Multi-vehicle type automobile splicing system

Abstract

The present application belongs to the technical field of automobile welding production line, and particularly relates to a multi-model automobile splicing system, which comprises a flexible splicing tool, the two sides of the flexible splicing tool are respectively provided with a left robot and a right robot, the periphery of the right robot is provided with a first gripper storage rack and a second welding tongs storage rack, the two sides of the first gripper storage rack are respectively provided with a right side first gripper and a right side second gripper, the second welding tongs storage rack is provided with a second welding tongs, the periphery of the left robot is provided with a second gripper storage rack, a top cross beam plate feeding device, a first welding tongs storage rack and a top cover front cross beam gripper storage rack, the two sides of the second gripper storage rack are respectively provided with a left side first gripper and a left side second gripper, the first welding tongs storage rack is provided with a first welding tongs, and the top cover front cross beam gripper storage rack is provided with a top cover front cross beam gripper, the present application has reasonable structure, greatly reduces the number of equipment, reduces the equipment floor area and lowers the production cost.

Description

Technical Field

[0001] This invention belongs to the technical field of automotive welding production lines, and particularly relates to a multi-model automotive assembly system. Background Technology

[0002] In the assembly station of the automotive welding production line, multiple robots are usually used for assembly work. Each robot is fixedly connected to its own gripper and welding clamp to perform the assembly welding work. In addition, as the main products of each car manufacturer are constantly updated, the original assembly station for a single model of car can no longer meet the production needs of multiple models. Therefore, there are a large number of robots in the production workshop, too many robot grippers and robot gripper brackets, resulting in excessive equipment footprint. Due to the large number of machines and the large footprint, the production cost is very high. Summary of the Invention

[0003] The main technical problem to be solved by this invention is to provide a multi-model vehicle assembly system that can reduce the number of equipment at the assembly station on the production line of the automotive welding production workshop, reduce the equipment floor space, reduce production costs, and improve the production rationality of the assembly station.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] A multi-model vehicle assembly system includes a flexible assembly fixture. A left robot and a right robot are respectively arranged on both sides of the flexible assembly fixture. A first gripper storage rack and a second welding clamp storage rack are arranged around the right robot. A right-side first gripper and a right-side second gripper are respectively arranged on both sides of the first gripper storage rack. A second welding clamp is arranged on the second welding clamp storage rack. A second gripper, a top crossbeam loading device, a first welding clamp storage rack, and a top cover front crossbeam gripper storage rack are arranged around the left robot. A left-side first gripper and a left-side second gripper are respectively arranged on both sides of the second gripper storage rack. A first welding clamp is arranged on the first welding clamp storage rack. A top cover front crossbeam gripper is arranged on the top cover front crossbeam gripper storage rack.

[0006] The following are further optimizations of the above technical solution by the present invention:

[0007] The flexible assembly fixture includes a fixture frame, which is fixedly installed on the ground. The lower part of the fixture frame is provided with a first support unit, a second support unit, a first right servo module, a second right servo module, a first left servo module, and a second left servo module. A first positioning unit for the lower body is installed on the sliding block of the first right servo module, a second positioning unit for the lower body is installed on the sliding block of the second right servo module, a third positioning unit for the lower body is installed on the sliding block of the first left servo module, and a fourth positioning unit for the lower body is installed on the sliding block of the second left servo module. A first fixed support positioning unit and a second fixed support positioning unit for the lower body are provided in the middle of the fixture frame.

[0008] Further optimization: The upper part of the tooling frame is equipped with a first vision device, a second vision device, a third vision device and a fourth vision device. The second vision device and the third vision device are respectively mounted on the tooling frame through the first vision servo module and the second vision servo module. The side of the tooling frame closest to the first vision device is equipped with a right rear clamping and positioning unit, a right front clamping and positioning unit, a first clamping unit and a second clamping unit. The upper part of the tooling frame is equipped with a first tooling positioning unit and a second tooling positioning unit.

[0009] Further optimization: The first gripper storage rack includes a gripper support frame, with four gripper support units, two gripper positioning support units, and one gripper clamping unit on each side of the gripper support frame.

[0010] Further optimization: The first gripper on the right side includes a right side frame. One side of the right side frame is equipped with a right side gripper connector and a right side gripper valve island, while the other side is equipped with a right side positioning and clamping unit, a right side sensing device, a right side clamping device, and a right side gripper positioning device.

[0011] Further optimizations: The right side perimeter sensing device includes a right side perimeter first sensing switch and a right side perimeter second sensing switch; the right side perimeter clamping device includes a fifth clamping unit, a sixth clamping unit, a seventh clamping unit, an eighth clamping unit, a ninth clamping unit, a tenth clamping unit, an eleventh clamping unit, a twelfth clamping unit, a thirteenth clamping unit, a fourteenth clamping unit, and a fifteenth clamping unit; the right side perimeter gripper positioning device includes a right rear positioning unit and a right front positioning unit, with the right rear positioning unit and the right rear clamping positioning unit being set accordingly, and the right front positioning unit and the right front clamping positioning unit being set accordingly.

[0012] Further optimization: The second welding clamp storage rack includes a second welding clamp frame, which is fixedly installed on the ground. A second welding clamp support unit is provided at the bottom of the second welding clamp frame. A second welding clamp support positioning unit, a second welding clamp detection switch, and a second welding clamp valve island are provided in the middle of the second welding clamp frame. A second welding clamp protective cover unit is provided at the top of the second welding clamp frame.

[0013] Further optimization: The top cover front crossbeam gripper storage rack includes a top cover front crossbeam gripper frame, which is fixedly installed on the ground. Near its four corners, the top of the top cover front crossbeam gripper frame is respectively equipped with a first support unit, a second support unit, a third support unit, and a fourth support unit. A first front crossbeam support positioning detection unit is located at the top of the top cover front crossbeam gripper frame between the first and second support units. A second front crossbeam support positioning detection unit is located at the top of the top cover front crossbeam gripper frame between the third and fourth support units. A front crossbeam dust cover unit is located at the top of the top cover front crossbeam gripper frame between the first and fourth support units.

[0014] Further optimization: The top cover front crossbeam gripper includes a top crossbeam gripper bracket. One side of the top crossbeam gripper bracket is equipped with a top crossbeam gripper connector, and the other side is equipped with a first support positioning unit and a second support positioning unit for the top crossbeam gripper. The first support positioning unit of the top crossbeam gripper is correspondingly set with the first support unit, the first front crossbeam support positioning detection unit, and the second support unit of the front crossbeam storage rack. The second support positioning unit of the top crossbeam gripper is correspondingly set with the third support unit, the second front crossbeam support positioning detection unit, and the fourth support unit of the front crossbeam storage rack. The two ends of the top crossbeam gripper bracket are respectively equipped with a fifth positioning unit and a sixth positioning unit. The fifth positioning unit of the top crossbeam gripper is correspondingly set with the first tooling positioning unit, and the sixth positioning unit of the top crossbeam gripper is correspondingly set with the second tooling positioning unit. The two sides of the top crossbeam gripper bracket are respectively equipped with a first top crossbeam plate gripping device and a second top crossbeam plate gripping device.

[0015] Further optimization: The first top crossbeam plate gripping device includes a first positioning unit and a second positioning unit for the top crossbeam gripper. Both the first and second positioning units are fixedly connected to the top crossbeam gripper bracket. A first clamping unit is fixedly connected to the top crossbeam gripper bracket near the first positioning unit, and a second clamping unit is fixedly connected to the top crossbeam gripper bracket near the second positioning unit. The second top crossbeam plate gripping device includes a third and a fourth positioning unit for the top crossbeam gripper. Both the third and fourth positioning units are fixedly connected to the top crossbeam gripper bracket. A third clamping unit is fixedly connected to the top crossbeam gripper bracket near the third positioning unit, and a fourth clamping unit is fixedly connected to the top crossbeam gripper bracket near the fourth positioning unit.

[0016] This invention employs the above-mentioned technical solution, which is ingeniously conceived and structurally reasonable. The right robot can selectively connect to the first or second right side panel gripper according to different specifications of the right side panel components. The corresponding right side panel components are placed onto the flexible assembly fixture via the first or second right side panel gripper. Furthermore, a single robot can not only grasp and place the right side panel components but also control the welding of the second welding clamp, significantly reducing the number of devices, the floor space occupied, production costs, and improving the rationality of the assembly station production. The left robot can... Select the first or second left-side panel gripper according to the different specifications of the left-side panel components. Place the corresponding left-side panel components onto the flexible assembly fixture through the first or second left-side panel gripper. Place the top crossbeam components of different specifications onto the flexible assembly fixture through the top cover front crossbeam gripper. Furthermore, a single robot can not only grasp and place the left-side panel components and top crossbeam components, but also control the welding of the first welding clamp, which greatly reduces the number of equipment, the equipment floor space, and the production cost, and improves the rationality of the assembly station production.

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the flexible assembly tooling in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the flexible assembly tooling from another perspective in an embodiment of the present invention;

[0021] Figure 4This is a schematic diagram of the right rear clamping and positioning unit in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the first positioning unit of the lower vehicle body in an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the first gripper storage rack in an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the top crossbeam plate loading device in an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the first welding clamp storage rack in an embodiment of the present invention;

[0026] Figure 9 This is a schematic diagram of the structure of the gripper storage rack on the front crossbeam of the top cover in an embodiment of the present invention;

[0027] Figure 10 This is a schematic diagram of the structure of the second welding clamp storage rack in an embodiment of the present invention;

[0028] Figure 11 This is a schematic diagram of the structure of the first gripper on the right side in an embodiment of the present invention;

[0029] Figure 12 This is a schematic diagram of the structure at the location of the right rear positioning unit in an embodiment of the present invention;

[0030] Figure 13 This is a schematic diagram of the structure at the location of the right-side positioning and clamping unit in an embodiment of the present invention;

[0031] Figure 14 This is a schematic diagram of the structure of the first gripper on the left side in an embodiment of the present invention;

[0032] Figure 15 This is a schematic diagram of the structure of the front crossbeam gripper of the top cover in an embodiment of the present invention;

[0033] Figure 16 This is a structural schematic diagram of the front crossbeam gripper of the top cover from another perspective in an embodiment of the present invention;

[0034] Figure 17 This is a structural schematic diagram of the state in which the front crossbeam gripper of the top cover grasps the top crossbeam plate in an embodiment of the present invention;

[0035] Figure 18 This is a schematic diagram of the working structure of the side-mounted loading trolley in an embodiment of the present invention.

[0036] In the diagram: 1-Flexible assembly tooling; 101-Tooling frame; 102-First vision device; 103-Right rear clamping and positioning unit; 1031-Positioning seat; 1032-Clamping assembly; 104-Lower body first fixed support positioning unit; 105-First clamping unit; 106-First right servo module; 107-Lower body first positioning unit; 108-First support unit; 109-Second right servo module; 110-Lower body second positioning unit; 111-Right valve guide; 112-Second clamping unit; 113-Right front clamping and positioning unit; 114-Second vision device; 115-Second tooling positioning unit; 116-Third vision device; 117-Fourth vision device; 118-First tooling positioning unit; 11 9-Left front clamping and positioning unit; 120-Fourth clamping unit; 121-Left valve guide; 122-Lower body third positioning unit; 123-First left servo module; 124-Second support unit; 125-Left rear clamping and positioning unit; 126-Lower body fourth positioning unit; 127-Second left servo module; 128-Third clamping unit; 129-Lower body second fixed support positioning unit; 130-First vision servo module; 131-Second vision servo module; 2-First gripper storage rack; 201-Gripper support frame; 202-Gripper support unit; 203-Gripper positioning support unit; 204-Gripper clamping unit; 3-Second gripper storage rack; 4-Top crossbeam loading device; 401-Loading machine; 402 - Tooling tray; 403- Top crossbeam detection switch; 404- Top crossbeam plate A; 405- Top crossbeam plate B; 5- First welding clamp storage rack; 501- First welding clamp frame; 502- First welding clamp support valve island; 503- First welding clamp protective cover unit; 504- First welding clamp support detection switch; 505- First welding clamp support positioning unit; 506- First welding clamp support unit; 6- Left side trolley; 7- Top cover front crossbeam gripper storage rack; 701- Top cover front crossbeam gripper frame; 702- Front crossbeam dust cover unit; 703- Front crossbeam storage rack first support unit; 704- First front crossbeam support positioning detection unit; 705- Front crossbeam storage rack second support unit; 706- Front crossbeam storage rack valve island; 70 7-Third support unit of front crossbeam storage rack; 708-Second front crossbeam support positioning and detection unit; 709-Fourth support unit of front crossbeam storage rack; 8-Left robot; 9-Right side trolley; 10-Second welding clamp storage rack; 1001-Second welding clamp frame; 1002-Second welding clamp bracket valve island; 1003-Second welding clamp protective cover unit; 1004-Second welding clamp bracket detection switch; 1005-Second welding clamp bracket support positioning unit; 1006-Second welding clamp bracket support unit; 11-Right robot; 12-Steel structure of loading trolley; 13-Side side loading trolley; 14-Loading trolley track; 15-First gripper of right side side; 1501-Right side frame; 1502-Fifth clamping unit; 1503-Right rear positioning unit;1504 - Sixth clamping unit; 1505 - Seventh clamping unit; 1506 - Eighth clamping unit; 1507 - Ninth clamping unit; 1508 - Tenth clamping unit; 1509 - Right side gripper connector; 1510 - Eleventh clamping unit; 1511 - Right side positioning clamping unit; 1512 - Twelfth clamping unit; 1513 - Right front positioning unit; 1514 - Thirteenth clamping unit; 1515 - Fourteenth clamping unit; 1516 - Second inductive switch for right side; 1517 - Fifteenth clamping unit; 1518 - Right side gripper Hand valve island; 1519-Right side first inductive switch; 16-Right side second gripper; 17-Left side first gripper; 1701-Left side frame; 1702-Sixteenth clamping unit; 1703-Left rear positioning unit; 1704-Seventeenth clamping unit; 1705-Eighteenth clamping unit; 1706-Nineteenth clamping unit; 1707-Twentieth clamping unit; 1708-Twenty-first clamping unit; 1709-Left side gripper connector; 1710-Twenty-second clamping unit; 1711-Left side positioning clamping unit; 1712 - Twenty-third clamping unit; 1713- Left front positioning unit; 1714- Twenty-fourth clamping unit; 1715- Twenty-fifth clamping unit; 1716- Left side second sensor switch; 1717- Twenty-sixth clamping unit; 1718- Left side gripper valve island; 1719- Left side first sensor switch; 18- Left side second gripper; 19- Top cover front crossbeam gripper; 1901- Top crossbeam gripper fifth positioning unit; 1902- Top crossbeam gripper first support positioning unit; 1903- Top crossbeam gripper first positioning unit; 1904- Top crossbeam 1905 - First clamping unit of the gripper; 1906 - Second clamping unit of the top crossbeam gripper; 1907 - Second positioning unit of the top crossbeam gripper; 1908 - Second support and positioning unit of the top crossbeam gripper; 1909 - Sixth positioning unit of the top crossbeam gripper; 1910 - Third positioning unit of the top crossbeam gripper; 1911 - Third clamping unit of the top crossbeam gripper; 1912 - Fourth clamping unit of the top crossbeam gripper; 1913 - Fourth positioning unit of the top crossbeam gripper; 1914 - Support of the top crossbeam gripper; 20 - First welding clamp; 21 - Second welding clamp. Detailed Implementation

[0037] like Figure 1-18 As shown: A multi-model vehicle assembly system includes a flexible assembly fixture 1, with a left robot 8 and a right robot 11 respectively arranged on both sides of the flexible assembly fixture 1. The left robot 8 and the right robot 11 are respectively fixedly installed on the ground by a base.

[0038] Both the left robot 8 and the right robot 11 have robot side panels with quick-change robot tool trays installed on their front arms. The tool side of the quick-change robot tool tray is mounted on the execution tool, which facilitates the robot to quickly connect and disconnect the execution tool, such as a welding clamp or a gripper.

[0039] The right robot 11 is surrounded by a first gripper storage rack 2, a second welding clamp storage rack 10, and a right side trolley 9. The first gripper storage rack 2 is mounted on a first servo turntable that can drive it to rotate. The right side first gripper 15 and the right side second gripper 16 are respectively provided on both sides of the first gripper storage rack 2. The second welding clamp storage rack 10 is provided with a second welding clamp 21.

[0040] With this design, the right robot 11 can select to connect to the right side first gripper 15 or the right side second gripper 16 according to the different specifications of the right side panel. The right side first gripper 15 or the right side second gripper 16 will place the corresponding right side panel onto the flexible assembly fixture 1. Moreover, one robot can not only grasp and place the right side panel, but also control the welding of the second welding clamp 21, which greatly reduces the number of equipment, the equipment floor space, the production cost, and the rationality of the assembly station production. If the right side panel is found to be unqualified, the right robot 11 will place the right side panel onto the right side trolley 9, and the workshop staff will pull the right side trolley 9 out of the line to repair the right side panel.

[0041] The left robot 8 is surrounded by a second gripper storage rack 3, a top crossbeam loading device 4, a first welding clamp storage rack 5, a left side trolley 6, and a top cover front crossbeam gripper storage rack 7. The second gripper storage rack 3 is mounted on a second servo turntable that can drive it to rotate. The left side first gripper 17 and the left side second gripper 18 are respectively provided on both sides of the second gripper storage rack 3. The first welding clamp storage rack 5 is provided with a first welding clamp 20, and the top cover front crossbeam gripper 19 is provided on the top cover front crossbeam gripper storage rack 7.

[0042] With this design, the left robot 8 can connect to either the first left side panel gripper 17 or the second left side panel gripper 18 according to the different specifications of the left side panel components. The corresponding left side panel components are placed onto the flexible assembly fixture 1 through the first left side panel gripper 17 or the second left side panel gripper 18. The top beam components of different specifications are placed onto the flexible assembly fixture 1 through the top cover front beam gripper 19. Furthermore, a single robot can not only grasp and place the left side panel components and the top beam components, but also control the welding of the first welding clamp 20, which greatly reduces the number of equipment, the equipment floor space, the production cost, and the rationality of the assembly station production. If the left side panel component is found to be unqualified, the left robot 8 will place the left side panel component onto the left side panel trolley 6, and the workshop staff will pull the left side panel trolley 6 out of the production line to repair the left side panel component.

[0043] The first welding clamp 20, the second welding clamp 21, the first servo turntable, and the second servo turntable are all existing technologies.

[0044] A loading trolley track 14 is installed on the upper side of the flexible assembly tooling 1 via a loading trolley steel structure 12. A side-mounted loading trolley 13 is mounted on the loading trolley track 14. Figure 18 The middle M position is the loading position of the side panel loading trolley 13 on the loading trolley track 14. The loading trolley track 14 is located above the flexible assembly fixture 1 and is the unloading position of the side panel loading trolley 13. The side panel is placed on the side panel loading trolley 13 at the loading position. The side panel loading trolley 13 transports the side panel to the unloading position, so that the robot can move the side panel to the flexible assembly fixture 1 for assembly operation through the side panel gripper. The left side panel and the right side panel are placed on both sides of the side panel loading trolley 13 respectively.

[0045] The steel structure of the loading trolley 12, the side loading trolley 13, and the loading trolley track 14 are all existing technologies.

[0046] The flexible assembly tooling 1 includes a tooling frame 101, which is fixedly installed on the ground.

[0047] The lower part of the tooling frame 101 is provided with a first support unit 108, a second support unit 124, a first right servo module 106, a second right servo module 109, a first left servo module 123, and a second left servo module 127. A first positioning unit 107 for the lower body is installed on the sliding block of the first right servo module 106. A second positioning unit 110 for the lower body is installed on the sliding block of the second right servo module 109. A third positioning unit 122 for the lower body is installed on the sliding block of the first left servo module 123. A fourth positioning unit 126 for the lower body is installed on the sliding block of the second left servo module 127.

[0048] With this design, the first support unit 108 and the second support unit 124 support the undercarriage to prevent deformation of the undercarriage during the welding process.

[0049] The first positioning unit 107 of the lower body, driven by the first right servo module 106, the second positioning unit 110 of the lower body, driven by the second right servo module 109, the third positioning unit 122 of the lower body, driven by the first left servo module 123, and the fourth positioning unit 126 of the lower body, can stop at any position within their stroke to support and position the lower body, thereby facilitating the support and positioning of the lower body of vehicles of different specifications.

[0050] The first support unit 108 and the second support unit 124 are arranged symmetrically.

[0051] The first positioning unit 107 of the lower body includes a pin clamping cylinder, which is fixedly mounted on the sliding block of the first right servo module 106 by a bracket to support and position the lower body.

[0052] Pin clamping cylinders are an existing technology with wide applications in industrial automation.

[0053] The first positioning unit 107 and the fourth positioning unit 126 of the lower body are arranged symmetrically.

[0054] The second positioning unit 110 and the third positioning unit 122 of the lower vehicle body are arranged symmetrically.

[0055] The tooling frame 101 is provided with a first fixed support positioning unit 104 and a second fixed support positioning unit 129 for the lower body in the middle.

[0056] Both the first fixed support positioning unit 104 and the second fixed support positioning unit 129 of the lower body include a clamping cylinder. A clamping element is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping element to swing, thereby realizing the clamping element to press and fix the lower body.

[0057] Clamping cylinders are a current technology and are widely used in industrial automation.

[0058] In this design, the first fixed support positioning unit 104 and the second fixed support positioning unit 129 of the lower body are used to position and clamp the lower body, thereby providing further effective support for the lower body and preventing deformation of the lower body during the welding process. Both the first fixed support positioning unit 104 and the second fixed support positioning unit 129 of the lower body use a clamping cylinder to drive the clamping parts to swing to achieve clamping and fixing of the lower body.

[0059] The first fixed support positioning unit 104 and the second fixed support positioning unit 129 of the lower body are arranged symmetrically.

[0060] The upper part of the tooling frame 101 is equipped with a first vision device 102, a second vision device 114, a third vision device 116 and a fourth vision device 117.

[0061] With this design, the first vision device 102 and the second vision device 114 can identify the position of the right side panel on the side panel loading trolley 13 located at the unloading position, so that the right robot 11 can grasp the right side panel; the third vision device 116 and the fourth vision device 117 can identify the position of the left side panel on the side panel loading trolley 13 located at the unloading position, so that the left robot 8 can grasp the left side panel.

[0062] The first vision device 102, the second vision device 114, the third vision device 116, and the fourth vision device 117 all include industrial cameras.

[0063] The first visual device 102 and the fourth visual device 117 are arranged symmetrically.

[0064] The second vision device 114 and the third vision device 116 are respectively mounted on the tooling frame 101 via the first vision servo module 130 and the second vision servo module 131.

[0065] With this design, the second vision device 114, driven by the first vision servo module 130, and the third vision device 116, driven by the second vision servo module 131, can stay at any position within their stroke, thus facilitating the position recognition of the right side panel and left side panel of different specifications of automobiles.

[0066] The tooling frame 101 is provided with a right rear clamping and positioning unit 103, a right front clamping and positioning unit 113, a first clamping unit 105 and a second clamping unit 112 on the side near the first vision device 102.

[0067] This design allows the right rear clamping and positioning unit 103, the right front clamping and positioning unit 113, the first clamping unit 105, and the second clamping unit 112 to clamp and position the right side first gripper 15, making it convenient to connect the right side first gripper 15 or the right side second gripper 16, which is fitted with the right side panel, to the tooling frame 101.

[0068] The right rear clamping and positioning unit 103 includes a right rear clamping and positioning unit bracket. A positioning seat 1031 and a clamping assembly 1032 are fixedly installed on the right rear clamping and positioning unit bracket. The positioning seat 1031 is used in conjunction with the positioning pin on the right side first gripper 15 to limit the position of the right side first gripper 15 on the tooling frame 101.

[0069] The clamping assembly 1032 includes a clamping cylinder, and a clamping member is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping member to swing, thereby achieving the clamping member to press and fix the right side first gripper 15.

[0070] The right front clamping and positioning unit 113 and the right rear clamping and positioning unit 103 have the same structure.

[0071] Both the first clamping unit 105 and the second clamping unit 112 include a clamping cylinder. A clamping element is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping element to swing, thereby achieving the clamping and fixing of the clamping element to the right side first gripper 15.

[0072] The tooling frame 101 is provided with a left rear clamping and positioning unit 125, a left front clamping and positioning unit 119, a third clamping unit 128 and a fourth clamping unit 120 on the side near the fourth vision device 117.

[0073] This design allows the left side first gripper 17 to be clamped and positioned by the left rear clamping and positioning unit 125, the left front clamping and positioning unit 119, the third clamping unit 128, and the fourth clamping unit 120, making it convenient to connect the left side first gripper 17 or the left side second gripper 18, which is equipped with the left side panel, to the tooling frame 101.

[0074] The left rear clamping and positioning unit 125 and the right rear clamping and positioning unit 103 are arranged symmetrically.

[0075] The left front clamping and positioning unit 119 and the right front clamping and positioning unit 113 are arranged symmetrically.

[0076] Both the third clamping unit 128 and the fourth clamping unit 120 include a clamping cylinder. A clamping element is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping element to swing, thereby achieving the clamping and fixing of the clamping element to the first gripper 17 on the left side.

[0077] The upper part of the tooling frame 101 is provided with a first tooling positioning unit 118 and a second tooling positioning unit 115.

[0078] This design allows the top cover front crossbeam gripper 19 to be connected and positioned via the first tooling positioning unit 118 and the second tooling positioning unit 115, making it convenient to connect the top cover front crossbeam gripper 19, which is clamped with the top crossbeam plate, to the tooling frame 101.

[0079] The first tooling positioning unit 118 and the second tooling positioning unit 115 are arranged symmetrically.

[0080] Both the first tooling positioning unit 118 and the second tooling positioning unit 115 include a tooling positioning component and a tooling clamping component.

[0081] The tooling positioning component includes a positioning pin, which is fixed to the tooling frame 101 via a connecting bracket.

[0082] The tooling clamping assembly includes a clamping cylinder, and a clamping component is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping component to swing to achieve clamping and fixing of the front crossbeam gripper 19 of the top cover.

[0083] The tooling frame 101 is provided with a right valve guide 111 and a left valve guide 121 on both sides, which are used to control the cylinders installed on the flexible assembly tooling 1.

[0084] The first gripper storage rack 2 includes a gripper support frame 201. Four gripper support units 202, two gripper positioning support units 203 and a gripper clamping unit 204 are provided on both sides of the gripper support frame 201, which are used to support and fix the first gripper 15 on the right side and the second gripper 16 on the right side, respectively.

[0085] The gripper clamping unit 204 includes a clamping cylinder, and a clamping member is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping member to swing, thereby realizing the clamping member to press and fix the first gripper 15 on the right side or the second gripper 16 on the right side.

[0086] The second gripper storage rack 3 has the same structure as the first gripper storage rack 2.

[0087] The right side first gripper 15 includes a right side frame 1501. One side of the right side frame 1501 is provided with a right side gripper connector 1509 and a right side gripper valve island 1518, and the other side is provided with a right side positioning and clamping unit 1511, a right side sensing device, a right side clamping device and a right side gripper positioning device.

[0088] The right side panel positioning and clamping unit 1511 includes a clamping cylinder. A clamping component is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping component to swing to clamp and fix the right side panel. A positioning pin is provided on one side of the clamping component. The positioning pin is fixedly connected to the right side panel frame 1501 through a bracket to achieve precise positioning of the right side panel.

[0089] The tool side of the robot tool quick-change disc is installed on the right side gripper connector 1509, which facilitates the quick installation and separation of the right side first gripper 15 and the right robot 11.

[0090] The right-side perimeter sensing device includes a right-side perimeter first sensing switch 1519 and a right-side perimeter second sensing switch 1516.

[0091] The right-side clamping device includes the fifth clamping unit 1502, the sixth clamping unit 1504, the seventh clamping unit 1505, the eighth clamping unit 1506, the ninth clamping unit 1507, the tenth clamping unit 1508, the eleventh clamping unit 1510, the twelfth clamping unit 1512, the thirteenth clamping unit 1514, the fourteenth clamping unit 1515, and the fifteenth clamping unit 1517.

[0092] The fifth clamping unit 1502, the sixth clamping unit 1504, the seventh clamping unit 1505, the eighth clamping unit 1506, the ninth clamping unit 1507, the tenth clamping unit 1508, the eleventh clamping unit 1510, the twelfth clamping unit 1512, the thirteenth clamping unit 1514, the fourteenth clamping unit 1515, and the fifteenth clamping unit 1517 all use a clamping cylinder to drive the clamping parts to swing in order to clamp and fix the right side panel.

[0093] The right-side gripper positioning device includes a right rear positioning unit 1503 and a right front positioning unit 1513. The right rear positioning unit 1503 and the right rear clamping positioning unit 103 are correspondingly set, and the right front positioning unit 1513 and the right front clamping positioning unit 113 are correspondingly set.

[0094] With this design, the right robot 11 can be quickly connected to the right side gripper connector 1509, which facilitates driving the right side first gripper 15 to approach the right side panel placed on the side panel loading trolley 13 and perform gripping operations. The positioning pin of the right side positioning clamping unit 1511 is inserted into the corresponding hole on the right side panel. After the right side sensing device senses that the right side first gripper 15 is in the gripping position, it feeds the signal back to the control system. The control system controls the operation of each clamping unit of the right side clamping device to fix the right side panel on the right side first gripper 15.

[0095] The right robot 11 moves the right side panel and the right side first gripper 15 close to the tooling frame 101. The positioning pin of the right rear positioning unit 1503 and the positioning hole of the right rear clamping positioning unit 103 are connected together. The positioning pin of the right front positioning unit 1513 and the positioning hole of the right front clamping positioning unit 113 are connected together, so as to facilitate the precise installation of the right side panel and the right side first gripper 15 on the flexible assembly tooling 1.

[0096] The second gripper 16 on the right side panel has a similar structure and the same function as the first gripper 15 on the right side panel. It is used to grip, transfer and install the right side panel parts of different sizes of automobiles.

[0097] The second welding clamp storage rack 10 includes a second welding clamp frame 1001, which is fixedly installed on the ground. The second welding clamp frame 1001 is assembled and welded from square tubes and steel plates. A second welding clamp support unit 1006 is provided at the bottom of the second welding clamp frame 1001. A second welding clamp support positioning unit 1005, a second welding clamp support detection switch 1004, and a second welding clamp support valve island 1002 are provided in the middle of the second welding clamp frame 1001. A second welding clamp protective cover unit 1003 is provided at the top of the second welding clamp frame 1001.

[0098] The second welding clamp protection cover unit 1003 includes a welding clamp protection cover, which is mounted on the clamping arm of a clamping cylinder, and the clamping cylinder can drive the welding clamp protection cover to swing.

[0099] The second welding clamp 21 is equipped with a tool side of a robot tool quick-change disc, which facilitates the quick installation and separation of the second welding clamp 21 from the right robot 11.

[0100] With this design, the positioning pin of the second welding clamp bracket support positioning unit 1005 positions and fixes the second welding clamp 21, the second welding clamp bracket support unit 1006 supports the bottom of the second welding clamp 21, and the second welding clamp bracket valve island 1002 can control the action of the second welding clamp protective cover unit 1003. Thus, when the second welding clamp protective cover unit 1003 is open, it is convenient for the right robot 11 to take the second welding clamp 21 to perform welding operations on the vehicle body. When the second welding clamp protective cover unit 1003 is closed, it protects the second welding clamp 21. The indicator light of the second welding clamp bracket detection switch 1004 is constantly lit to prove that the second welding clamp 21 is stored on the second welding clamp storage rack 10.

[0101] The left side first gripper 17 includes a left side frame 1701. One side of the left side frame 1701 is provided with a left side gripper connector 1709 and a left side gripper valve island 1718, and the other side is provided with a left side positioning and clamping unit 1711, a left side sensing device, a left side clamping device and a left side gripper positioning device.

[0102] The left side panel positioning and clamping unit 1711 and the right side panel positioning and clamping unit 1511 have the same structure, which are used to achieve precise positioning and clamping of the left side panel.

[0103] The tool side of the robot tool quick-change disc is installed on the left side gripper connector 1709, which facilitates the quick installation and separation of the left side first gripper 17 and the left robot 8.

[0104] The left side sensing device includes a left side first sensing switch 1719 and a left side second sensing switch 1716.

[0105] The left-side clamping device includes the sixteenth clamping unit 1702, the seventeenth clamping unit 1704, the eighteenth clamping unit 1705, the nineteenth clamping unit 1706, the twentieth clamping unit 1707, the twenty-first clamping unit 1708, the twenty-second clamping unit 1710, the twenty-third clamping unit 1712, the twenty-fourth clamping unit 1714, the twenty-fifth clamping unit 1715, and the twenty-sixth clamping unit 1717.

[0106] The sixteenth clamping unit 1702, the seventeenth clamping unit 1704, the eighteenth clamping unit 1705, the nineteenth clamping unit 1706, the twentieth clamping unit 1707, the twenty-first clamping unit 1708, the twenty-second clamping unit 1710, the twenty-third clamping unit 1712, the twenty-fourth clamping unit 1714, the twenty-fifth clamping unit 1715, and the twenty-sixth clamping unit 1717 all use a clamping cylinder to drive the clamping parts to swing in order to clamp and fix the left side panel.

[0107] The left-side gripper positioning device includes a left rear positioning unit 1703 and a left front positioning unit 1713. The left rear positioning unit 1703 and the left rear clamping positioning unit 125 are correspondingly arranged, and the left front positioning unit 1713 and the left front clamping positioning unit 119 are correspondingly arranged.

[0108] With this design, the left robot 8 can be quickly connected to the left side gripper connector 1709, which facilitates driving the left side first gripper 17 to approach the left side panel placed on the side panel loading trolley 13 and perform gripping operations. The positioning pin of the left side positioning clamping unit 1711 is inserted into the corresponding hole on the left side panel. After the left side sensing device senses that the left side first gripper 17 is in the gripping position, it feeds the signal back to the control system. The control system controls the various clamping units of the left side clamping device to move and fix the left side panel on the left side first gripper 17.

[0109] The left robot 8 moves the left side panel and the left side first gripper 17 close to the tooling frame 101. The positioning pin of the left rear positioning unit 1703 and the positioning hole of the left rear clamping positioning unit 125 are connected together. The positioning pin of the left front positioning unit 1713 and the positioning hole of the left front clamping positioning unit 119 are connected together, so as to facilitate the precise installation of the left side panel and the left side first gripper 17 on the flexible assembly tooling 1.

[0110] The second gripper 18 on the left side panel has a similar structure and the same function as the first gripper 17 on the left side panel. It is used to grip, transfer and install the left side panel parts of different sizes of automobiles.

[0111] The top beam loading device 4 includes a loading machine 401. Multiple tooling trays 402 are fixedly installed on the belt of the loading machine 401. The multiple tooling trays 402 are arranged at intervals along the rotation direction of the belt of the loading machine 401. A top beam detection switch 403 is provided at one end of the loading machine 401 near the left robot 8.

[0112] In this embodiment, the number of tooling pallets 402 is six.

[0113] With this design, workshop workers place the top crossbeam plate A404 or the top crossbeam plate B405 onto the tooling pallet 402. The tooling pallet 402 effectively positions the top crossbeam plate. The feeding machine 401 drives the tooling pallet 402 to rotate and stop near the top crossbeam detection switch 403, making it convenient for the left robot 8 to drive the top cover front crossbeam gripper 19 to grab the top crossbeam plate A404 or the top crossbeam plate B405.

[0114] By accommodating the placement of top crossbeam panels for two different vehicle models on each tooling pallet 402, the number of equipment is further reduced, thus lowering the production cost. Multiple tooling pallets 402 are set on the loading machine 401 to act as a buffer. After workshop workers place multiple top crossbeam panels on the tooling pallets 402, it does not delay the work of workshop workers at other workstations. The top crossbeam loading device 4 will work automatically in conjunction with robots and other equipment, reducing the workload of workshop workers and freeing up productivity.

[0115] The top cover front crossbeam gripper storage rack 7 includes a top cover front crossbeam gripper frame 701, which is fixedly installed on the ground. The top of the top cover front crossbeam gripper frame 701 is provided with a front crossbeam storage rack first support unit 703, a front crossbeam storage rack second support unit 705, a front crossbeam storage rack third support unit 707 and a front crossbeam storage rack fourth support unit 709 at the four corners of its top.

[0116] A first front crossbeam support positioning detection unit 704 is provided at the top of the top cover front crossbeam gripper frame 701, located between the first support unit 703 and the second support unit 705 of the front crossbeam storage rack. A second front crossbeam support positioning detection unit 708 is provided at the top of the top cover front crossbeam gripper frame 701, located between the third support unit 707 and the fourth support unit 709 of the front crossbeam storage rack.

[0117] A front crossbeam dust cover unit 702 is provided at the top of the front crossbeam gripper frame 701, between the first support unit 703 and the fourth support unit 709 of the front crossbeam storage rack.

[0118] The lower part of the front crossbeam gripper frame 701 of the top cover is provided with a front crossbeam storage rack valve island 706.

[0119] The top cover front crossbeam gripper 19 includes a top crossbeam gripper bracket 1914. A top crossbeam gripper connector 1905 is provided on one side of the top crossbeam gripper bracket 1914, and a top crossbeam gripper first support positioning unit 1902 and a top crossbeam gripper second support positioning unit 1908 are provided on the other side. The top crossbeam gripper first support positioning unit 1902 is correspondingly provided with the front crossbeam storage rack first support unit 703, the first front crossbeam support positioning detection unit 704, and the front crossbeam storage rack second support unit 705. The top crossbeam gripper second support positioning unit 1908 is correspondingly provided with the front crossbeam storage rack third support unit 707, the second front crossbeam support positioning detection unit 708, and the front crossbeam storage rack fourth support unit 709.

[0120] With this design, the positioning pin of the first front crossbeam support positioning detection unit 704 is inserted into the positioning hole of the first support positioning unit 1902 of the top crossbeam gripper. The first front crossbeam support positioning detection unit 704 provides positioning support for the first support positioning unit 1902 of the top crossbeam gripper. The first support unit 703 and the second support unit 705 of the front crossbeam storage rack support the first support positioning unit 1902 of the top crossbeam gripper. The positioning pin of the second front crossbeam support positioning detection unit 708 is inserted into the positioning hole of the second support positioning unit 1908 of the top crossbeam gripper. The second front crossbeam support positioning detection unit 708 provides positioning support for the second support positioning unit 1908 of the top crossbeam gripper. The third support unit 707 and the fourth support unit 709 of the front crossbeam storage rack support the second support positioning unit 1908 of the top crossbeam gripper. This allows the top cover front crossbeam gripper 19 to be stably placed on the top cover front crossbeam gripper storage rack 7.

[0121] When both the detection switch indicator lights of the first front crossbeam support positioning detection unit 704 and the second front crossbeam support positioning detection unit 708 are constantly lit, it proves that the top cover front crossbeam gripper 19 is accurately placed on the top cover front crossbeam gripper storage rack 7; when only one detection switch indicator light is constantly lit, it proves that the top cover front crossbeam gripper 19 is not placed in the top cover front crossbeam gripper storage rack 7; when both detection switch indicator lights are not lit, it proves that the top cover front crossbeam gripper 19 is not stored on the top cover front crossbeam gripper storage rack 7.

[0122] The tool side of the robot tool quick-change disc is installed on the top crossbeam gripper connector 1905, which facilitates the quick installation and separation of the top cover front crossbeam gripper 19 and the left robot 8.

[0123] When the top cover front crossbeam gripper 19 is stored on the top cover front crossbeam gripper storage rack 7, the front crossbeam dust cover unit 702 is activated, causing the dust cover to flip over to the top crossbeam gripper connector 1905 and the tool side of the robot tool quick change tray, preventing welding slag and other impurities from splashing into the top crossbeam gripper connector 1905 and the tool side of the robot tool quick change tray, thus protecting them.

[0124] When the current crossbeam dust cover unit 702 is open, it facilitates the quick connection between the front arm of the left robot 8 and the top crossbeam gripper connector 1905. The left robot 8 drives the top cover front crossbeam gripper 19 to move above the top crossbeam plate loading device 4 and grips the top crossbeam plate A404 or the top crossbeam plate B405.

[0125] The top crossbeam gripper bracket 1914 is provided with a fifth positioning unit 1901 and a sixth positioning unit 1909 at both ends. The fifth positioning unit 1901 and the first tooling positioning unit 118 are respectively provided. The sixth positioning unit 1909 and the second tooling positioning unit 115 are respectively provided. The top crossbeam gripper bracket 1914 is provided with a first top crossbeam plate gripping device and a second top crossbeam plate gripping device on both sides.

[0126] With this design, when the left robot 8 drives the top cover front crossbeam gripper 19 to move above the top crossbeam plate loading device 4, depending on the vehicle model, the first top crossbeam plate gripping device grips the top crossbeam plate A404, or the second top crossbeam plate gripping device grips the top crossbeam plate B405.

[0127] The left robot 8 drives the top cover front crossbeam gripper 19 to move to the position of the flexible assembly fixture 1, and makes the fifth positioning unit 1901 of the top crossbeam gripper and the first fixture positioning unit 118 cooperate and connect, and the sixth positioning unit 1909 of the top crossbeam gripper and the second fixture positioning unit 115 cooperate and connect, so that the top crossbeam plate is fixedly installed on the flexible assembly fixture 1 through the top cover front crossbeam gripper 19.

[0128] The first top crossbeam plate gripping device includes a first positioning unit 1903 and a second positioning unit 1907 for the top crossbeam gripper. Both the first positioning unit 1903 and the second positioning unit 1907 are fixedly connected to the top crossbeam gripper bracket 1914. A first clamping unit 1904 for the top crossbeam gripper is fixedly connected to the top crossbeam gripper bracket 1914 near the first positioning unit 1903, and a second clamping unit 1906 for the top crossbeam gripper is fixedly connected to the top crossbeam gripper bracket 1914 near the second positioning unit 1907.

[0129] With this design, when the left robot 8 drives the top cover front crossbeam gripper 19 to grasp the top crossbeam plate A404, the first positioning unit 1903 and the second positioning unit 1907 of the top crossbeam gripper define the position of the top crossbeam plate A404, and the first clamping unit 1904 and the second clamping unit 1906 of the top crossbeam gripper clamp the top crossbeam plate A404, thereby facilitating the left robot 8 to accurately transfer the top crossbeam plate A404 to the flexible assembly fixture 1 through the top cover front crossbeam gripper 19.

[0130] The first positioning unit 1903 of the top beam gripper includes an eccentric positioning pin clamping cylinder. The eccentric positioning pin clamping cylinder is an existing technology. By combining the compensation principle of the eccentric positioning pin and the execution function of the clamping cylinder, it realizes the precise clamping and positioning of the workpiece and has a wide range of applications in industrial automation.

[0131] The second positioning unit 1907 of the top beam gripper has the same structure as the first positioning unit 1903 of the top beam gripper.

[0132] The first clamping unit 1904 of the top crossbeam gripper includes a clamping cylinder. A clamping element is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping element to swing, thereby realizing the clamping element to press and fix the top crossbeam plate A404.

[0133] The second clamping unit 1906 of the top beam gripper and the first clamping unit 1904 of the top beam gripper have the same structure.

[0134] The second top beam plate gripping device includes a top beam gripper third positioning unit 1910 and a top beam gripper fourth positioning unit 1913. Both the top beam gripper third positioning unit 1910 and the top beam gripper fourth positioning unit 1913 are fixedly connected to the top beam gripper bracket 1914. A top beam gripper third clamping unit 1911 is fixedly connected to the top beam gripper bracket 1914 near the top beam gripper third positioning unit 1910, and a top beam gripper fourth clamping unit 1912 is fixedly connected to the top beam gripper bracket 1914 near the top beam gripper fourth positioning unit 1913.

[0135] With this design, when the left robot 8 needs to drive the front crossbeam gripper 19 of the roof to grasp the top crossbeam plate B405 for changing vehicle models, the third positioning unit 1910 and the fourth positioning unit 1913 of the top crossbeam gripper define the position of the top crossbeam plate B405, and the third clamping unit 1911 and the fourth clamping unit 1912 of the top crossbeam gripper clamp the top crossbeam plate B405, thereby facilitating the left robot 8 to accurately transfer the top crossbeam plate B405 to the flexible assembly tooling 1 through the front crossbeam gripper 19 of the roof.

[0136] The third positioning unit 1910 of the top beam gripper includes an eccentric positioning pin clamping cylinder. By combining the compensation principle of the eccentric positioning pin and the execution function of the clamping cylinder, the eccentric positioning pin clamping cylinder realizes the precise clamping and positioning of the workpiece, and has a wide range of applications in industrial automation.

[0137] The fourth positioning unit 1913 of the top beam gripper and the third positioning unit 1910 of the top beam gripper have the same structure.

[0138] The third clamping unit 1911 of the top crossbeam gripper includes a clamping cylinder. A clamping element is fixedly connected to the clamping arm of the clamping cylinder. The clamping cylinder drives the clamping element to swing, thereby realizing the clamping element to press and fix the top crossbeam plate B405.

[0139] The fourth clamping unit 1912 of the top beam gripper and the third clamping unit 1911 of the top beam gripper have the same structure.

[0140] By rationally designing the front crossbeam gripper 19 of the roof, a single mechanism can be used to grip the roof crossbeam plates of different vehicle sizes, thereby further reducing the number of devices, lowering production costs and floor space.

[0141] The first welding clamp storage rack 5 includes a first welding clamp frame 501, which is fixedly installed on the ground. The first welding clamp frame 501 is assembled and welded from square tubes and steel plates. A first welding clamp support unit 506 is provided at the bottom of the first welding clamp frame 501. A first welding clamp support positioning unit 505, a first welding clamp detection switch 504, and a first welding clamp valve island 502 are provided in the middle of the first welding clamp frame 501. A first welding clamp protective cover unit 503 is provided at the top of the first welding clamp frame 501.

[0142] The first welding clamp protection cover unit 503 includes a welding clamp protection cover, which is mounted on the clamping arm of a clamping cylinder, and the clamping cylinder can drive the welding clamp protection cover to swing.

[0143] The first welding clamp 20 is equipped with a tool side of a robot tool quick-change disc, which facilitates the quick installation and separation of the first welding clamp 20 from the left robot 8.

[0144] With this design, the positioning pin of the first welding clamp bracket support positioning unit 505 positions and fixes the first welding clamp 20, the first welding clamp bracket support unit 506 supports the bottom of the first welding clamp 20, and the first welding clamp bracket valve island 502 can control the action of the first welding clamp protective cover unit 503. Thus, when the first welding clamp protective cover unit 503 is open, it is convenient for the right robot 11 to take the first welding clamp 20 to perform welding operations on the vehicle body. When the first welding clamp protective cover unit 503 is closed, it protects the first welding clamp 20. The indicator light of the first welding clamp bracket detection switch 504 is constantly lit to prove that the first welding clamp 20 is stored on the first welding clamp storage rack 5.

[0145] In use, the lower body of the vehicle is first moved from the roller conveyor line and installed on the flexible assembly fixture 1. The right robot 11 quickly connects the right side panel first gripper 15 or the right side panel second gripper 16 from the first gripper storage rack 2 according to the vehicle model. The right robot 11 drives the right side panel first gripper 15 or the right side panel second gripper 16 to approach the right side panel piece placed on the side panel loading trolley 13 and performs a gripping operation. The right robot 11 moves the right side panel piece and the right side panel gripper closer to the flexible assembly fixture 1 and installs the right side panel piece and the right side panel gripper on the flexible assembly fixture 1.

[0146] After the right robot 11 detaches from the right side gripper, it approaches the second welding clamp storage rack 10 and then quickly connects to the second welding clamp 21 to perform welding operations on the lower body and the right side panel on the flexible assembly tooling 1.

[0147] Simultaneously, the left robot 8 quickly connects to the left side panel first gripper 17 or the left side panel second gripper 18 from the second gripper storage rack 3 according to the car model. The left robot 8 drives the left side panel first gripper 17 or the left side panel second gripper 18 to approach the left side panel piece placed on the side panel loading trolley 13 and performs a gripping operation on it. The left robot 8 moves the left side panel piece and the left side panel gripper closer to the flexible assembly fixture 1 and installs the left side panel piece and the left side panel gripper on the flexible assembly fixture 1.

[0148] After the left robot 8 detaches from the left side gripper, it approaches the top cover front crossbeam gripper storage rack 7, then quickly connects to the top cover front crossbeam gripper 19, and then approaches the top crossbeam plate loading device 4. Depending on the car model, it grips the top crossbeam plate A404 or the top crossbeam plate B405. The left robot 8 drives the top cover front crossbeam gripper 19 to move to the position of the flexible assembly fixture 1, so that the top crossbeam plate is fixedly installed on the flexible assembly fixture 1 through the top cover front crossbeam gripper 19.

[0149] After the left robot 8 detaches from the front beam gripper 19 of the top cover, it approaches the first welding clamp storage rack 5 and then quickly connects to the first welding clamp 20 to perform welding operations on the lower body, left side panel and top beam panel on the flexible assembly tooling 1. At the same time, the right robot 11 drives the second welding clamp storage rack 10 to perform welding operations on the lower body, right side panel and top beam panel.

[0150] After welding is completed, the robot moves the welding clamp and gripper back to their respective storage racks, and then moves the welded car body to the roller conveyor line for transfer to the next workstation.

[0151] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. A multi-vehicle assembly system, comprising a flexible assembly fixture (1), characterized in that: The flexible assembly tooling (1) is provided with a left robot (8) and a right robot (11) on both sides respectively. The right robot (11) is surrounded by a first gripper storage rack (2) and a second welding clamp storage rack (10). The first gripper storage rack (2) is provided with a right side first gripper (15) and a right side second gripper (16) on both sides respectively. The second welding clamp storage rack (10) is provided with a second welding clamp (21). The left robot (8) is surrounded by a second gripper storage rack (3), a top crossbeam loading device (4), a first welding clamp storage rack (5) and a top cover front crossbeam gripper storage rack (7). The second gripper storage rack (3) is provided with a left side first gripper (17) and a left side second gripper (18) on both sides respectively. The first welding clamp storage rack (5) is provided with a first welding clamp (20). The top cover front crossbeam gripper storage rack (7) is provided with a top cover front crossbeam gripper (19). The flexible assembly fixture (1) includes a fixture frame (101), which is fixedly installed on the ground. The lower part of the fixture frame (101) is provided with a first support unit (108), a second support unit (124), a first right servo module (106), a second right servo module (109), a first left servo module (123), and a second left servo module (127). The first positioning unit of the lower vehicle body is installed on the sliding block of the first right servo module (106). 107), the second right servo module (109) has a second positioning unit (110) for the lower body installed on its sliding block, the first left servo module (123) has a third positioning unit (122) for the lower body installed on its sliding block, the second left servo module (127) has a fourth positioning unit (126) for the lower body installed on its sliding block, and the tooling frame (101) has a first fixed support positioning unit (104) and a second fixed support positioning unit (129) for the lower body installed in the middle. The upper part of the tooling frame (101) is provided with a first vision device (102), a second vision device (114), a third vision device (116) and a fourth vision device (117). The second vision device (114) and the third vision device (116) are respectively mounted on the tooling frame (101) through a first vision servo module (130) and a second vision servo module (131). The tooling frame (101) is provided with a right rear clamping positioning unit (103), a right front clamping positioning unit (113), a first clamping unit (105) and a second clamping unit (112) on the side of the tooling frame (101) close to the first vision device (102). The upper part of the tooling frame (101) is provided with a first tooling positioning unit (118) and a second tooling positioning unit (115). The right rear clamping positioning unit (103) includes a right rear clamping positioning unit bracket, on which a positioning seat (1031) and a clamping assembly (1032) are fixedly installed. The positioning seat (1031) is used in conjunction with the positioning pin on the right side first gripper (15). The right front clamping positioning unit (113) and the right rear clamping positioning unit (103) have the same structure. Both the first tooling positioning unit (118) and the second tooling positioning unit (115) include a tooling positioning component and a tooling clamping component.

2. The multi-model vehicle merging system according to claim 1, characterized in that: The first gripper storage rack (2) includes a gripper support frame (201), and four gripper support units (202), two gripper positioning support units (203) and one gripper clamping unit (204) are provided on both sides of the gripper support frame (201).

3. The multi-model vehicle merging system according to claim 2, characterized in that: The right side first gripper (15) includes a right side frame (1501), one side of which is provided with a right side gripper connector (1509) and a right side gripper valve island (1518), and the other side is provided with a right side positioning clamping unit (1511), a right side sensing device, a right side clamping device and a right side gripper positioning device.

4. A multi-model vehicle merging system according to claim 3, characterized in that: The right side perimeter sensing device includes a right side perimeter first sensing switch (1519) and a right side perimeter second sensing switch (1516); the right side perimeter clamping device includes a fifth clamping unit (1502), a sixth clamping unit (1504), a seventh clamping unit (1505), an eighth clamping unit (1506), a ninth clamping unit (1507), a tenth clamping unit (1508), an eleventh clamping unit (1510), a twelfth clamping unit (1512), a thirteenth clamping unit (1514), a fourteenth clamping unit (1515), and a fifteenth clamping unit (1517); the right side perimeter gripper positioning device includes a right rear positioning unit (1503) and a right front positioning unit (1513), the right rear positioning unit (1503) and the right rear clamping positioning unit (103) are correspondingly set, and the right front positioning unit (1513) and the right front clamping positioning unit (113) are correspondingly set.

5. A multi-model vehicle merging system according to claim 4, characterized in that: The second welding clamp storage rack (10) includes a second welding clamp frame (1001), which is fixedly installed on the ground. A second welding clamp support unit (1006) is provided at the bottom of the second welding clamp frame (1001). A second welding clamp support positioning unit (1005), a second welding clamp detection switch (1004), and a second welding clamp valve island (1002) are provided in the middle of the second welding clamp frame (1001). A second welding clamp protective cover unit (1003) is provided at the top of the second welding clamp frame (1001).

6. A multi-model vehicle merging system according to claim 5, characterized in that: The top cover front crossbeam gripper storage rack (7) includes a top cover front crossbeam gripper frame (701), which is fixedly installed on the ground. At the top of the top of the top cover front crossbeam gripper frame (701) near its four corners are respectively provided a front crossbeam storage rack first support unit (703), a front crossbeam storage rack second support unit (705), a front crossbeam storage rack third support unit (707), and a front crossbeam storage rack fourth support unit (709). The top of the top cover front crossbeam gripper frame (701) is located between the front crossbeam storage rack first support unit (703) and the front crossbeam storage rack fourth support unit (709). A first front crossbeam support positioning detection unit (704) is provided at the position between the second support unit (705) of the shelf. A second front crossbeam support positioning detection unit (708) is provided at the position between the third support unit (707) and the fourth support unit (709) of the front crossbeam storage rack on the top of the top cover front crossbeam gripper frame (701). A front crossbeam dust cover unit (702) is provided at the position between the first support unit (703) and the fourth support unit (709) of the front crossbeam storage rack on the top of the top cover front crossbeam gripper frame (701).

7. A multi-model vehicle merging system according to claim 6, characterized in that: The top cover front crossbeam gripper (19) includes a top crossbeam gripper bracket (1914). A top crossbeam gripper connector (1905) is provided on one side of the top crossbeam gripper bracket (1914), and a top crossbeam gripper first support positioning unit (1902) and a top crossbeam gripper second support positioning unit (1908) are provided on the other side. The top crossbeam gripper first support positioning unit (1902) is correspondingly provided with the front crossbeam storage rack first support unit (703), the first front crossbeam support positioning detection unit (704), and the front crossbeam storage rack second support unit (705). The top crossbeam gripper second support positioning unit (1908) and the front crossbeam storage rack third support unit are also provided with the top crossbeam gripper second support positioning unit (1908). (707), the second front crossbeam support positioning detection unit (708), and the fourth support unit (709) of the front crossbeam storage rack are respectively set. The top crossbeam gripper bracket (1914) is respectively set with the top crossbeam gripper fifth positioning unit (1901) and the top crossbeam gripper sixth positioning unit (1909). The top crossbeam gripper fifth positioning unit (1901) and the first tooling positioning unit (118) are respectively set. The top crossbeam gripper sixth positioning unit (1909) and the second tooling positioning unit (115) are respectively set. The top crossbeam gripper bracket (1914) is respectively set with the first top crossbeam plate gripping device and the second top crossbeam plate gripping device.

8. A multi-model vehicle merging system according to claim 7, characterized in that: The first top crossbeam plate gripping device includes a first positioning unit (1903) and a second positioning unit (1907) for the top crossbeam gripper. Both the first positioning unit (1903) and the second positioning unit (1907) are fixedly connected to the top crossbeam gripper bracket (1914). A first clamping unit (1904) for the top crossbeam gripper is fixedly connected to the top crossbeam gripper bracket (1914) near the first positioning unit (1903). A second clamping unit (1906) for the top crossbeam gripper is fixedly connected to the top crossbeam gripper bracket (1914) near the second positioning unit (1907). The second top beam plate gripping device includes a top beam gripper third positioning unit (1910) and a top beam gripper fourth positioning unit (1913). Both the top beam gripper third positioning unit (1910) and the top beam gripper fourth positioning unit (1913) are fixedly connected to the top beam gripper bracket (1914). The top beam gripper third clamping unit (1911) is fixedly connected to the top beam gripper bracket (1914) near the top beam gripper third positioning unit (1910). The top beam gripper fourth clamping unit (1912) is fixedly connected to the top beam gripper bracket (1914) near the top beam gripper fourth positioning unit (1913).

Images