A part clamping device for automobile production and a control method

Abstract

The application discloses a part clamping device and control method for automobile production, which comprises a connecting part connected with the end of the arm of a robot, a pneumatic clamping unit arranged on one side of the connecting part, the pneumatic clamping unit being capable of clamping the part by a pneumatic mode, an electric clamping unit arranged on the other side of the connecting part, the electric clamping unit being capable of clamping the part by an electric mode, and the electric clamping unit being further capable of detecting the clamping position and clamping force, a sensing unit for sensing whether the part enters a clamping area, and a control unit for controlling one of the pneumatic clamping unit or the electric clamping unit to clamp the part according to the type of the part. The application realizes the integrated configuration of pneumatic rapid clamping and electric precise clamping, so that the clamping mode can be automatically switched according to the type of the part, and the versatility and automation degree of the device are improved.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and in particular to a parts clamping device and clamping method for automobile production. Background Technology

[0002] In automotive body welding production lines, the clamping and positioning of parts is a crucial step in ensuring welding quality. Traditional fixture heads typically employ a single pneumatic clamping method, which has the following shortcomings: Cylinders typically only have two states, "on" and "off," making it impossible to precisely control the clamping force. This can easily damage precision parts or cause them to deform. Furthermore, relying solely on the cylinder's magnetic switch to determine whether it has activated cannot confirm whether the part is actually in place or whether the clamping force is sufficient. Summary of the Invention

[0003] Therefore, it is necessary to provide a parts clamping device and clamping method for automobile production to address the above-mentioned technical problems.

[0004] A parts clamping device for automobile production, comprising: The connecting part connects to the end of the robot's arm; A pneumatic clamping unit is disposed on one side of the connecting part, and the pneumatic clamping unit is capable of clamping the part pneumatically; An electric clamping unit is disposed on the other side of the connecting part. The electric clamping unit can clamp the part electrically, and the electric clamping unit can also detect the clamping position and clamping force. A sensing unit is used to sense whether the part has entered the clamping area; The control unit is used to control one of the pneumatic clamping unit or the electric clamping unit to clamp the part, depending on the type of part.

[0005] In one embodiment, the pneumatic clamping unit includes: The mounting plate is fixed to the connecting part; The cylinder is mounted on the mounting plate; The upper plate is connected to the piston rod of the cylinder, and the upper plate is provided with a lower plate; A first fixing block, wherein an upper plate is provided on the first fixing block, and the upper plate cooperates with the lower plate to clamp the part; A magnetic switch is installed on the cylinder body of the cylinder, and the magnetic switch is used to detect the position of the piston rod.

[0006] In one embodiment, the upper surface of the upper plate is further provided with a positioning pin, which engages with a positioning hole on the part.

[0007] In one embodiment, the axis of the locating pin is parallel to the axis of the piston rod of the cylinder.

[0008] In one embodiment, the electric clamping unit includes: The support plate is fixedly connected to the connecting part; An electric cylinder is connected to the support plate, and a clamping arm is connected to the electric cylinder. A pressure block is provided on the clamping arm. The second fixing block is fixed on the support plate. The second fixing block is provided with a pad, which cooperates with the pressure block to clamp the part.

[0009] In one embodiment, the electric cylinder includes an electric cylinder driver and an electric cylinder encoder, the electric cylinder driver being used to detect the current value and torque value of the electric cylinder, and the electric cylinder encoder being used to detect the position of the electric cylinder.

[0010] A control method for a parts clamping device used in automobile production includes the following steps: S1. Perform software simulation analysis on parts used in automobile production; S2. Move the part clamping device to the working position; S3. Check whether the part has entered the preset clamping area; S4. Depending on the type of the part, control the operation of either the pneumatic clamping unit or the electric clamping unit; S5. Determine the clamping position and clamping force; S6. After completing the operation, the clamping device is reset to its initial state.

[0011] In one embodiment, step S1 includes: S11. Based on the three-dimensional shape of the part, set the clamping support surface and clamping device, and reserve welding space; S12. Perform finite element analysis on the support surface and clamping device.

[0012] In one embodiment, step S5 includes: when the pneumatic clamping unit is activated, detecting whether the piston rod of the cylinder has reached the predetermined stroke position to determine whether the clamping is in place.

[0013] In one embodiment, step S5 further includes: when the electric clamping unit is activated, reading the current torque value of the electric cylinder in real time to determine whether the preset clamping force threshold has been reached; at the same time, reading the current position encoder data of the electric cylinder to detect whether the current position meets the expected position tolerance range of the part.

[0014] The aforementioned part clamping device and control method for automobile production integrates a pneumatic clamping unit, an electric clamping unit, a sensing unit, and a control unit on the connecting part. This achieves an integrated configuration of pneumatic rapid clamping and electric precision clamping, thereby automatically switching the clamping mode according to the type of part, thus improving the versatility and automation of the device. At the same time, the present invention also has part positioning detection and clamping force detection functions, which can accurately control the clamping force to avoid damaging precision parts or causing part deformation, thereby significantly reducing the defect rate. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the part clamping device for automobile production according to the present invention; Figure 2 This is a perspective view of the parts clamping device for automobile production according to the present invention; Figure 3 This is a flowchart of the control method for a parts clamping device used in automobile production according to the present invention. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0018] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0020] See Figure 1-2 As shown, one embodiment of the present invention provides a parts clamping device for automobile production, comprising: The connecting part 1 is connected to the end of the robot arm. In this embodiment, the connecting part 1 can be fixedly connected to the flange at the end of the robot arm so that the entire clamping device can move with the robot to complete tasks such as handling.

[0021] A pneumatic clamping unit 2 is disposed on one side of the connecting part 1, and the pneumatic clamping unit 2 is capable of clamping the part pneumatically; An electric clamping unit 3 is disposed on the other side of the connecting part 1. The electric clamping unit 3 can clamp the part electrically, and the electric clamping unit 3 can also detect the clamping position and clamping force. Sensing unit 4 is used to sense whether the part has entered the clamping area; sensing unit 4 can be an inductive proximity switch, etc. Control unit 5 is used to control one of the pneumatic clamping unit 2 or the electric clamping unit 3 to clamp the part according to the type of part.

[0022] In this embodiment, when the part is a large flat surface or does not require precise force control, a pneumatic clamping unit 2 can be used for clamping; when the part is a deformable part or requires precision fitting, an electric clamping unit 3 can be used for clamping. In some embodiments, the pneumatic clamping unit 2 or the electric clamping unit 3 can be selected for clamping according to the actual situation such as reserved space; in addition, the pneumatic clamping unit 2 and the electric clamping unit 3 can be used simultaneously to clamp the part to improve the stability of clamping.

[0023] The aforementioned part clamping device for automobile production integrates a pneumatic clamping unit 2, an electric clamping unit 3, a sensing unit 4, and a control unit 5 on the connecting part 1. This achieves an integrated configuration of pneumatic rapid clamping and electric precision clamping, thereby automatically switching the clamping method according to the type of part, thus improving the versatility and automation of the device. At the same time, the present invention also has part positioning detection and clamping force detection functions, which can accurately control the clamping force to avoid damaging precision parts or causing part deformation, thereby significantly reducing the defect rate.

[0024] In one embodiment of the present invention, the pneumatic clamping unit 2 includes a mounting plate 21, a cylinder 22, an upper plate 23, a lower plate 24, a first fixing block 25, and a magnetic switch. The mounting plate 21 is fixed to the connecting part 1, and the cylinder 22 can be detachably mounted on the mounting plate 21 by bolts or the like. In some embodiments, the cylinder 22 can also be fixedly connected to the mounting plate 21 by riveting or the like.

[0025] Furthermore, the upper plate 23 is connected to the piston rod 221 of the cylinder, and the upper plate 23 is provided with a lower plate 24; the upper plate 23 can move up and down with the extension and retraction of the piston rod 221, and the lower plate 24 can be fixed to the upper plate 23 by welding or other means.

[0026] The first fixing block 25 is provided with a liner 27, which cooperates with the lower plate 24 to clamp the part. In this embodiment, the lower surface of the liner 27 may be provided with a boss, and the opposite side of the lower plate 24 may be provided with a groove. When the liner 27 and the lower plate 24 are engaged, the boss can engage with the groove, thereby limiting the clamping part of the part and improving the stability and safety of the structure. In some embodiments, the lower surface of the liner 27 may also be provided with a groove, and the opposite side of the lower plate 24 may be provided with a boss.

[0027] Optionally, a magnetic switch is mounted on the cylinder body 222 of the cylinder, and the magnetic switch is used to detect the position of the piston rod 221. It should be noted that the installation position and working principle of the magnetic switch are conventional settings and principles in the prior art, and will not be described in detail here.

[0028] In this embodiment, a cylinder 22 drives the liner 27 and the lower plate 24 to form a clamping pair to clamp the parts. It has a simple structure, fast response, and low cost, and is suitable for rapid clamping of large batches of conventional automotive parts. The position of the piston rod 221 is detected by a magnetic switch to realize the closed-loop judgment of the clamping stroke, ensuring that the clamping action is in place and improving the stability and consistency of pneumatic clamping.

[0029] In one embodiment of the present invention, a positioning pin 26 is further provided on the upper surface of the upper plate 23, and the positioning pin 26 cooperates with the positioning hole on the part. In this embodiment, the positioning pin 26 can accurately pre-position the part before clamping, preventing the part from shifting or moving during clamping, significantly improving the clamping and positioning accuracy of the part, and meeting the requirements of high-precision operations such as automotive welding and assembly. It should be noted that multiple staggered L-shaped brackets can be provided between the upper surface of the upper plate 23 and the positioning pin 26, with the positioning pin 26 fixed on one side of the outermost L-shaped bracket. This facilitates the adjustment of the position of the positioning pin 26 to adapt to the positioning requirements of different parts. Furthermore, the upper surface of the upper plate 23 can also be provided with structures such as support blocks to increase the contact area with the part and improve the stability of the structure.

[0030] In one embodiment of the present invention, the axis of the positioning pin 26 is parallel to the axis of the piston rod 221 of the cylinder. This ensures that the positioning guide of the positioning pin 26 is aligned with the clamping drive direction of the pneumatic clamping unit 2, thus avoiding lateral forces during clamping, reducing wear between the parts and the positioning pin 26, ensuring uniform transmission of clamping force, and improving positioning reliability and device lifespan.

[0031] In one embodiment of the present invention, the electric clamping unit 3 includes: Support plate 31, which is fixedly connected to the connecting part 1; An electric cylinder 32 is connected to the support plate 31, and a clamping arm 33 is connected to the electric cylinder 32. A pressure block 34 is provided on the clamping arm 33. The second fixing block 35 is fixed on the support plate 31. The second fixing block 35 is provided with a pad 36, which cooperates with the pressure block 34 to clamp the part.

[0032] In this embodiment, an electric cylinder 32 is used to drive the clamping arm 33 to move, so that the pressure block 34 and the pad block 36 form a clamping pair clamping parts. It has high transmission accuracy and smooth movement; it can achieve stable clamping of high-precision and easily deformable automotive parts and avoid the pressure fluctuation problem of pneumatic clamping.

[0033] In one embodiment of the present invention, the electric cylinder 32 includes an electric cylinder driver and an electric cylinder encoder. The electric cylinder driver is used to detect the current and torque values ​​of the electric cylinder 32, and the electric cylinder encoder is used to detect the position of the electric cylinder 32. In this embodiment, the electric cylinder driver is used to collect current and torque in real time to monitor the clamping force, and the electric cylinder encoder is used to detect the clamping position in real time, realizing dual online detection and closed-loop control of clamping force and clamping position. This allows for precise control of clamping force and displacement, effectively preventing damage or deformation of parts.

[0034] See Figure 3 As shown, an embodiment of the present invention provides a control method for a parts clamping device used in automobile production, comprising the following steps: S1. Perform software simulation analysis on parts used in automobile production; S2. Move the part clamping device to the working position; specifically, the clamping device can be connected to a robot and moved to the working position.

[0035] S3. Detect whether the part has entered the preset clamping area; specifically, the robot drives the clamping device to approach the part. When the part (metal material) enters the detection range, the sensing unit 4 (proximity switch) sends a signal to the control unit 5 to confirm that the part is in place.

[0036] S4. Depending on the type of the part, control the operation of either the pneumatic clamping unit 2 or the electric clamping unit 3; S5. Determine the clamping position and clamping force; S6. After the operation is completed, the clamping device is reset to its initial state. Specifically, after confirming that the clamping is in place, the other robots can perform welding or other related operations. After the welding or other related operations are completed, the control unit 5 controls the clamping device to release and reset to its initial state.

[0037] This invention achieves standardized and intelligent control of the entire clamping operation process through simulation analysis, part inspection, clamping selection, force position confirmation, and reset standby, reducing manual intervention, improving work efficiency, and ensuring stable and controllable clamping process for different parts.

[0038] In one embodiment of the present invention, step S1 includes: S11. Based on the three-dimensional shape of the part, set the clamping support surface and clamping device, and reserve welding space; specifically, the designer first imports the CAD model of the part, and sets the support surface (for supporting the part) and clamping device (for pressing down or side-pressing the part) according to the shape of the part. During the design process, reserve welding space to ensure that the welding torch electrode cap can reach the welding point smoothly and avoid physical interference with the welding torch.

[0039] S12. Perform finite element analysis on the support surface and clamping device. Specifically, use CAE software to perform finite element analysis on the designed clamping device. Simulate the force during clamping and the inertial force during rapid robot movement, optimize material thickness and reinforcing rib layout, and ensure that the strength of support and clamping meets the requirements of automobile production cycle.

[0040] In one embodiment of the present invention, step S5 includes: when the pneumatic clamping unit 2 is activated, detecting whether the piston rod 221 of the cylinder has reached a predetermined stroke position to determine whether the clamping is in place. In this embodiment, the pneumatic clamping unit 2 can be used to clamp parts with large flat surfaces or those that do not require precise force control. Specifically, the control unit 5 outputs a control signal, the piston rod 221 extends, and when the piston rod 221 moves to the end point of the clamping position, the magnetic switch senses the magnetic ring signal and feeds it back to the control unit 5 to confirm that the clamping is in place. If it is not triggered within the time limit, the clamping is determined to be abnormal. The detection method of this embodiment is simple, reliable, and fast-responding, and can quickly determine whether the pneumatic clamping is effective, meeting the detection requirements of high-efficiency production of large batches of parts.

[0041] In one embodiment of the present invention, step S5 further includes: when the electric clamping unit 3 is activated, the current torque value of the electric cylinder 32 is read in real time to determine whether the preset clamping force threshold is reached; at the same time, the current position encoder data of the electric cylinder 32 is read to detect whether the current position meets the expected position tolerance range of the part.

[0042] In this embodiment, for easily deformable parts or parts requiring precision fitting, an electric clamping unit 3 can be used for clamping. Specifically, the control unit 5 controls the electric cylinder 32 to enter torque mode, and the electric cylinder 32 outputs a set torque (e.g., 50 N·m) to clamp the part. The electric cylinder driver provides real-time feedback of the current / torque value; if the set value is reached, it indicates that the clamping force is sufficient. Simultaneously, the control unit 5 reads the position data from the electric cylinder encoder. If the part is misaligned, the position of the electric cylinder 32 will deviate from the theoretical value when the torque is reached. The control unit 5 compares the "current position" with the "expected position," and if the deviation exceeds a set threshold (e.g., 0.5 mm), it determines that the part is not properly positioned, stops welding, and issues an alarm.

[0043] The electric clamping unit 3 employs a dual verification method, using torque value to determine clamping force and encoder data to determine clamping position. This ensures that the clamping force meets the threshold and the clamping position meets the tolerance requirements, thereby achieving closed-loop control of precision clamping and further improving the clamping quality and pass rate of parts.

[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The embodiments described above merely illustrate several implementations of the present invention and should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A parts clamping device for automobile production, characterized in that, include: The connecting part connects to the end of the robot's arm; A pneumatic clamping unit is disposed on one side of the connecting part, and the pneumatic clamping unit is capable of clamping the part pneumatically; An electric clamping unit is disposed on the other side of the connecting part. The electric clamping unit can clamp the part electrically, and the electric clamping unit can also detect the clamping position and clamping force. A sensing unit is used to sense whether the part has entered the clamping area; The control unit is used to control one of the pneumatic clamping unit or the electric clamping unit to clamp the part, depending on the type of part.

2. The parts clamping device for automobile production as described in claim 1, characterized in that, The pneumatic clamping unit includes: The mounting plate is fixed to the connecting part; The cylinder is mounted on the mounting plate; The upper plate is connected to the piston rod of the cylinder, and the upper plate is provided with a lower plate; A first fixing block, wherein an upper plate is provided on the first fixing block, and the upper plate cooperates with the lower plate to clamp the part; A magnetic switch is installed on the cylinder body of the cylinder, and the magnetic switch is used to detect the position of the piston rod.

3. The parts clamping device for automobile production as described in claim 2, characterized in that, The upper surface of the upper plate is also provided with a positioning pin, which cooperates with the positioning hole on the part.

4. The parts clamping device for automobile production as described in claim 3, characterized in that, The axis of the locating pin is parallel to the axis of the piston rod of the cylinder.

5. The parts clamping device for automobile production as described in claim 1, characterized in that, The electric clamping unit includes: The support plate is fixedly connected to the connecting part; An electric cylinder is connected to the support plate, and a clamping arm is connected to the electric cylinder. A pressure block is provided on the clamping arm. The second fixing block is fixed on the support plate. The second fixing block is provided with a pad, which cooperates with the pressure block to clamp the part.

6. The part clamping device for automobile production as described in claim 5, characterized in that, The electric cylinder includes an electric cylinder driver and an electric cylinder encoder. The electric cylinder driver is used to detect the current value and torque value of the electric cylinder, and the electric cylinder encoder is used to detect the position of the electric cylinder.

7. A control method for a parts clamping device for automobile production as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. Perform software simulation analysis on parts used in automobile production; S2. Move the part clamping device to the working position; S3. Check whether the part has entered the preset clamping area; S4. Depending on the type of the part, control the operation of either the pneumatic clamping unit or the electric clamping unit; S5. Determine the clamping position and clamping force; S6. After completing the operation, the clamping device is reset to its initial state.

8. The control method for the part clamping device used in automobile production as described in claim 7, characterized in that, Step S1 includes: S11. Based on the three-dimensional shape of the part, set the clamping support surface and clamping device, and reserve welding space; S12. Perform finite element analysis on the support surface and clamping device.

9. The control method for a parts clamping device used in automobile production as described in claim 7, characterized in that, Step S5 includes: when the pneumatic clamping unit is activated, detecting whether the piston rod of the cylinder has reached the predetermined stroke position to determine whether the clamping is in place.

10. The control method for a parts clamping device for automobile production as described in claim 7, characterized in that, Step S5 further includes: when the electric clamping unit is activated, reading the current torque value of the electric cylinder in real time to determine whether the preset clamping force threshold has been reached; at the same time, reading the current position encoder data of the electric cylinder to detect whether the current position meets the expected position tolerance range of the part.

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