Automobile rear floor assembly gripper positioning device

Abstract

The utility model provides an automobile rear floor assembly gripper positioning device which comprises a device framework and a clamping air cylinder mechanism connected to the device framework, and the front side of the device framework is connected with a first positioning mechanism, a first distance sensor and a second distance sensor. The first positioning mechanism comprises a first air cylinder, a piston rod of the first air cylinder is fixedly connected with a first positioning seat, and the first positioning seat is connected with a third distance sensor and a first positioning pin; the rear side of the device framework is connected with a second positioning mechanism, a third positioning pin, a fourth distance sensor and a fifth distance sensor, the second positioning mechanism comprises a second air cylinder, a piston rod of the second air cylinder is fixedly connected with a second positioning seat, and the second positioning seat is connected with a second positioning pin. The rear floor gripper device solves the problems that existing vehicle types are many, the rear floor gripper device cannot be used universally and occupies storage space, and production efficiency is affected by frequent replacement of the gripper device.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile manufacturing, in particular to a gripper positioning device for an automobile rear floor assembly. Background Art

[0002] Industrial robots are typical representatives of intelligent manufacturing, with advantages such as high precision consistency, high efficiency, programmability, and the ability to work in harsh environments. The popularity of robots has become a reflection of the industrial technology strength of various automobile companies. At the same time, with the increasingly fierce competition in the automobile market, market consumers' requirements for the diversification and personalization of automobile products have gradually increased, and the speed of automobile product replacement has become faster and faster. This has also caused an increase in welding investment costs in the field of white body manufacturing of automobile OEMs, making welding planning pay more and more attention to the flexibility of body manufacturing. Small-batch, multi-variety flexible manufacturing has gradually replaced traditional large-scale production. Intelligent manufacturing and flexible manufacturing help companies achieve long-term sustainable development in a market environment with many uncertainties and rich diversified demands, and resist the risk factors that come from the external market.

[0003] In the body welding production process, the rear floor assembly refers to the area between the front floor and the rear assembly of the body. It consists of the rear floor, rear longitudinal beam, rear connecting plate and related sheet metal accessories. It is crucial for the structural strength, durability and torsion resistance of the whole vehicle. As an important part of the passenger compartment, the rear floor assembly has a complex structure, many end angle stoppers, large volume and weight, high overall strength, but the accessory brackets and stoppers are easy to deform, and there are often configuration differences between different models. In order to improve the grasping quality before welding of the rear floor assembly, improve production efficiency, stabilize the welding size, and meet the needs of intelligent manufacturing and flexible manufacturing, it is necessary to design a robot that uses a flexible gripper with the function of grasping, carrying and positioning the rear floor assembly of the car. Due to the large number of existing models, a gripper device needs to be equipped for each model, and the gripper device cannot be universal, which takes up a lot of storage space, and frequent replacement of the gripper device will also affect production efficiency. Therefore, it is necessary to invent a new gripper positioning device for the rear floor assembly of the car. Utility Model Content

[0004] The utility model aims to provide a gripper positioning device for a rear floor assembly of an automobile, so as to solve the problems that there are many existing models, the rear floor gripper devices are not universal and occupy storage space, and the frequent replacement of the gripper devices affects the production efficiency.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A gripper positioning device for a rear floor assembly of an automobile comprises a device frame, a clamping cylinder mechanism connected to the device frame, a first positioning mechanism, a first distance sensor, and a second distance sensor being connected to the front side of the device frame; the first positioning mechanism comprises a first cylinder, a first positioning seat being fixedly connected to the piston rod of the first cylinder, and a third distance sensor and a first positioning pin being connected to the first positioning seat; a second positioning mechanism, a third positioning pin, a fourth distance sensor, and a fifth distance sensor being connected to the rear side of the device frame, the second positioning mechanism comprises a second cylinder, a second positioning seat being fixedly connected to the piston rod of the second cylinder, and a second positioning pin being connected to the second positioning seat; the first distance sensor, the second distance sensor, the third distance sensor, the fourth distance sensor, and the fifth distance sensor are all connected to a controller, and the air pipes of the clamping cylinder mechanism 11, the first cylinder, and the second cylinder are all connected to a valve island.

[0007] Preferably, in combination with the above scheme, the first positioning mechanism also includes a first mounting plate, the first mounting plate is fixedly connected to the device frame, the left and right sides of the first mounting plate are fixedly connected with a first limit plate of an L-shaped structure, the lower end surface of the first limit plate is protruded with a first upper limit block, and the first positioning seat is protruded with a first lower limit block at the position corresponding to the first upper limit block.

[0008] Preferably, in combination with the above scheme, the lower end of the first positioning seat is fixedly connected to a first fixing plate of an inverted L-shaped structure, the first fixing plate is fixedly connected to a first positioning pin seat, and the third distance sensor and the first positioning pin are both fixedly connected to the first positioning pin seat.

[0009] Preferably, in combination with the above solution, a first sensor bracket is fixedly connected to the front side of the device frame, and the first distance sensor is fixedly connected to the first sensor bracket.

[0010] Preferably, in combination with the above solution, a second sensor bracket is fixedly connected to the front side of the device frame, and the second distance sensor is fixedly connected to the second sensor bracket.

[0011] Preferably, in combination with the above scheme, the second positioning mechanism also includes a second mounting plate with an L-shaped structure, one side of the second mounting plate is fixedly connected to the device frame, and the second mounting plate is fixedly connected to one side of the second cylinder; the lower end of the second mounting plate is fixedly connected to a second positioning pin seat, and the second positioning pin is fixedly connected to the second positioning pin seat.

[0012] Preferably, in combination with the above solution, a second upper limit block is fixedly connected to the lower end surface of the second positioning seat, and a second lower limit block is fixedly provided on the second mounting plate at a position corresponding to the second upper limit block.

[0013] Preferably, in combination with the above solution, a third sensor bracket is fixedly connected to the rear side of the device frame, and the fourth distance sensor is fixedly connected to the third sensor bracket.

[0014] Preferably, in combination with the above solution, a fourth sensor bracket is fixedly connected to the rear side of the device frame, and the fifth distance sensor is fixedly connected to the fourth sensor bracket.

[0015] Preferably, in combination with the above solution, a third positioning pin seat is fixedly connected to the rear side of the device frame, and the third positioning pin is fixedly connected to the third positioning pin seat.

[0016] The beneficial effects of the utility model: the utility model provides an assembly diagram of a gripper positioning device for a rear floor assembly of an automobile, the structure of which includes a clamping cylinder mechanism, multiple groups of positioning pins, multiple groups of telescopic cylinder positioning mechanisms, multiple groups of distance sensors, a controller, a valve island, etc., so as to target rear floor assemblies configured for different vehicle models, and utilize different sensors to perform signal recognition on different characteristic points of rear floor assemblies with different configurations. The controller feeds back the signal to the valve island and then commands the cylinder to move. The clamping cylinder mechanism and the corresponding telescopic positioning pins are switched and positioned to the required configuration state as required, so as to realize automatic switching of vehicle models, and the operation is stable and reliable, thereby improving work efficiency.

[0017] The present invention will be described in more detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The utility model is a matching structure diagram of a gripper positioning device of a rear floor assembly of an automobile and a rear floor assembly.

[0019] Figure 2 The utility model is a structural diagram of the matching direction of a gripper positioning device of a rear floor assembly of an automobile and a rear floor assembly in another direction.

[0020] Figure 3 The present invention is a structural diagram of a gripper positioning device for a rear floor assembly of an automobile.

[0021] Figure 4 This is a structural diagram of a gripper positioning device for a rear floor assembly of an automobile from another direction.

[0022] Figure 5 It is a structural diagram of the first positioning mechanism in the utility model.

[0023] Figure 6 It is a structural diagram of the second positioning mechanism in the utility model.

[0024] Among them: 1. Device frame, 2. First positioning mechanism, 3. First distance sensor, 4. Second distance sensor, 5. Second positioning mechanism, 6. Third positioning pin, 7. Fourth distance sensor, 8. Fifth distance sensor, 9. Controller, 10. Valve island, 11. Clamping cylinder mechanism, 100. Rear floor assembly, 101. First sensor bracket, 102. Second sensor bracket, 103. Third sensor bracket, 104. Fourth sensor bracket, 105. Third positioning pin seat, 201. The first cylinder, 202. The first mounting plate, 203. The first limiting plate, 204. The first upper limit block, 205. The first lower limit block, 206. The first positioning seat, 207. The first fixing plate, 208. The first positioning pin seat, 209. The third distance sensor, 210. The first positioning pin, 501. The second cylinder, 502. The second mounting plate, 503. The second positioning seat, 504. The second upper limit block, 505. The second lower limit block, 506. The second positioning pin seat, 507. The second positioning pin. DETAILED DESCRIPTION

[0025] like Figures 1 to 6 The illustrated embodiment of a gripper positioning device for a rear floor assembly of an automobile comprises a device frame 1, and four groups of clamping cylinder mechanisms 11 connected to the device frame 1, wherein two groups of clamping cylinder mechanisms 11 are connected to the left and right sides of the front end of the device frame 1 and are used to clamp the rear door sill; the other two groups of clamping cylinder mechanisms 11 are arranged on the left and right sides of the rear end of the device frame 1 and are used to clamp the rear longitudinal beam and the rear floor assembly 100.

[0026] The front side of the device skeleton 1 is connected to a first positioning mechanism 2, a first distance sensor 3, and a second distance sensor 4; the first positioning mechanism 2 includes a first cylinder 201, a first positioning seat 206 is fixedly connected to the piston rod of the first cylinder 201, and a third distance sensor 209 and a first positioning pin 210 are connected to the first positioning seat 206; the rear side of the device skeleton 1 is connected to a second positioning mechanism 5, a third positioning pin 6, a fourth distance sensor 7, and a fifth distance sensor 8, the second positioning mechanism 5 includes a second cylinder 501, a second positioning seat 503 is fixedly connected to the piston rod of the second cylinder 501, and a second positioning pin 507 is connected to the second positioning seat 503; the power supply of the clamping cylinder mechanism 11, the first distance sensor 3, the second distance sensor 4, the third distance sensor 210, the fourth distance sensor 7, and the fifth distance sensor 8 are all connected to a controller 9, and the cylinders on the clamping cylinder mechanism 11, the first cylinder 201, and the air pipes of the second cylinder 501 are connected to the valve island 10.

[0027] In order to facilitate limiting the moving distance of the piston rod of the first cylinder 201, the first positioning mechanism 2 also includes a first mounting plate 202, and the first mounting plate 202 is fixedly connected to the device frame 1. The left and right sides of the first mounting plate 202 are fixedly connected with a first limit plate 203 with an L-shaped structure. The lower end surface of the first limit plate 203 is protrudingly provided with a first upper limit block 204, and the first positioning seat 206 is protrudingly provided with a first lower limit block 205 at the position corresponding to the first upper limit block 204.

[0028] In order to facilitate fixing the third distance sensor 209 and the first positioning pin 210 on the first positioning seat 206, a first fixing plate 207 of an inverted L-shaped structure is fixedly connected to the lower end of the first positioning seat 206, a first positioning pin seat 208 is fixedly connected to the first fixing plate 207, and the third distance sensor 209 and the first positioning pin 210 are both fixedly connected to the first positioning pin seat 208. The first positioning pin seat 208 can be made of a plurality of groups of L-shaped structure plates, and a plurality of groups of gaskets can be arranged between the plates, so as to accurately adjust the positions of the first positioning pin 210 and the third distance sensor 209.

[0029] In order to facilitate fixing the first distance sensor 3 on the front side of the device frame 1 and to detect the characteristics of the middle floor beam boss on the front side of the rear floor assembly 100 of the four-wheel drive vehicle, the front side of the device frame 1 is fixedly connected to the first sensor bracket 101, and the first distance sensor 3 is fixedly connected to the first sensor bracket 101.

[0030] In order to facilitate fixing the second distance sensor 4 on the front side of the device frame 1 and to detect whether the rear floor assembly 100 of the four-wheel drive vehicle is in place, a second sensor bracket 102 is fixedly connected to the front side of the device frame 1, and the second distance sensor 4 is fixedly connected to the second sensor bracket 102.

[0031] In order to better connect the second positioning mechanism 5 to the rear side of the device frame 1, the second positioning mechanism 5 also includes an L-shaped second mounting plate 502, one side of which is fixedly connected to the device frame 1, and the second mounting plate 502 is fixedly connected to one side of the second cylinder 501; the lower end of the second mounting plate 502 is fixedly connected to a second positioning pin seat 506, and the second positioning pin 507 is fixedly connected to the second positioning pin seat 506.

[0032] In order to limit the moving distance of the piston rod of the second cylinder 501 , the lower end surface of the second positioning seat 503 is fixedly connected with a second upper limit block 504 , and the second mounting plate 502 is fixedly provided with a second lower limit block 505 at the position corresponding to the second upper limit block 204 .

[0033] In order to facilitate the installation and fixation of the fourth distance sensor 7, a third sensor bracket 103 is fixedly connected to the rear side of the device frame 1, and the fourth distance sensor 7 is fixedly connected to the third sensor bracket 103. The third sensor bracket 103 can be designed as an L-shaped structure, and the fourth distance sensor 7 is fixed to the third sensor bracket 103 by screwing.

[0034] In order to facilitate the installation and fixation of the fifth distance sensor 8, a fourth sensor bracket 104 is fixedly connected to the rear side of the device frame 1, and the fifth distance sensor 8 is fixedly connected to the fourth sensor bracket 104. The fourth sensor bracket 104 can be designed as an L-shaped structure, and the fifth distance sensor 8 is fixed to the fourth sensor bracket 104 by screwing.

[0035] In order to facilitate the installation and fixation of the third positioning pin 6, a third positioning pin seat 105 is fixedly connected to the rear side of the device frame 1, and the third positioning pin 6 is fixedly connected to the third positioning pin seat 105. The third positioning pin seat 105 can be made of multiple groups of L-shaped structure plates, and several groups of gaskets can be arranged between the plates to accurately adjust the position of the third positioning pin.

[0036] Principle of the utility model:

[0037] The automobile rear floor assembly gripper positioning device in this embodiment can be adapted to more than two types of vehicle body rear floor assemblies. Due to different structures, the rear floor assembly 100 of each vehicle model will have characteristic difference points of different heights (such as bosses, grooves, etc.) on the sheet metal. The sensors on this positioning device are used to detect the characteristic difference points to determine whether the rear floor assembly 100 is in place.

[0038] Taking the four-wheel drive model as an example, after the upper computer sends the four-wheel drive model information, the robot at this station receives the corresponding four-wheel drive model signal, and sends a signal to the valve island 10 through the controller 9. The valve island 10 controls the first cylinder 201 of the first positioning mechanism 2 to retract, driving the third distance sensor 209 and the first positioning pin 210 to retract at the same time to avoid interference with the middle floor beam assembly of the rear floor assembly 100; when the second distance sensor 4 (universal in-place sensor for all models) and the fifth distance sensor 8 (universal in-place sensor for all models) detect that the rear floor assembly 100 is in place, the third positioning pin 6 (universal positioning pin for all models) is also inserted into the corresponding positioning pin of the rear floor assembly 100 Hole, the first distance sensor 3 (the corresponding sensor for four-wheel drive models, used to detect the characteristics of the center floor beam boss) needs to synchronously confirm whether the rear floor assembly 100 is in place. When the first distance sensor 3 signal feedback indicates that the model is correct, the clamping cylinder mechanism 11 starts to clamp, and the controller 9 continues to send a signal to the valve island 10. The valve island 10 controls the first cylinder 201 to insert the first locating pin 210 into the locating hole of the rear floor assembly 100. At this time, the third distance sensor 209 will perform a second confirmation on whether the rear floor assembly 100 is in place; if the first distance sensor 3 or the third distance sensor 209 signals an error, the robot gripper stops working and an investigation is required.

[0039] Taking the PHEV model as an example, after the upper computer sends the corresponding PHEV model information, it sends a signal to the valve island 10 through the controller 9, and the valve island 10 controls the cylinder 501 of the second positioning switching mechanism 5 to retract, driving the second positioning pin 507 to retract to avoid interference with the rear floor assembly 100; when the second distance sensor 4 (universal in-place sensor for all models) and the fifth distance sensor 8 (universal in-place sensor for all models) detect that the rear floor assembly is in place, the third positioning pin 6 (universal positioning pin for all models) is also inserted into the corresponding positioning hole of the rear floor assembly 100, and the fourth The distance sensor 7 (PHEV model identification sensor, used to detect the characteristics of the upper end surface of the rear floor of the PHEV model) needs to confirm the PHEV model characteristic difference point detection of the rear floor assembly 100 of this work station. When the fourth distance sensor 7 signal feedback shows that the model is correct, the clamping cylinder mechanism 11 starts to clamp the upper part, and the controller 9 sends a signal to the valve island 10. The valve island 10 controls the cylinder 501 to insert the second locating pin 507 into the locating hole of the rear floor assembly 100. If the fourth distance sensor 7 signal is wrong, the robot gripper stops working and an investigation needs to be carried out.

[0040] In the description of the present invention, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", "bottom", "inside", "outside", "one end", "one side", "two ends", "both sides", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] The utility model is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the utility model is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the utility model, or they are directly applied to other occasions, they all fall within the protection scope of the utility model.

Claims

1. A gripper positioning device for a rear floor assembly of an automobile, comprising a device frame (1), a clamping cylinder mechanism (11) connected to the device frame (1), wherein: The front side of the device frame (1) is connected to a first positioning mechanism (2), a first distance sensor (3), and a second distance sensor (4); the first positioning mechanism (2) comprises a first cylinder (201), a piston rod of the first cylinder (201) is fixedly connected to a first positioning seat (206), and the first positioning seat (206) is connected to a third distance sensor (209) and a first positioning pin (210); the rear side of the device frame (1) is connected to a second positioning mechanism (5), a third positioning pin (6), a fourth distance sensor (7), and a fifth distance sensor (8), The second positioning mechanism (5) comprises a second cylinder (501), a second positioning seat (503) is fixedly connected to the piston rod of the second cylinder (501), and a second positioning pin (507) is connected to the second positioning seat (503); the first distance sensor (3), the second distance sensor (4), the third distance sensor (209), the fourth distance sensor (7), and the fifth distance sensor (8) are all connected to the controller (9), and the air pipes of the clamping cylinder mechanism (11), the first cylinder (201), and the second cylinder (501) are all connected to the valve island (10).

2. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: The first positioning mechanism (2) further comprises a first mounting plate (202), the first mounting plate (202) being fixedly connected to the device frame (1), the left and right sides of the first mounting plate (202) being fixedly connected with first limit plates (203) of an L-shaped structure, the lower end surface of the first limit plate (203) being protrudingly provided with a first upper limit block (204), and the first positioning seat (206) being protrudingly provided with a first lower limit block (205) at a position corresponding to the first upper limit block (204).

3. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: The lower end of the first positioning seat (206) is fixedly connected to a first fixing plate (207) of an inverted L-shaped structure, the first fixing plate (207) is fixedly connected to a first positioning pin seat (208), and the third distance sensor (209) and the first positioning pin (210) are both fixedly connected to the first positioning pin seat (208).

4. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: A first sensor bracket (101) is fixedly connected to the front side of the device frame (1), and the first distance sensor (3) is fixedly connected to the first sensor bracket (101).

5. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: A second sensor bracket (102) is fixedly connected to the front side of the device frame (1), and the second distance sensor (4) is fixedly connected to the second sensor bracket (102).

6. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: The second positioning mechanism (5) also includes a second mounting plate (502) of an L-shaped structure, one side of the second mounting plate (502) is fixedly connected to the device frame (1), and the second mounting plate (502) is fixedly connected to one side of the second cylinder (501); the lower end of the second mounting plate (502) is fixedly connected to a second positioning pin seat (506), and the second positioning pin (507) is fixedly connected to the second positioning pin seat (506).

7. The automobile rear floor assembly gripper positioning device according to claim 6, characterized in that: The lower end surface of the second positioning seat (503) is fixedly connected to a second upper limit block (504), and a second lower limit block (505) is fixedly arranged on the second mounting plate (502) at a position corresponding to the second upper limit block (504).

8. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: A third sensor bracket (103) is fixedly connected to the rear side of the device frame (1), and the fourth distance sensor (7) is fixedly connected to the third sensor bracket (103).

9. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: A fourth sensor bracket (104) is fixedly connected to the rear side of the device frame (1), and the fifth distance sensor (8) is fixedly connected to the fourth sensor bracket (104).

10. The automobile rear floor assembly gripper positioning device according to claim 1, characterized in that: A third positioning pin seat (105) is fixedly connected to the rear side of the device frame (1), and the third positioning pin (6) is fixedly connected to the third positioning pin seat (105).

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