1, and the first support block 41 can be adjusted in the height direction of the bracket 1, so that plate members of different specifications can be positioned and supported.

[0027] The flexible clamp of the present application can meet the precision requirements of glue coating of weak-rigidity parts such as door cover outer plates, and can also be compatible with the collinear production of multiple types of outer plates such as four doors, front hoods and rear trunks, can reduce the trajectory adjustment frequency by more than 30% compared with traditional clamps, and can significantly improve the overall operation efficiency of the automatic production line.

[0028] In some optional embodiments: referring to Figures 1 to 8 The flexible clamp for positioning a plate member provided by the embodiment of the present application further comprises a centering mechanism 5, the centering mechanism 5 comprises two second stop blocks 51 arranged between the reference side mechanism 2 and the active side mechanism 3 and symmetrically arranged along the first direction of the bracket 1, and a fourth driving assembly 52 arranged on the bracket 1 and used to drive the two second stop blocks 51 to move closer to or away from each other.

[0029] The embodiment of the present application further perfects the positioning structure by adding the centering mechanism 5, the two second stop blocks 51 of the centering mechanism 5 are symmetrically distributed along the width direction of the bracket 1, and cooperate with the fourth driving assembly 52 to realize horizontal displacement adjustment and accurately correct the offset amount of the center line of the plate member and the reference line of the clamp.

[0030] Specifically, the fourth driving assembly 52 and the first driving assembly 22 adopt the same structure, when the fourth driving assembly 52 is started, the second stop block 51 moves synchronously along the first direction, forms double positioning constraints with the reference seat 21, quickly positions the lateral edge of the plate member, is suitable for positioning the plate members such as front hoods and rear trunks which have good symmetry, and the positioning error can be controlled within ±0.3mm; Meanwhile, the first stop block 31 in the embodiment is provided with two and symmetrically arranged, the connecting line between the two second stop blocks 51 of the centering mechanism 5 and the two first stop blocks 31 of the active side mechanism 3 forms a trapezoid, constitutes a trapezoidal positioning network, can significantly enhance the stability control of the end part of the plate member, and can reduce the probability of robot trajectory re-correction caused by clamping offset.

[0031] In specific use, the fourth driving assembly 52 can adopt a bidirectional linear electric sliding table with double sliding tables. Connection plates are fixedly installed on the two sides of the sliding tables to fix and install the second stop block 51. The surface of the second stop block 51 can be coated with polyurethane elastomer, which can ensure positioning accuracy and avoid leaving marks on the surface of the plate. The flexible clamp is suitable for high-precision gluing requirements of thin plate structures in multi-model collinear production of new energy vehicles.

[0032] In some optional embodiments, referring to Figures 1 to 8 The flexible clamp for positioning a plate provided by the embodiment of the present application further includes a base 6, and the bracket 1 is rotationally connected to the base 6. A turnover mechanism 7 is connected between the base 6 and the bracket 1, and the turnover mechanism 7 is used to drive the bracket 1 to turn over, so as to switch the bracket 1 between a first position and a second position.

[0033] The base 6 and the turnover mechanism 7 are matched to further improve the automatic adaptation capability of the flexible clamp. The turnover mechanism 7 can drive the bracket 1 to switch between the first position and the second position. The first position is close to a horizontal position, referring to Figure 8 The second position is close to a vertical position, which facilitates the lateral feeding of the plate and the leaning of the plate on the reference seat 21 and the first support block 41.

[0034] For example, the base 6 of the embodiment of the present application includes two symmetrical supporting seats and a cross beam fixedly connected to the two supporting seats. The bracket 1 is located between the two supporting seats and above the cross beam. Hinge seats are fixedly installed on the two sides of the bracket 1. The two hinge seats are rotationally connected to the two supporting seats through hinge shafts. The turnover mechanism 7 adopts a telescopic cylinder, and the two ends of the telescopic cylinder are rotationally connected between the base 6 and the bracket 1 through the hinge seats. The bracket 1 is switched between the first position and the second position by driving the telescopic cylinder.

[0035] When the robot needs to be glued, the fourth driving assembly 52 is started to rotate the bracket 1 to the first position close to the horizontal position. The position of the bracket 1 is locked by the telescopic cylinder. At this time, the reference seat 21, the first support block 41 and the first stop block 31 form a planar positioning system, which ensures that the gluing trajectory is accurately matched with the plate profile. When switching to the feeding state, the fourth driving assembly 52 reversely drives the bracket 1 to turn over to the second position close to the vertical position. The reference seat 21 and the first support block 41 automatically form a leaning surface. The operator or the robot can quickly place the bottom end of the plate on the reference seat 21 and push the plate to the clamp to quickly complete the feeding.

[0036] The overturning action of the bracket 1 of the embodiment improves the utilization rate of the clamp space by 40%, the gluing station can be directly connected to the feeding station, the overturning mechanism 7 can adopt an electric cylinder or an air cylinder, realizes in-place locking, and makes the bracket 1 have disturbance resistance stability at any position, avoids positioning deviation caused by external vibration, shortens the process switching time by 15% compared with the traditional double-station clamp, and can be suitable for the high-beat gluing demand of the door cover outer plate in the new energy automobile production line.

[0037] It should be noted that the overturning mechanism 7 in the present application is used to drive the bracket 1 to overturn, so it can be understood that other overturning mechanisms 7 that can realize such a function can be used in the present application, and those skilled in the art can adaptively adjust the size, shape and material of the overturning mechanism 7 according to the use scene and test conditions.

[0038] In some optional embodiments: referring to Figures 1 to 8 The embodiment of the present application provides a flexible clamp for positioning a plate, a first buffer 8 for buffering the bracket 1 in the first position is arranged on the base 6, and a second buffer 10 for buffering the bracket 1 in the second position is arranged on the base 6. The bracket 1 is provided with a first pressing block 9 for cooperating with the first buffer 8 and a second pressing block 11 for cooperating with the second buffer 10.

[0039] The embodiment of the present application can significantly improve the motion safety and service life of the clamp by arranging the first buffer 8 and the second buffer 10 on the base 6, and cooperating the first pressing block 9 and the second pressing block 11 on the bracket 1.

[0040] For example, the first buffer 8 and the first pressing block 9 of the embodiment are both provided with two, the two first pressing blocks 9 are fixedly installed on the bottom surface of the bracket 1 and are distributed on both sides of the second driving assembly 32, and the two first buffers 8 are fixedly installed above the cross beam of the base 6 through two inclined support seats; the second buffer 10 and the second pressing block 11 are both provided with two, the two second pressing blocks 11 are fixedly installed on the bottom surface of the bracket 1 and are arranged close to the first driving assembly 22, and the two second buffers 10 are fixedly installed above the cross beam of the base 6 through a connecting seat; Specifically, when the fourth driving assembly 52 drives the bracket 1 to overturn counterclockwise from the second position close to vertical to the first position close to horizontal, the first pressing block 9 descends synchronously with the bracket 1, triggers the first buffer 8 on the base 6, the first buffer 8 generates a damping effect, reduces the falling speed of the bracket 1, and can be reduced from 0.8 m / s to 0.2 m / s, avoiding positioning system deviation caused by hard collision; Conversely, when the bracket 1 returns to the near-vertical position clockwise from the near-horizontal position, the second pressing block 11 contacts the second buffer 10, and through the progressive pressure release of the hydraulic damper, the bracket 1 can be slowed down to 0.1 m / s when returning to the near-vertical state, reducing the wear rate of mechanical parts. The embodiment can improve the positioning stability of the clamp to ±0.05mm in high-beat operation of 120 times / hour through the gradient damping design of the buffer; At the same time, the impact energy absorption efficiency can be improved to more than 85% based on the optimized contact area of the pressing block and the buffer, the pressing block contact surface diameter is designed to be 30mm, and the buffer piston rod diameter is designed to be 25mm, reducing 40% of the mechanical stress concentration compared with the traditional pneumatic buffer scheme, which can realize continuous flip action control, especially suitable for the rapid changeover demand of thin plate structure in the multi-model inline production of new energy vehicles, and can prolong the maintenance cycle of the clamp to more than 6000 hours.

[0041] In some optional embodiments: referring to Figures 1 to 8 The embodiment of the present application provides a flexible clamp for positioning a plate, and a first travel switch 12 for detecting movement of a bracket 1 to a first position is arranged on a base 6 of the flexible clamp for positioning a plate, and a second travel switch 13 for detecting movement of the bracket 1 to a second position is arranged on the base 6.

[0042] The embodiment of the present application can construct a high-precision position detection system by integrating the first travel switch 12 and the second travel switch 13 on the base 6 in combination with the bracket 1 flip trigger. For example, a diagonal support seat is fixedly installed on a cross beam of the base 6, the first travel switch 12 is fixedly connected to the top end of the diagonal support seat through a mounting seat, and the first buffer 8 is fixedly connected to the diagonal support seat, and a pressing plate for triggering the first travel switch 12 is fixedly connected to the first pressing block 9 fixedly installed on the bottom surface of the bracket 1; the second travel switch 13 is fixedly connected to the cross beam of the base 6 through a mounting seat and is directly triggered by the bracket 1 through the bracket 1 flip.

[0043] Specifically, when the bracket 1 is driven to flip to the first position by the flip mechanism 7, the first pressing block 9 on the bottom surface of the bracket 1 triggers the first buffer 8, and the pressing plate on the first pressing block 9 triggers the first travel switch 12, and the flip mechanism 7 stops outputting immediately after receiving the signal, which can ensure that the positioning accuracy of the bracket 1 reaches ±0.02mm; similarly, when the bracket 1 moves to the second position, the second travel switch 13 on the other side is triggered by the bracket 1, and the flip mechanism 7 is locked.

[0044] The detection design of the double-stroke switch can shorten the bracket 1 to the in-place judgment response time to 0.1 seconds, improve the real-time performance by 80% compared with the traditional mechanical limiting structure, and is especially suitable for the rapid model change demand of the thin plate structure in the multi-model co-line production of new energy vehicles, so that the clamp can maintain a repeat positioning accuracy of ±0.03mm within a flip angle range of ±5°.

[0045] In some optional embodiments, referring to Figures 1 to 8 The base seat 21 of the flexible clamp for positioning the plate provided by the embodiment of the application comprises a support 211 connected to the first driving assembly 22, the support 211 is connected with a support plate 212, the side of the support plate 212 away from the first stop block 31 is connected with a baffle 213, and the sides of the two support plates 212 away from each other are both connected with inclined guide plates 214.

[0046] The base seat 21 of the embodiment of the application comprises a support 211 fixedly connected with a sliding block on the first driving assembly 22, the support 211 is welded with a support plate 212, the support plate 212 is welded with a baffle 213 and an outwardly inclined guide plate 214, the end of the plate can be supported on the support 211, the baffle 213 can position the edge of the plate, and the plate can slide to the support plate 212 along the guide plate 214 and abut against the baffle 213.

[0047] Specifically, when the bracket 1 is flipped clockwise to the second position close to vertical, the base seat 21 is lowered synchronously with the bracket 1, at this time, the operator can slide the lower end of the plate in the vertical state along the inclined guide plate 214 into the base seat 21, the surface of the guide plate 214 can guide the end of the plate to butt against the baffle 213, and then the plate is pushed against the support of the flexible clamp.

[0048] The inclined design of the guide plate 214 of the embodiment cooperates with the flipping of the bracket 1, so that the plate clamping time is shortened to 60% of the conventional scheme, and the positioning error is controlled within ±0.1mm; the baffle 213 can act as a supporting plate for supporting the plate during feeding, and also can act as a side positioning plate for positioning the plate during gluing; the rigid connection of the support plate 212 and the support 211 ensures the positioning stability, and the three-way adjustment system can realize the compatibility of different plate sizes, and is especially suitable for the clamping demand of complex curved thin plates in the multi-model co-line production of new energy vehicles.

[0049] In some optional embodiments, referring to Figures 1 to 8As shown, the embodiment of the present application provides a flexible clamp for positioning a plate member, and the active side mechanism 3 of the flexible clamp for positioning a plate member further comprises a moving frame 33, and a fifth driving assembly 34 connected between the moving frame 33 and the second driving assembly 32; the first stop block 31 is connected to the moving frame 33, and the fifth driving assembly 34 is used to drive the moving frame 33 to ascend and descend along the third direction of the bracket 1.

[0050] The embodiment of the present application further optimizes the dynamic adaptation capability of the plate member positioning through the cooperation of the second driving assembly 32 and the fifth driving assembly 34 of the active side mechanism 3. Specifically, the second driving assembly 32 drives the fifth driving assembly 34 and the moving frame 33 to translate along the length direction of the bracket 1 through a synchronous belt, so as to realize the transverse displacement adjustment between the first stop block 31 and the reference seat 21, the travel range can reach ±500mm, and the positioning accuracy can reach ±0.03mm. For example, the fifth driving assembly 34 adopts an electric sliding table, which directly drives the moving frame 33 to ascend and descend along the third direction through a ball screw pair structure, the ascending and descending travel can reach ±30mm, and the positioning accuracy can reach ±0.05mm. The double driving design of the embodiment can effectively improve the positioning performance, and the double degree of freedom movement of the moving frame 33 enables the active side mechanism 3 to realize the composite positioning of transverse ±500mm and vertical ±30mm, which improves the space adaptability by 60% compared with the traditional single adjustment structure. The ball screw transmission of the fifth driving assembly 34 improves the vertical positioning rigidity to 2.5 times of the traditional cylinder driving scheme, which can effectively suppress the vertical vibration interference of ±0.1mm, and the moving frame 33 can adopt a modular design, such as a high-strength carbon steel frame structure, which can shorten the clamping and changing time of special-shaped parts, and is particularly suitable for the high-precision positioning requirements of complex curved plate members in the multi-model inline production of new energy vehicles.

[0051] In some optional embodiments, referring to Figures 1 to 8 As shown, the embodiment of the present application provides a flexible clamp for positioning a plate member, and the moving frame 33 of the flexible clamp for positioning a plate member is connected with two second support blocks 35 which are symmetrically distributed along the first direction of the bracket 1, and the center line of the first support block 41 and the two second support blocks 35 forms a triangle. The bracket 1 is connected with two third support blocks 14 which are symmetrically distributed along the first direction thereof, the third support block 14 is located between the reference seat 21 and the second support block 35, the third support block 14 extends along the second direction of the bracket 1, and the end towards the reference seat 21 is higher than the end towards the second support block 35.

[0052] The second supporting blocks 35 on the moving frame 33 and the first supporting blocks 41 on the supporting mechanism 4 form a composite supporting structure, which significantly improves the stability and process compatibility of the positioning of the plate member: the two second supporting blocks 35 symmetrically arranged on the moving frame 33 and the first supporting blocks 41 on the supporting mechanism 4 form a triangular layout, and the top surfaces of the supporting blocks are designed as semicircular arc surfaces, which facilitates the contact and support of the outer appearance profile of the plate member. For example, the top surface of the second supporting block 35 can be integrated with a laser ranging sensor, which can detect the distance deviation between the plate member and the supporting surface in real time, and then feed back the data to the background PLC control system, and drive the third driving assembly 42 to fine-tune the height of the first supporting block 41 to realize dynamic compensation positioning.

[0053] In addition, the third supporting block 14 on the bracket 1 is arranged obliquely, when the bracket 1 is in the second position close to the vertical position, the lower end of the plate member in the vertical state is placed in the two side reference seats 21 and then pushed against the flexible clamp, the third supporting block 14 can stably support the plate member to cooperate with the completion of the feeding, improve the feeding stability of the plate member, shorten the plate member clamping operation time, and combined with the existing three-way adjustment system, realize the compatibility of different plate member size changes in the same clamp, especially suitable for the high-precision clamping demand of special-shaped parts such as roof panels in the multi-model inline production of new energy vehicles, and improve the efficiency of clamp type change.

[0054] In some optional embodiments: referring to Figures 1 to 8 The flexible clamp for positioning the plate member also includes a locking mechanism 15, the locking mechanism 15 includes a locking seat 151 connected to the base 6, and a first locking plate 152 and a second locking plate 153 connected to the bracket 1, and the locking seat 151, the first locking plate 152 and the second locking plate 153 are all provided with a bolt hole; When the bracket 1 is turned to the first position, the bolt hole on the first locking plate 152 is aligned with the bolt hole on the locking seat 151; when the bracket 1 is turned to the second position, the bolt hole on the second locking plate 153 is aligned with the bolt hole on the locking seat 151.

[0055] The mechanical interlocking design of the locking mechanism 15 can improve the stability and operation safety of the flexible clamp in the key station, and facilitate the locking of the bracket 1 in the first position or the second position for maintenance.

[0056] For example, when the bracket 1 is turned to the first position, the bolt hole of the first locking plate 152 is completely aligned with the bolt hole of the locking seat 151, and after the insertion of the bolt rod 16, a mechanical lock is formed, at this time the bracket 1 remains in the first position, ensuring that the robot glue application path is accurately matched with the profile of the plate member; When the bracket 1 is flipped to the second position, the latch hole of the second locking plate 153 is aligned with the locking seat 151, and the bracket 1 is locked by the latch rod 16 to maintain the second position, facilitating the operator to quickly clamp the plate along the guide plate 214.

[0057] In some optional embodiments, referring to Figures 1 to 8 As shown, the embodiment of the present application provides a flexible clamp for plate positioning, wherein the base 6 is provided with a latch rod 16 and a placing seat 17 for storing the latch rod 16, and the placing seat 17 is provided with a third travel switch 18 for detecting the position of the latch rod 16.

[0058] The placing seat 17 of the embodiment of the present application is fixed at the lower part of the base 6 and does not affect the flipping of the bracket 1, and the end of the placing seat 17 is integrally formed with a sleeve, and the latch rod 16 can be vertically inserted into the sleeve, and the latch rod 16 includes a large-diameter section and a small-diameter section, and the latch rod 16 is supported on the sleeve through the step between the large-diameter section and the small-diameter section.

[0059] Specifically, when the latch rod 16 is inserted into the sleeve, the mechanical contact of the third travel switch 18 is triggered at the same time, and a “device normal” signal is sent to the rear-stage PLC control system; when the latch rod 16 is pulled out for maintenance, the contact of the third travel switch 18 is disconnected, and the PLC immediately cuts off the clamp driving power supply and locks all moving parts, and displays the maintenance state on the human-machine interface.

[0060] Combined with the three-way adjusting system, the automatic switching between the maintenance state and the production state can be realized, so that the clamp has a complete mechanical locking function in the maintenance mode, and is particularly suitable for the thin plate clamping scene that needs frequent maintenance in the multi-model inline production of new energy vehicles, and the safety response speed is improved by 50% compared with the traditional manual power-off scheme.

[0061] In the description of the present application, it should be noted that the positions or position relationships indicated by the terms “upper”, “lower” and the like are based on the positions or position relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specifically defined and limited, the terms “mounting”, “connection”, “connection” should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] It should be noted that, in the present application, the relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0063] The foregoing is merely illustrative of the principles of the application and various modifications can be made by those skilled in the art without departing from the spirit and scope of the application. The above embodiments are illustrative, and not restrictive, of the scope of the application.

Claims

1. A flexible fixture for positioning a plate, characterized in that: include: bracket (1); A reference side mechanism (2) comprising two reference seats (21) symmetrically arranged along a first direction of the bracket (1), and a first driving assembly (22) provided on the bracket (1) and used for driving the two reference seats (21) to move toward or away from each other; An active side mechanism (3) comprising a first stopper (31) arranged on one side of the reference side mechanism (2) along the second direction of the bracket (1), and a second driving assembly (32) provided on the bracket (1) and used for driving the first stopper (31) to move closer to or away from the reference seat (21); A support mechanism (4) comprising a first support block (41) arranged between the reference side mechanism (2) and the active side mechanism (3), and a third drive assembly (42) for driving the first support block (41) to rise and fall along a third direction of the bracket (1).

2. The flexible clamp for panel positioning according to claim 1, characterized in that: The invention also includes a centering mechanism (5), wherein the centering mechanism (5) includes two second stoppers (51) arranged between the reference side mechanism (2) and the active side mechanism (3) and symmetrically arranged along the first direction of the bracket (1), and a fourth driving component (52) arranged on the bracket (1) and used for driving the two second stoppers (51) to move closer to or away from each other.

3. The flexible clamp for positioning a panel according to claim 1 or 2, characterized in that: It also includes a base (6), and the bracket (1) is rotatably connected to the base (6); a flip mechanism (7) is connected between the base (6) and the bracket (1), and the flip mechanism (7) is used to drive the bracket (1) to flip, so that the bracket (1) switches between the first position and the second position.

4. The flexible clamp for panel positioning according to claim 3, characterized in that: The base (6) is provided with a first buffer (8) for buffering the bracket (1) at a first position, and a second buffer (10) for buffering the bracket (1) at a second position; The bracket (1) is provided with a first pressing block (9) for cooperating with the first buffer (8), and a second pressing block (11) for cooperating with the second buffer (10).

5. The flexible clamp for panel positioning according to claim 3, characterized in that: The base (6) is provided with a first travel switch (12) for detecting that the bracket (1) moves to a first position, and a second travel switch (13) for detecting that the bracket (1) moves to a second position.

6. The flexible clamp for panel positioning according to claim 1 or 2, characterized in that: The reference seat (21) includes a support (211) connected to the first drive assembly (22), a support plate (212) connected to the support (211), a baffle (213) connected to the side of the support plate (212) away from the first stopper (31), and inclined guide plates (214) connected to the opposite sides of the support plates (212) on both sides.

7. The flexible clamp for panel positioning according to claim 1 or 2, characterized in that: The active side mechanism (3) further includes a movable frame (33) and a fifth drive assembly (34) connected between the movable frame (33) and the second drive assembly (32); the first stopper (31) is connected to the movable frame (33), and the fifth drive assembly (34) is used to drive the movable frame (33) to move up and down along the third direction of the bracket (1).

8. The flexible clamp for positioning a panel according to claim 7, wherein: The movable frame (33) is connected to two second support blocks (35) symmetrically distributed along a first direction of the bracket (1), and a line connecting the centers of the first support block (41) and the two second support blocks (35) forms a triangle; The bracket (1) is connected to two third support blocks (14) symmetrically distributed along the first direction thereof. The third support block (14) is located between the reference seat (21) and the second support block (35). The third support block (14) extends along the second direction of the bracket (1), and one end of the third support block (14) facing the reference seat (21) is higher than the other end facing the second support block (35).

9. The flexible clamp for positioning a panel according to claim 3, wherein: The locking mechanism (15) further comprises a locking seat (151) connected to the base (6), and a first locking plate (152) and a second locking plate (153) connected to the bracket (1), wherein the locking seat (151), the first locking plate (152) and the second locking plate (153) are all provided with a latch hole. When the bracket (1) is flipped to the first position, the latch hole on the first locking plate (152) is aligned with the latch hole on the locking seat (151); when the bracket (1) is flipped to the second position, the latch hole on the second locking plate (153) is aligned with the latch hole on the locking seat (151).

10. The flexible clamp for panel positioning according to claim 9, characterized in that: The base (6) is provided with a latch rod (16) and a placement seat (17) for storing the latch rod (16), and the placement seat (17) is provided with a third travel switch (18) for detecting whether the latch rod (16) is in position.

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