Flexible measurement clamp device

Abstract

The utility model discloses a flexible measuring clamp device, which comprises a processing bottom plate, a flexible measuring clamp and a flexible measuring clamp, each main positioning robot comprises a first multi-axis mechanical arm and a clamping structure which are connected; each auxiliary positioning robot comprises a second multi-axis mechanical arm and a supporting structure which are connected; and an information processing component. Compared with the prior art, the device has the beneficial effects that (1) the main positioning robot and the auxiliary positioning robot on a single set of clamp device are used for replacing a plurality of sets of clamps, so that the production cost and the occupied area of the clamps are reduced, and the space management of a plant is convenient; and (2) the first multi-axis mechanical arm and the second multi-axis mechanical arm are controlled by the information processing assembly to move relative to the processing reference, so that the metal plates with different shapes can be handled, the step of dismounting and mounting the clamp is saved, the time required for remodeling the metal plates with different shapes in a single vehicle model is reduced by 80-90%, and the measurement efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile sheet metal measuring fixtures, in particular to a flexible measuring fixture device. Background Art

[0002] The process of automobile manufacturing generally includes a measurement process, and a single model includes approximately dozens of sheet metals to be measured.

[0003] In the prior art, the measurement process includes the following steps: (1) preparing a fixture, manufacturing or modifying a plurality of fixtures corresponding to a plurality of sheet metals; (2) measuring the same sheet metal, placing a first fixture on a measuring station, and then fixing the sheet metals of the same style on the first fixture in sequence until the measurement of the sheet metal is completed; (3) replacing the fixture, removing the first fixture at the measuring station, installing a second fixture at the measuring station, and then fixing the sheet metals of the same style on the second fixture in sequence until the measurement of the sheet metal is completed; finally, performing step (3) a corresponding number of times according to the number of remaining sheet metal styles, until all sheet metals in the vehicle model are measured. This measurement method has the following disadvantages: (1) The large number of fixtures leads to high preparation costs, large space occupation, and inconvenient management; (2) The operation is cumbersome. Due to the large size and heavy weight of the fixture, large loading and unloading equipment is required for replacement, and recalibration is required after replacement; (3) The development cycle is long. When developing new models, the size of sheet metal parts needs to be adjusted at any time, so it is impossible to manufacture conventional measuring fixtures. In most cases, similar fixtures are found for modification, which will bring uncertain clamping errors and require 1-3 months of modification or new fixture manufacturing time. Utility Model Content

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a flexible measuring fixture device.

[0005] To achieve the above purpose, the technical solution of the utility model is as follows:

[0006] A flexible measuring fixture device, comprising:

[0007] Processing base plate with processing reference;

[0008] A plurality of main positioning robots, including a first multi-axis robot arm and a clamping structure connected, wherein the first multi-axis robot arm can drive the clamping structure to move relative to the processing reference, and the clamping structure acts on the workpiece and can fix or release the workpiece;

[0009] A plurality of auxiliary positioning robots, including a second multi-axis robot arm and a supporting structure connected, wherein the second multi-axis robot arm can drive the supporting structure to move relative to the processing reference, and the supporting structure acts on the workpiece and can provide a supporting force for the workpiece to be suspended above the processing base plate;

[0010] The information processing component is respectively connected to the main positioning robot and the auxiliary positioning robot by electrical signals, and is used to control the actions of the first multi-axis robotic arm and the second multi-axis robotic arm, and the working states of the clamping structure and the supporting structure.

[0011] Preferably, the processing base plate is circular, three main positioning robots are provided and arranged in a circle on the processing base plate, three auxiliary positioning robots are provided and arranged in a circle on the processing base plate, and the three auxiliary positioning robots are respectively located between adjacent main positioning robots.

[0012] Preferably, the zero point of the processing reference is set at the center of the processing base plate.

[0013] Preferably, the angle between adjacent main positioning robots is 120°, and the angle between adjacent auxiliary positioning robots is 120°.

[0014] Preferably, it also includes:

[0015] The rotating base is arranged at the bottom of the processing base plate and can drive the main positioning robot and the auxiliary positioning robot to realize turnover.

[0016] Preferably, it also includes:

[0017] A first swing axis, provided at one end of the first multi-axis mechanical arm close to the clamping structure, capable of adjusting the orientation of the clamping structure;

[0018] A first rotating shaft, wherein the clamping structure is arranged on the first swinging shaft via the first rotating shaft, so that the clamping structure can realize turnover.

[0019] Preferably, it also includes:

[0020] A second swing axis, provided at one end of the second multi-axis robot arm close to the support structure, capable of adjusting the orientation of the support structure;

[0021] The second rotating shaft, the supporting structure is arranged on the second swinging shaft through the second rotating shaft, so that the supporting structure can realize turnover.

[0022] Preferably, the clamping structure is one of a clamp or a suction cup.

[0023] Preferably, the support structure comprises:

[0024] A multi-sided columnar body, the side of which is connected to the second multi-axis robotic arm;

[0025] At least two semicircular sheet bodies are provided with assembly notches, and the assembly notches match the cross-sections of the polygonal columnar bodies.

[0026] Preferably, the support structure further comprises:

[0027] The elastic clamp has an outer side adapted to the assembly notch, and an inner side provided with an adjustable elastic notch, the elastic notch acts on the multi-sided columnar body, and the semicircular sheet body is detachably fixed on the multi-sided columnar body through the elastic clamp.

[0028] The measurement steps of the utility model are: (1) according to the morphology of the first sheet metal to be measured, the first multi-axis robot arm and the second multi-axis robot arm are controlled to move through the information processing component, thereby driving the clamping structure and the supporting structure to move relative to the processing reference; (2) the first sheet metal is fixed by the clamping structure, and the supporting structure is used to provide support force for the first sheet metal, and the measurement equipment on the measuring station is cooperated to obtain the size information of the first sheet metal; (3) according to the number of remaining sheet metal styles, the corresponding number of steps (2) to (3) is performed until all sheet metals in this type of vehicle are measured.

[0029] Compared with the prior art, the beneficial effects of the present invention are: (1) a main positioning robot and an auxiliary positioning robot on a single set of fixture devices are used to replace multiple sets of fixtures, thereby reducing the production cost of the fixtures, occupying the site, and facilitating the space management of the factory; (2) an information processing component is used to control the first multi-axis robot arm and the second multi-axis robot arm to move relative to the processing reference, so as to cope with a variety of sheet metals with different morphologies, thereby saving the steps of disassembling and assembling the fixture, and the time required for changing the different styles of sheet metals in a single vehicle model is reduced by 80-90%, which is conducive to improving measurement efficiency; (3) when facing the measurement work of multiple or newly developed vehicle models, the corresponding control program is written, thereby shortening the development cycle of new products, or shortening the measurement time of multiple vehicle models, which is conducive to broadening the scope of application of the fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0031] Figure 2 A schematic diagram of the structure of the main positioning robot in an embodiment of the present utility model;

[0032] Figure 3 Schematic diagram of the structure of the auxiliary positioning robot in the embodiment of the present invention.

[0033] As shown in the figure:

[0034] 1-processing base plate, 11-rotating base;

[0035] 2-main positioning robot, 21-first multi-axis robot arm, 22-clamping structure, 23-first swing axis, 24-first rotation axis;

[0036] 3- auxiliary positioning robot, 31- second multi-axis robot arm, 32- supporting structure, 321- multi-sided columnar body, 322- semicircular sheet body, 323- elastic clamp, 33- second swing axis, 34- second rotation axis. DETAILED DESCRIPTION

[0037] The following is a detailed explanation of the implementation of the present invention in conjunction with the accompanying drawings. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention.

[0038] See also Figure 1-Figure 3 In this embodiment, a flexible measuring fixture device includes:

[0039] A processing base plate 1 having a processing reference;

[0040] A plurality of main positioning robots 2, including a first multi-axis robot arm 21 and a clamping structure 22 connected to each other, wherein the first multi-axis robot arm 21 can drive the clamping structure 22 to move relative to the processing reference, and the clamping structure 22 acts on the workpiece and can fix or release the workpiece;

[0041] A plurality of auxiliary positioning robots 3, including a second multi-axis robot arm 31 and a support structure 32 connected, wherein the second multi-axis robot arm 31 can drive the support structure 32 to move relative to the processing reference, and the support structure 32 acts on the workpiece and can provide a supporting force for the workpiece to be suspended on the processing base plate 1;

[0042] The information processing component is respectively connected to the main positioning robot 2 and the auxiliary positioning robot via electrical signals, and is used to control the actions of the first multi-axis robot arm 21 and the second multi-axis robot arm 31, and the working states of the clamping structure 22 and the supporting structure.

[0043] The measurement steps of this embodiment are: (1) according to the morphology of the first sheet metal to be measured, the first multi-axis robot arm 21 and the second multi-axis robot arm 31 are controlled to move through the information processing component, thereby driving the clamping structure 22 and the supporting structure 32 to move relative to the processing reference; (2) the first sheet metal is fixed by the clamping structure 22, and the supporting structure 32 is used to provide support force for the first sheet metal, and the size information of the first sheet metal is obtained in cooperation with the measuring equipment on the measuring station; (3) according to the number of remaining sheet metal styles, steps (2) to (3) are performed a corresponding number of times until all sheet metals in this type of vehicle are measured.

[0044] In this embodiment, the information processing component is an industrial computer, which can control the movements of the first multi-axis robot 21 and the second multi-axis robot 31, as well as the working states of the clamping structure 22 and the supporting structure according to programming. It should be noted that the aforementioned are conventional technical means in this field, and this embodiment does not involve improvements to programming and industrial computers, so they will not be elaborated on here.

[0045] Preferably, the processing base plate 1 is circular, three main positioning robots 2 are provided and arranged in a circle on the processing base plate 1, three auxiliary positioning robots 3 are provided and arranged in a circle on the processing base plate 1, and the three auxiliary positioning robots 3 are respectively located between adjacent main positioning robots 2.

[0046] In this embodiment, the processing base plate 1 is arranged on the measuring station of the measuring equipment, and the processing reference corresponds to the coordinates of the aforementioned measuring station; three groups of main positioning robots 2 are used to provide clamping fixing force for the sheet metal to be measured, and three groups of auxiliary positioning robots 3 are used to provide supporting force for the sheet metal to be measured, which is beneficial to reduce the deviation of the sheet metal to be measured relative to the processing reference, thereby improving the accuracy of the measurement.

[0047] Preferably, the zero point of the processing reference is set at the center of the processing base plate 1.

[0048] Preferably, the angle between adjacent main positioning robots 2 is 120°, and the angle between adjacent auxiliary positioning robots 3 is 120°.

[0049] In this embodiment, six circularly arranged forces are used to act on the sheet metal at the same time, which is beneficial to the stability of fixing the sheet metal.

[0050] Preferably, it also includes:

[0051] The rotating base 11 is disposed at the bottom of the processing base plate 1 and can drive the main positioning robot 2 and the auxiliary positioning robot 3 to realize turnover.

[0052] In this embodiment, a rotary drive is also included on the rotating base 11. The rotary drive can be a motor. The output shaft of the rotary drive is connected to the processing base plate 1 by transmission, so as to control the processing base plate 1 to realize turnover in the C-axis direction, which is beneficial to improve the degree of freedom of the main positioning robot 2 and the auxiliary positioning robot 3 relative to the measurement reference, and further broaden the scope of application of this embodiment.

[0053] Preferably, it also includes:

[0054] A first swing axis 23, provided at one end of the first multi-axis robot arm 21 close to the clamping structure 22, capable of adjusting the orientation of the clamping structure 22;

[0055] The first rotating shaft 24 , through which the clamping structure 22 is disposed on the first swinging shaft 23 , enables the clamping structure 22 to rotate.

[0056] In this embodiment, it also includes a swing drive for driving the first swing shaft 23 and a rotation drive for driving the first rotation shaft 24 to achieve the orientation adjustment of the clamping structure 22 .

[0057] Preferably, it also includes:

[0058] A second swing axis 33 is provided at one end of the second multi-axis robot arm 31 close to the support structure 32 and is capable of adjusting the orientation of the support structure 32;

[0059] The second rotating shaft 34 , through which the supporting structure 32 is disposed on the second swinging shaft 33 , enables the supporting structure 32 to realize turnover.

[0060] In this embodiment, the second swing shaft 33 and the second rotation shaft 34 have the same structure and function as the first swing shaft 23 and the first rotation shaft 24, so they will not be described in detail here.

[0061] Preferably, the clamping structure 22 is one of a clamp or a suction cup.

[0062] In this embodiment, the clamping structure 22 is preferably a suction cup, and also includes a vacuum generator connected to the information processing component signal, and the vacuum generator is used to fix or release the sheet metal.

[0063] Preferably, the support structure 32 comprises:

[0064] A multi-sided columnar body 321, the side of which is connected to the second multi-axis robot arm 31;

[0065] At least two semicircular sheets 322 are provided with assembly notches, and the assembly notches match the cross-sections of the polygonal columnar bodies 321 .

[0066] In this embodiment, the polygonal columnar body 321 is a hexagonal columnar body, and the middle part of it is fixed on the second rotating shaft 34. The semicircular sheet body 322 is made of rubber, silicone or thermoplastic elastomer. The above-mentioned technical solution can avoid scratching the sheet metal to be tested, and the interval between the two semicircular sheet bodies 322 can be adjusted by assembling the notch to improve the adaptability range of the fixture.

[0067] Preferably, the support structure further comprises:

[0068] The outer side of the elastic clamp 323 is matched with the assembly notch, and the inner side is provided with an adjustable elastic notch, which acts on the multi-sided columnar body 321 . The semicircular sheet 322 is detachably fixed to the multi-sided columnar body 321 through the elastic clamp 323 .

[0069] In this embodiment, the elastic clamp 323 is a hexagonal clamp, and the interval between the two semicircular plates 322 can be adjusted by clamping or loosening.

[0070] The above disclosure is only a preferred embodiment of the present invention, which cannot be used to limit the scope of protection of the present invention. Therefore, equivalent changes made within the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A flexible measuring fixture device, characterized in that: include: Processing base plate with processing reference; A plurality of main positioning robots, including a first multi-axis robot arm and a clamping structure connected, wherein the first multi-axis robot arm can drive the clamping structure to move relative to the processing reference, and the clamping structure acts on the workpiece and can fix or release the workpiece; A plurality of auxiliary positioning robots, including a second multi-axis robot arm and a supporting structure connected, wherein the second multi-axis robot arm can drive the supporting structure to move relative to the processing reference, and the supporting structure acts on the workpiece and can provide a supporting force for the workpiece to be suspended above the processing base plate; The information processing component is respectively connected to the main positioning robot and the auxiliary positioning robot by electrical signals, and is used to control the actions of the first multi-axis robot arm and the second multi-axis robot arm, and the working states of the clamping structure and the supporting structure.

2. A flexible measuring fixture device according to claim 1, characterized in that: The processing base plate is circular, three main positioning robots are provided and arranged in a circle on the processing base plate, three auxiliary positioning robots are provided and arranged in a circle on the processing base plate, and the three auxiliary positioning robots are respectively located between adjacent main positioning robots.

3. A flexible measuring fixture device according to any one of claims 1 or 2, characterized in that: The zero point of the processing reference is set at the center of the processing base plate.

4. A flexible measuring fixture device according to claim 2, characterized in that: The angle between adjacent main positioning robots is 120°, and the angle between adjacent auxiliary positioning robots is 120°.

5. A flexible measuring fixture device according to claim 2, characterized in that: Also includes: The rotating base is arranged at the bottom of the processing base plate and can drive the main positioning robot and the auxiliary positioning robot to realize turnover.

6. A flexible measuring fixture device according to claim 1, characterized in that: Also includes: A first swing axis, provided at one end of the first multi-axis mechanical arm close to the clamping structure, capable of adjusting the orientation of the clamping structure; A first rotating shaft, wherein the clamping structure is arranged on the first swinging shaft via the first rotating shaft, so that the clamping structure can realize turnover.

7. A flexible measuring fixture device according to claim 1, characterized in that: Also includes: A second swing axis, provided at one end of the second multi-axis robot arm close to the support structure, capable of adjusting the orientation of the support structure; The second rotating shaft, the supporting structure is arranged on the second swinging shaft through the second rotating shaft, so that the supporting structure can realize turnover.

8. The flexible measuring fixture device according to claim 1, characterized in that: The clamping structure is one of a clamp or a suction cup.

9. The flexible measuring fixture device according to claim 1, characterized in that: The support structure comprises: A multi-sided columnar body, the side of which is connected to the second multi-axis robotic arm; At least two semicircular sheet bodies are provided with assembly notches, and the assembly notches match the cross-sections of the polygonal columnar bodies.

10. A flexible measuring fixture device according to claim 9, characterized in that: The support structure further comprises: The elastic clamp has an outer side adapted to the assembly notch, and an inner side provided with an adjustable elastic notch, the elastic notch acts on the multi-sided columnar body, and the semicircular sheet body is detachably fixed on the multi-sided columnar body through the elastic clamp.

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