Top cover positioning gripper

Abstract

The utility model relates to the technical field of automobile roof welding, in particular to a roof positioning gripper. Comprising a frame and a positioning and clamping assembly used for positioning and clamping a top cover, and the positioning and clamping assembly is arranged on the frame; the two ends in the first direction are each provided with at least one holding assembly, each holding assembly comprises a first driving assembly, a first holding block and a second holding block, the first holding blocks and the second holding blocks are jointly used for holding a vehicle body, the first holding blocks are arranged on the frame, and the second holding blocks are connected with the output ends of the first driving assemblies. During alignment, the first enclasping block abuts against the vehicle body, the first driving assembly is started to drive the second enclasping block to move, the first enclasping block and the second enclasping block jointly enclasp the vehicle body, and therefore the relative position of the top cover and the vehicle body is limited, and the top cover and the vehicle body are not prone to deviation in the alignment process.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile roof welding assembly, and more specifically, to a roof positioning gripper. Background Art

[0002] In the production and manufacturing process of an automobile body in white, it is necessary to assemble and weld the roof with both sides of the body. Usually, a gripper is used to carry the roof above the body, and after positioning the roof and the body, welding is carried out. The quality of the positioning in this process directly determines the accuracy of the entire body in white and also affects the quality of the whole vehicle.

[0003] The prior art discloses a roof positioning gripper, which includes a frame; an X-direction positioning assembly; the front X-direction positioning member includes a front X-direction positioning pin and a front X-direction clamping; a Y-direction positioning assembly; and a plurality of vacuum devices. This roof positioning gripper can prevent the roof from moving in the X and Y directions during installation. However, this gripper only restricts the relative position between the roof and the gripper, and does not restrict the relative position between the roof and the body, which is likely to cause deviation during the alignment of the roof and the body. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a roof positioning gripper, which can restrict the relative position between the roof and the body, so that the roof and the body are not likely to deviate during the alignment process.

[0005] In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0006] A roof positioning gripper includes a frame and a positioning and clamping assembly for positioning and clamping the roof, and the positioning and clamping assembly is arranged on the frame; at least one set of clamping assemblies is respectively arranged at both ends of the frame along a first direction, and each clamping assembly includes a first driving assembly, a first clamping block and a second clamping block which are jointly used for clamping the body. The first driving assembly and the first clamping block are both arranged on the frame, and the second clamping block is connected to the output end of the first driving assembly.

[0007] According to the above technical means, for a roof positioning gripper provided by the utility model, when using this gripper, the positioning and clamping assembly is used to position and clamp the roof. After clamping, the roof is moved above the body, and the roof and the body are aligned. During alignment, the first clamping block is abutted against the body, and the first driving assembly is started to drive the second clamping block to move, so that the first clamping block and the second clamping block jointly clamp the body, thereby restricting the relative position between the roof and the body, and making it difficult for the roof and the body to deviate during the alignment process.

[0008] Furthermore, the first clamping block is provided with a first clamping groove for clamping the vehicle body, the second clamping block is provided with a second clamping groove for cooperating with the first clamping groove to clamp the vehicle body, and the first clamping block and the second clamping block are arranged opposite to each other. When the first clamping block is abutted against the vehicle body, the first clamping groove is clamped on the vehicle body, and a preliminary limit is performed, and the first driving component is started to drive the second clamping block to move, and the second clamping groove is also clamped on the vehicle body, and the vehicle body is clamped by the first clamping groove and the second clamping groove, so as to prevent the relative position of the vehicle body and the top cover from changing.

[0009] Furthermore, it also includes a clamping assembly for clamping the top cover and the vehicle body, the clamping assembly includes a first clamping block for abutting against the top cover, a second drive assembly and a second clamping block for abutting against the vehicle body, the first clamping block and the second drive assembly are both arranged on the frame, the second clamping block is connected to the output end of the second drive assembly, and the first clamping block and the second clamping block are arranged opposite to each other. When the gripper uses the positioning clamping assembly to position and clamp the top cover, the first clamping block abuts against the top cover in accordance with the shape of the top cover. When the top cover and the vehicle body are positioned, the second drive assembly is started, and the second drive assembly drives the second clamping block to move, so that the second clamping block abuts against the vehicle body, and the first clamping block and the second clamping block clamp the top cover and the vehicle body together.

[0010] Furthermore, the frame is provided with a clamping assembly for clamping the top cover and the vehicle body and abutting against the top cover along the third direction. The vehicle body is provided with side water flow grooves, and the top cover and the side water flow grooves are clamped by the clamping assembly, so as to ensure the overlap gap and prevent water leakage.

[0011] Furthermore, the frame is also provided with a matching positioning assembly for positioning and connecting with the body fixture, the matching positioning assembly includes a first positioning pin adapted to the body fixture positioning hole and a positioning block adapted to the body fixture positioning surface, the first positioning pin is provided with at least two groups, and the two groups of first positioning pins are respectively located at both ends of the frame along the first direction. The gripper is positioned with the body fixture by the first positioning pin and the positioning block, and the auxiliary top cover is positioned with the body.

[0012] Furthermore, the connection line of the two groups of first positioning pins has an offset angle with the first direction. The two groups of first positioning pins are arranged at diagonal positions to prevent the end of the top cover away from the first positioning pins from rotating along the third direction after positioning.

[0013] Furthermore, the positioning and clamping assembly includes a positioning assembly, a clamping assembly, and a vacuum device, all of which are arranged on the frame. There are at least two sets of the positioning assembly and the clamping assembly respectively. The two sets of positioning assemblies and the two sets of clamping assemblies are respectively located at both ends of the frame along the second direction. The relative position between the top cover and the gripper is positioned by the positioning assembly, and the top cover is adsorbed by the vacuum device to fixedly connect the top cover and the gripper, mainly restricting the movement of the top cover in the third direction. The top cover is clamped by the clamping assembly to further fixedly connect the top cover and the gripper, mainly restricting the movement of the top cover in the first and second directions to prevent the top cover from separating from the gripper.

[0014] Furthermore, at least two sets of positioning assemblies are respectively arranged at both ends of the frame along the second direction. The positioning assembly includes a third driving assembly arranged on the frame and a second positioning pin connected to the output end of the third driving assembly. When the gripper moves above the top cover, the third driving assembly is started to drive the second positioning pin to move, so that the second positioning pin is inserted into the positioning hole reserved on the top cover to position the relative position between the top cover and the gripper. By setting at least four sets of positioning assemblies, the positioning can be more accurate and the top cover can be prevented from rotating along the third direction.

[0015] Furthermore, a butting member for butting against the top cover along the first direction is also arranged on the frame. There are at least two sets of the butting members, and the two sets of butting members are respectively located at both ends of the frame along the first direction. By arranging the butting members on both sides of the top cover respectively, the position of the top cover in the first direction can be positioned.

[0016] Furthermore, a quick-change disk and a lifting ring are arranged on the frame. The quick-change disk can facilitate the quick connection and disassembly of the frame and the moving mechanism. The lifting ring can further strengthen the connection between the frame and the moving mechanism. The moving mechanism can drive the frame to move, so that the gripper can automatically move above the top cover and move the grabbed top cover above the vehicle body after grabbing.

[0017] Compared with the prior art, the beneficial effects are as follows:

[0018] 1. For a top cover positioning gripper provided by the present utility model, when performing alignment, the first clamping block is butted against the vehicle body, and the first driving assembly is started to drive the second clamping block to move, so that the first clamping block and the second clamping block jointly clamp the vehicle body, thereby restricting the relative position between the top cover and the vehicle body and preventing the top cover and the vehicle body from deviating easily during the alignment process.

[0019] 2. For a top cover positioning gripper provided by the present utility model, when positioning the top cover and the vehicle body, the second driving assembly is started, and the second driving assembly drives the second clamping block to move, so that the second clamping block is butted against the vehicle body, and the first clamping block and the second clamping block jointly clamp the top cover and the vehicle body.

[0020] 3. The utility model provides a top cover positioning gripper, which positions the gripper and the vehicle body fixture through a first positioning pin and a positioning block to assist in positioning the top cover and the vehicle body; two groups of first positioning pins are arranged at diagonal positions to prevent the end of the top cover away from the first positioning pin from rotating in a third direction after positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the top cover positioning gripper of the utility model;

[0022] Figure 2 This is a first-view schematic diagram of the working state of the top cover positioning gripper of the utility model;

[0023] Figure 3 yes Figure 2 A magnified view of the structure at center A;

[0024] Figure 4 yes Figure 2 A magnified view of the structure at B in the middle;

[0025] Figure 5 It is a second viewing angle schematic diagram of the working state of the top cover positioning gripper of the utility model.

[0026] Among them, the illustration marks are explained as follows: 100, top cover; 200, body; 1, frame; 2, positioning and clamping assembly; 201, positioning assembly; 211, third drive assembly; 212, second positioning pin; 202, clamping assembly; 203, vacuum; 3, clamping assembly; 301, first drive assembly; 302, first clamping block; 321, first clamping groove; 303, second clamping block; 331, second clamping groove; 4, clamping assembly; 401, first clamping block; 402, second drive assembly; 403, second clamping block; 5, clamping assembly; 6, matching positioning assembly; 601, first positioning pin; 602, positioning block; 7, abutment; 8, quick-change disk; 9, lifting ring. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The present invention is described in one of the embodiments in combination with the specific implementation methods. Among them, the drawings are only used for exemplary descriptions, and only schematic diagrams are shown, not physical drawings, and cannot be understood as limitations on the present invention; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0028] In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be construed as a limitation of the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. In addition, if there is a description involving "first", "second", etc. in the embodiments of the present invention, such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution where A and B are satisfied simultaneously.

[0029] Embodiment 1

[0030] As Figures 1 to 5 shown, this embodiment proposes a top cover positioning gripper, which includes a frame 1 and a positioning and clamping assembly 2 for positioning and clamping the top cover 100. The positioning and clamping assembly 2 is provided on the frame 1; at least one set of clamping assemblies 3 are respectively provided at both ends of the frame 1 along the first direction. The first direction is the Figure 2 X direction in

[0031] that is, a set of clamping assemblies 3 are respectively provided at the positions of the two sides of the vehicle body 200. The two sets of clamping assemblies 3 respectively clamp the top cover 100 with the two sides of the vehicle body 200.

[0032] The first clamping block 302 is provided with a first clamping groove 321 for clamping the vehicle body 200. The second clamping block 303 is provided with a second clamping groove 331 for cooperatively clamping the vehicle body 200 with the first clamping groove 321. The first clamping block 302 and the second clamping block 303 are arranged oppositely. When the first clamping block 302 is abutted against the vehicle body 200, the first clamping groove 321 is clamped on the vehicle body 200, that is, the first clamping groove 321 is clamped on the outer side of the connecting frame for preliminary positioning. The first driving assembly 301 is started to drive the second clamping block 303 to move, and the second clamping groove 331 is also clamped on the vehicle body 200, that is, clamped on the inner side of the connecting frame. The vehicle body 200 is further clamped by the first clamping groove 321 and the second clamping groove 331, so as to prevent the relative position of the vehicle body 200 and the top cover 100 from changing.

[0033] According to the above technical means, for a top cover positioning gripper provided by the utility model, when using this gripper, the positioning and clamping assembly 2 is used to position and clamp the top cover 100. After clamping, the top cover 100 is moved above the vehicle body 200, and the top cover 100 and the vehicle body 200 are aligned. When aligning, the first clamping block 302 is abutted against the vehicle body 200, and the first clamping groove 321 is clamped on the outer side of the connecting frame. The first driving assembly 301 is started to drive the second clamping block 303 to move, that is, the rotary cylinder is started to rotate the second clamping block 303 from the outer side of the connecting frame to the inner side of the connecting frame, and the second clamping groove 331 is clamped on the inner side of the connecting frame. The first clamping block 302 and the second clamping block 303 jointly clamp the vehicle body 200, so as to limit the relative position of the top cover 100 and the vehicle body 200, and prevent the top cover 100 and the vehicle body 200 from deviating easily during the alignment process.

[0034] Embodiment 2

[0035] A top cover positioning gripper proposed in this embodiment, on the basis of Embodiment 1, in this embodiment, as Figure 1 and Figure 2 shown, further includes a clamping assembly 4 for clamping the top cover 100 and the vehicle body 200. The clamping assembly 4 is mainly located at both ends of the frame 1 along the second direction, that is, Figure 2 both ends in the Y direction in

[0036] and two groups are provided at both ends in the Y direction, that is, there is a group of clamping assemblies 4 at each of the four corners of the top cover 100. The four groups of clamping assemblies 4 respectively clamp both ends of the two side vehicle bodies 200 along the Y direction, so as to clamp the top cover 100 and the two side vehicle bodies 200. Figure 4As shown, the clamping assembly 4 includes a first clamping block 401 for abutting against the top cover 100, a second driving assembly 402, and a second clamping block 403 for abutting against the vehicle body 200. The first clamping block 401 and the second driving assembly 402 are both arranged on the frame 1, and the second clamping block 403 is connected to the output end of the second driving assembly 402. The first clamping block 401 is arranged opposite to the second clamping block 403. When the gripper uses the positioning and clamping assembly 2 to position and clamp the top cover 100, the first clamping block 401 abuts against the top cover 100 in accordance with the shape of the top cover 100. When the top cover 100 and the body 200 are positioned, the edge of the body 200 overlaps with the top cover 100, and the overlapping portion is the overlap of the upper surface of the body 200 and the lower surface of the top cover 100, and the second drive component 402 is started. The second drive component 402 is preferably a rotary cylinder, which can shorten the production cycle and facilitate the second clamping block 403 to enter the bottom of the top cover 100 from the outside of the top cover 100. The second drive component 402 drives the second clamping block 403 to move, so that the second clamping block 403 abuts against the body 200, that is, abuts against the lower surface of the body 200. The first clamping block 401 and the second clamping block 403 jointly clamp the top cover 100 and the body 200, that is, clamp the overlapping portion of the top cover 100 and the body 200.

[0037] like Figure 4 As shown, the frame 1 is further provided with a clamping assembly 5 for clamping the top cover 100 and the vehicle body 200 and abutting against the top cover 100 along the third direction. The clamping assembly 5 is mainly located at the edge where the top cover 100 and the vehicle body 200 are connected. The vehicle body 200 is provided with a side water flow groove. The top cover 100 and the side water flow groove are clamped by the clamping assembly 5 to prevent the edge of the top cover 100 from warping, thereby ensuring the overlap gap between the top cover 100 and the vehicle body 200, improving the welding quality, and preventing water leakage.

[0038] like Figure 2 As shown, the frame 1 is also provided with a matching positioning component 6 for positioning and connecting with the body 200 clamp. The matching positioning component 6 is mainly located at the two doors of the body 200. The specific position of the matching positioning component 6 is adjusted according to the specific position of the body 200 clamp.

[0039] The matching positioning assembly 6 includes a first positioning pin 601 adapted to the fixture positioning holes of the vehicle body 200 and a positioning block 602 adapted to the fixture positioning surface of the vehicle body 200. There are at least two groups of the first positioning pins 601, and the two groups of the first positioning pins 601 are respectively located at both ends of the frame 1 along the first direction, that is, both ends of the frame 1 along the X direction, that is, corresponding to the fixture of the vehicle body 200 on both sides. The gripper is positioned with the fixture of the vehicle body 200 through the first positioning pin 601 and the positioning block 602, and the positioning of the roof cover 100 and the vehicle body 200 is assisted. There is an offset angle between the connection line of the two groups of the first positioning pins 601 and the first direction. The two groups of the first positioning pins 601 are arranged at the diagonal positions, which can prevent the end of the roof cover 100 away from the first positioning pin 601 from rotating along the third direction after positioning, that is, rotating along the Z direction.

[0040] Embodiment 3

[0041] Based on Embodiment 1 or Embodiment 2, a roof cover positioning gripper proposed in this embodiment is as follows Figure 2 and Figure 5 As shown, the positioning and clamping assembly 2 includes a positioning assembly 201, a clamping assembly 202 and a vacuum device 203 all arranged on the frame 1. There are at least two groups of the positioning assembly 201 and the clamping assembly 202, and the two groups of the positioning assembly 201 and the two groups of the clamping assembly 202 are respectively located at both ends of the frame 1 along the second direction, that is, both ends of the frame 1 along the Y direction, that is, both ends of the length direction of the roof cover 100, and this position is not connected to the vehicle body 200, so that it is more convenient to position and clamp the roof cover 100 and there will be no interference when connecting the roof cover 100 and the vehicle body 200. The relative position of the roof cover 100 and the gripper is positioned through the positioning assembly 201, and the roof cover 100 is adsorbed through the vacuum device 203 to fixedly connect the roof cover 100 and the gripper, mainly restricting the movement of the roof cover 100 in the third direction, that is, restricting the movement in the Z direction, that is, the height direction of the roof cover 100. The roof cover 100 is clamped through the clamping assembly 202 to further fixedly connect the roof cover 100 and the gripper, mainly restricting the movement of the roof cover 100 in the first direction and the second direction to prevent the roof cover 100 from separating from the gripper.

[0042] At least two sets of positioning components 201 are respectively provided at both ends of the frame 1 along the second direction. The four sets of positioning components 201 are respectively located at the four corners of the top cover 100. The positioning component 201 includes a third driving component 211 provided on the frame 1 and a second positioning pin 212 connected to the output end of the third driving component 211. When the gripper moves above the top cover 100, the third driving component 211 is started to drive the second positioning pin 212 to move, so that the second positioning pin 212 is inserted into the positioning hole reserved in the top cover 100 to position the relative position between the top cover 100 and the gripper. By providing at least four sets of positioning components 201, the positioning can be more accurate, and the top cover 100 can be prevented from rotating along the third direction, that is, rotating along the Z axis.

[0043] An abutting member 7 for abutting against the top cover 100 along the first direction is further provided on the frame 1. At least two sets of the abutting members 7 are provided, and the two sets of abutting members 7 are respectively located at both ends of the frame 1 along the first direction, that is, at both ends of the frame 1 along the X direction, that is, on both sides of the width direction of the top cover 100. By respectively providing the abutting members 7 on both sides of the top cover 100, the position of the top cover 100 in the first direction can be positioned. At the same time, because the top cover 100 is relatively long, by providing the abutting members 7 at both ends in the width direction, that is, on both sides in the length direction, the top cover 100 can also be prevented from rotating along the Z axis.

[0044] A quick-change disk 8 and a lifting ring 9 are provided on the frame 1. Through the quick-change disk 8, it is convenient for the frame 1 to be quickly connected to and disassembled from the moving mechanism. Through the lifting ring 9, the connection between the frame 1 and the moving mechanism can be further strengthened. Through the moving mechanism, the frame can be driven to move, so that the gripper can automatically move above the top cover 100 and move the top cover 100 to above the vehicle body 200 after grasping it.

[0045] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0046] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A top cover positioning gripper, comprising a frame (1) and a positioning and clamping assembly (2) for positioning and clamping a top cover (100), wherein the positioning and clamping assembly (2) is arranged on the frame (1); characterized in that, At least one set of clamping components (3) is respectively provided at both ends of the frame (1) along the first direction. The clamping component (3) includes a first driving component (301), a first clamping block (302) and a second clamping block (303) which are jointly used for clamping the vehicle body (200). The first driving component (301) and the first clamping block (302) are both arranged on the frame (1), and the second clamping block (303) is connected to the output end of the first driving component (301).

2. The top cover positioning gripper according to claim 1, wherein A first clamping groove (321) for clamping the vehicle body (200) is provided on the first clamping block (302), and a second clamping groove (331) for cooperating with the first clamping groove (321) to clamp the vehicle body (200) is provided on the second clamping block (303). The first clamping block (302) and the second clamping block (303) are arranged oppositely.

3. The top cover positioning gripper according to claim 1, wherein It further includes a clamping component (4) for clamping the roof (100) and the vehicle body (200). The clamping component (4) includes a first clamping block (401) for abutting against the roof (100), a second driving component (402) and a second clamping block (403) for abutting against the vehicle body (200). The first clamping block (401) and the second driving component (402) are both arranged on the frame (1), the second clamping block (403) is connected to the output end of the second driving component (402), and the first clamping block (401) and the second clamping block (403) are arranged oppositely.

4. The top cover positioning gripper according to claim 3, characterized in that, A pressing component (5) for pressing the roof (100) and the vehicle body (200) and abutting against the roof (100) along the third direction is further provided on the frame (1).

5. The top cover positioning gripper according to claim 1, characterized in that A matching positioning component (6) for positioning and connecting with the fixture of the vehicle body (200) is further provided on the frame (1). The matching positioning component (6) includes a first positioning pin (601) adapted to the fixture positioning hole of the vehicle body (200) and a positioning block (602) adapted to the fixture positioning surface of the vehicle body (200). At least two sets of the first positioning pins (601) are provided, and the two sets of first positioning pins (601) are respectively located at both ends of the frame (1) along the first direction.

6. The top cover positioning gripper according to claim 5, wherein There is an offset angle between the connection line of the two sets of first positioning pins (601) and the first direction.

7. The top cover positioning gripper according to any one of claims 1 to 6, characterized in that, The positioning and clamping component (2) includes a positioning component (201), a clamping component (202) and a vacuum device (203) which are all arranged on the frame (1). At least two sets of the positioning component (201) and the clamping component (202) are provided, and the two sets of positioning components (201) and the two sets of clamping components (202) are respectively located at both ends of the frame (1) along the second direction.

8. The top cover positioning gripper according to claim 7, wherein, At least two sets of positioning components (201) are respectively provided at both ends of the frame (1) along the second direction. The positioning component (201) includes a third driving component (211) arranged on the frame (1) and a second positioning pin (212) connected to the output end of the third driving component (211).

9. The top cover positioning gripper according to any one of claims 1 to 6, characterized in that, The frame (1) is further provided with a contact member (7) for contacting the top cover (100) along a first direction. At least two groups of the contact members (7) are provided, and the two groups of contact members (7) are respectively located at two ends of the frame (1) along the first direction.

10. The top cover positioning gripper according to any one of claims 1 to 6, characterized in that, A quick-change disk (8) and a lifting ring (9) are provided on the frame (1).

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