阅读说明：本技术 一种轿车车门柔性定位系统及其使用方法 (Flexible positioning system for car door and using method thereof ) 是由 于奎刚 朱海斌 于 2021-07-29 设计创作，主要内容包括：本发明涉及一种轿车车门柔性定位系统及其使用方法,属于夹紧定位装置技术领域。系统包括底座、第一定位机构、第二定位机构和第三定位机构,其中,底座一侧并排设置有2个第一定位机构,底座另一侧设置有第二定位机构,底座底端设置有2个第三定位机构,通过第一定位机构、第二定位机构和第三定位机构对轿车车门进行定位和夹紧。本发明通过定位系统的三自由度调整,实现不同结构和不同尺寸轿车车门的定位和夹紧,代替了传统的专用夹具和组合式夹具,降低新产品开发成本、降低设备占用空间、提高了设备利用率。(The invention relates to a flexible positioning system of a car door and a using method thereof, belonging to the technical field of clamping and positioning devices. The system comprises a base, a first positioning mechanism, a second positioning mechanism and a third positioning mechanism, wherein 2 first positioning mechanisms are arranged on one side of the base side by side, the second positioning mechanism is arranged on the other side of the base, 2 third positioning mechanisms are arranged at the bottom end of the base, and the car door is positioned and clamped through the first positioning mechanism, the second positioning mechanism and the third positioning mechanisms. The three-freedom-degree adjustment of the positioning system realizes the positioning and clamping of car doors of cars with different structures and different sizes, replaces the traditional special clamp and combined clamp, reduces the development cost of new products, reduces the occupied space of equipment and improves the utilization rate of the equipment.)

1. A flexible positioning system of a car door is characterized by comprising a base, a first positioning mechanism, a second positioning mechanism and a third positioning mechanism, wherein,

one side of the base is provided with 2 first positioning mechanisms side by side, the other side of the base is provided with a second positioning mechanism, the bottom end of the base is provided with 2 third positioning mechanisms, and the car door is positioned and clamped tightly through the first positioning mechanisms, the second positioning mechanisms and the third positioning mechanisms.

2. The flexible positioning system for a car door of claim 1, wherein the base is an L-shaped panel.

3. The flexible positioning system for the car door according to claim 1, wherein the first positioning mechanism comprises an oil cylinder A, a moving base, a motor A, a screw rod A and an oil cylinder B, the moving base is a C-shaped plate, a lower guide rail groove is arranged at the bottom end of the moving base, a guide rail is arranged on the base, the moving base is connected to the base through the lower guide rail groove and the guide rail, the oil cylinder A is connected to one side of the moving base, the oil cylinder A is arranged on the base, two ends of the screw rod A are fixed in the moving base through bearings, the motor A is connected to one end of the screw rod A, a screw rod nut A is arranged on the screw rod A, an oil cylinder B is arranged on the screw rod nut A, and the oil cylinder B is connected with a vacuum positioning block.

4. The flexible positioning system for car doors according to claim 3, wherein the movable base is provided with an upper guide rail along which the lead screw nut A slides.

5. The flexible positioning system for the car door as claimed in claim 4, wherein the second positioning mechanism comprises a motor B, a lead screw B, a lateral positioning block and an oil cylinder C, wherein 2 guide rails are vertically arranged on the other side of the base side by side, two ends of the lead screw B are fixed between the 2 guide rails through bearings, one end of the lead screw B is connected with the motor B, a lead screw nut B is arranged on the lead screw B, the lead screw nut B is slidably connected with the 2 guide rails, the lateral positioning block is arranged on the lead screw nut B, the oil cylinder C is arranged on the lateral positioning block, and the oil cylinder C is connected with a vacuum positioning block.

6. The flexible positioning system for a car door of claim 5, wherein the lateral positioning block is an L-shaped positioning block.

7. The flexible positioning system for the car door as claimed in claim 5, wherein the third positioning mechanism comprises a motor C, a lead screw C and a bottom edge positioning block, 2 guide rails are transversely arranged at the bottom end of the base side by side, two ends of the lead screw C are fixed between the 2 guide rails through bearings, one end of the lead screw C is connected with the motor C, a lead screw nut C is arranged on the lead screw C, and the bottom edge positioning block is arranged on the lead screw nut C.

8. The flexible car door positioning system of claim 7, wherein the bottom edge positioning block is a rectangular plate.

9. The flexible positioning system for a car door according to claim 7, wherein the cylinder A, the cylinder B, the cylinder C, the motor A, the motor B and the motor C are connected to a computer control system.

10. The method of using the flexible positioning system for the door of a passenger car according to claim 9, comprising the steps of:

(1) determining the initial position of a positioning system, taking the central point of the intersection line of the positioning surface of the lateral positioning block and the positioning surface of the bottom edge positioning block as the center of a coordinate system of the positioning system, taking the middle position of the adjustment range of each vacuum positioning block as the initial positioning position of the positioning system, and acquiring the coordinate value of each vacuum positioning block in the coordinate system;

(2) determining the position of a vehicle door positioning point, and determining the coordinate value of each positioning point of the vehicle door in a local coordinate system by taking the rear lower angular point of the vehicle door as the central point of the local coordinate system of the vehicle door according to the position coordinate of each positioning point of the detected vehicle door in the whole vehicle design coordinate system;

(3) determining the adjustment quantity of a first positioning mechanism, a second positioning mechanism and a third positioning mechanism, and subtracting the coordinate system coordinate value corresponding to the first positioning mechanism, the second positioning mechanism and the third positioning mechanism from the local coordinate system coordinate value of each positioning point of the vehicle door to obtain the adjustment quantity of each direction of the first positioning mechanism, the second positioning mechanism and the third positioning mechanism;

(4) and (4) controlling and adjusting, namely adjusting the position of a vacuum positioning block in the first positioning mechanism, the position of a vacuum positioning block and a lateral positioning block in the second positioning mechanism, and the position of a bottom edge positioning block in the third positioning mechanism according to the adjustment amount determined in the step (3), then positioning the vehicle door to be detected, electrifying a vacuum system to work, generating vacuum suction at the vacuum positioning block, and realizing clamping.

Technical Field

The invention relates to a flexible positioning system of a car door and a using method thereof, belonging to the technical field of clamping and positioning devices.

Background

The car door is an important component of the car body and is very important embodiment for the diversification of the whole car model. The manufacturing quality of the car door is not only related to the realization of the design of the whole car model, but also determines the external matching quality of the whole car, the wind noise and the riding comfort in the running process of the car due to the matching of the car door and the car body door frame, so that the manufacturing quality detection of the car door is necessary. When detecting, the door at first need carry out anchor clamps location, and the positioning fixture who currently adopts generally is special use or combination formula flexible clamp, and the shortcoming of existence is: 1) the special fixture is used, so that corresponding fixture equipment needs to be developed for different vehicle types when new products are developed, and the development cost is high; 2) the combined flexible clamp is usually combined manually, the efficiency is low, and the positioning precision is difficult to ensure.

Chinese patent document CN110815142A discloses an automobile door assembling jig, which comprises a jig body module, a driving module, a positioning and clamping module and a controller; anchor clamps organism module includes frame module and frame module, and the turnover motion of frame module can be realized to indexing mechanism in the frame module, and frame module main part adopts "T" shape structure, and frame module main part adopts "well" shape structure, improves assembly jig operation process stability. The driving module is controlled by the servo motor, so that the moving amount of the automobile door in the horizontal and vertical directions can be accurately controlled, the installation angle between the first driving module and the second driving module in the driving module is adjusted, and the reciprocating movement of the automobile door in any two-dimensional direction is realized. The clamp is flexible adjusting equipment for the automobile door, which is developed for ensuring the matching requirement between the automobile door and the side wall of the automobile body during the assembly of the automobile door, but when the position and the posture of the automobile door are adjusted, the adopted driving module adjusts the integral position of the positioned and clamped automobile door, the position of a single automobile door positioning mechanism cannot be adjusted at will, and the clamp is difficult to be suitable for the positioning and the clamping in the detection of the automobile doors with different structures and sizes.

Therefore, the flexible clamp system which is efficient and rapid in development work, high in positioning accuracy and high in automatic control is very necessary, can replace a traditional special clamp and a traditional combined clamp, and is suitable for vehicle door detection with similar structures of various different vehicle types, so that the development cost of a new product is reduced, the occupied space of equipment is reduced, and the utilization rate of the equipment is improved.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the flexible positioning system for the car door, which realizes the positioning and clamping of the car doors with different structures and different sizes by three-degree-of-freedom adjustment of the positioning system, replaces the traditional special clamp and combined clamp, reduces the development cost of new products, reduces the occupied space of equipment and improves the utilization rate of the equipment.

The invention also provides a using method of the car door flexible positioning system.

The technical scheme of the invention is as follows:

a flexible positioning system for car door comprises a base, a first positioning mechanism, a second positioning mechanism and a third positioning mechanism,

one side of the base is provided with 2 first positioning mechanisms side by side, the other side of the base is provided with a second positioning mechanism, the bottom end of the base is provided with 2 third positioning mechanisms, and the car door is positioned and clamped tightly through the first positioning mechanisms, the second positioning mechanisms and the third positioning mechanisms.

Preferably, the base is an L-shaped plate, so that the base is conveniently fixed on the ground, and the first positioning mechanism, the second positioning mechanism and the third positioning mechanism are conveniently and vertically installed.

Preferably, first positioning mechanism includes hydro-cylinder A, remove the base, motor A, lead screw A and hydro-cylinder B, it is the C template to remove the base, it sets up down the guide rail groove to remove the base bottom, be provided with the guide rail on the base, it is connected to the base through lower guide rail groove and guide rail to remove the base, it is connected with hydro-cylinder A to remove base one side, hydro-cylinder A sets up on the base, lead screw A both ends are fixed in through the bearing and remove in the base, lead screw A one end is connected with motor A, be provided with screw nut A on the screw nut A, be provided with hydro-cylinder B on the screw nut A, hydro-cylinder B is connected with the vacuum locating piece.

Further preferably, an upper guide rail is arranged on the movable base, and the lead screw nut A slides along the upper guide rail.

Preferably, the second positioning mechanism comprises a motor B, a lead screw B, a lateral positioning block and an oil cylinder C, 2 guide rails are vertically arranged on the other side of the base side by side, two ends of the lead screw B are fixed between the 2 guide rails through bearings, one end of the lead screw B is connected with the motor B, a lead screw nut B is arranged on the lead screw B, the lead screw nut B is slidably connected with the 2 guide rails, the lateral positioning block is arranged on the lead screw nut B, the oil cylinder C is arranged on the lateral positioning block, and the oil cylinder C is connected with a vacuum positioning block.

Further preferably, the lateral positioning block is an L-shaped positioning block, and the edge on the right side of the vehicle door is laterally positioned through the lateral positioning block.

Preferably, the third positioning mechanism comprises a motor C, a screw C and a bottom edge positioning block, 2 guide rails are horizontally arranged at the bottom end of the base side by side, two ends of the screw C are fixed between the 2 guide rails through bearings, one end of the screw C is connected with the motor C, a screw nut C is arranged on the screw C, and the bottom edge positioning block is arranged on the screw nut C.

Further preferably, the bottom edge positioning blocks are rectangular plates, and the bottom edges of the car door are positioned through the 2 bottom edge positioning blocks.

Preferably, the oil cylinder A, the oil cylinder B, the oil cylinder C, the motor A, the motor B and the motor C are all connected to a computer control system.

The using method of the flexible positioning system for the car door comprises the following operation steps:

(1) determining the initial position of a positioning system, taking the central point of the intersection line of the positioning surface of the lateral positioning block and the positioning surface of the bottom edge positioning block as the center of a coordinate system of the positioning system, taking the middle position of the adjustment range of each vacuum positioning block as the initial positioning position of the positioning system, and acquiring the coordinate value of each vacuum positioning block in the coordinate system;

(2) determining the position of a vehicle door positioning point, and determining the coordinate value of each positioning point of the vehicle door in a local coordinate system by taking the rear lower angular point of the vehicle door as the central point of the local coordinate system of the vehicle door according to the position coordinate of each positioning point of the detected vehicle door in the whole vehicle design coordinate system;

(3) determining the adjustment quantity of a first positioning mechanism, a second positioning mechanism and a third positioning mechanism, and subtracting the coordinate system coordinate value corresponding to the first positioning mechanism, the second positioning mechanism and the third positioning mechanism from the local coordinate system coordinate value of each positioning point of the vehicle door to obtain the adjustment quantity of each direction of the first positioning mechanism, the second positioning mechanism and the third positioning mechanism;

(4) and (4) controlling and adjusting, namely adjusting the position of a vacuum positioning block in the first positioning mechanism, the position of a vacuum positioning block and a lateral positioning block in the second positioning mechanism, and the position of a bottom edge positioning block in the third positioning mechanism according to the adjustment amount determined in the step (3), then positioning the vehicle door to be detected, electrifying a vacuum system to work, generating vacuum suction at the vacuum positioning block, and realizing clamping.

The invention has the beneficial effects that:

1. the three-freedom-degree adjustment of the positioning system realizes the positioning and clamping of car doors of cars with different structures and different sizes, replaces the traditional special clamp and combined clamp, reduces the development cost of new products, reduces the occupied space of equipment and improves the utilization rate of the equipment.

2. The invention positions and adjusts the car door through the servo control system, has high control precision, improves the positioning accuracy, ensures the clamping effect and does not damage the car door.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a base structure of the present invention;

FIG. 3 is a schematic structural view of a first positioning mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a second positioning mechanism according to the present invention;

FIG. 5 is a schematic structural diagram of a third positioning mechanism according to the present invention;

FIG. 6 is a schematic view of the initial position structure of the present invention;

FIG. 7 is a schematic view of an adjusting position structure according to the present invention;

wherein, 1, a base, 2, a first positioning mechanism, 3, a second positioning mechanism, 4, a third positioning mechanism,

1-1 part, a bottom plate 1-2 parts, guide rails A, 1-3 parts, guide rails B, 1-4 parts, guide rails C, 1-5 parts, guide rails D, 1-6 parts, guide rails E, 1-7 parts, guide rails F, 1-8 parts, guide rails G, 1-9 parts and guide rails H,

2-1, oil cylinders A, 2-2, a movable base 2-3, motors A, 2-4, lead screws A, 2-5, bearings 2-6, lead screw nuts A, 2-7, oil cylinders B, 2-8 and vacuum positioning blocks,

2-2-1, a lower guide rail groove, 2-2-2, an upper guide rail,

3-1, motors B, 3-2, lead screws B, 3-3, bearings 3-4, lead screw nuts B, 3-5, lateral positioning blocks 3-6, oil cylinders C, 3-7 and vacuum positioning blocks,

4-1 parts of motor C, 4-2 parts of lead screw C, 4-3 parts of bearing, 4-4 parts of lead screw nut C, 4-5 parts of bottom edge positioning block.

Detailed Description

The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.

Example 1:

as shown in fig. 1-7, the present embodiment provides a flexible positioning system for a car door, which includes a base 1, a first positioning mechanism 2, a second positioning mechanism 3, and a third positioning mechanism 4, wherein,

one side of the base 1 is provided with 2 first positioning mechanisms 2 side by side, the other side of the base 1 is provided with a second positioning mechanism 3, the bottom end of the base 1 is provided with 2 third positioning mechanisms 4, and the car door is positioned and clamped through the first positioning mechanisms, the second positioning mechanisms and the third positioning mechanisms, as shown in figure 1, a three-dimensional coordinate system is established.

The first positioning mechanism 2 comprises an oil cylinder A2-1, a movable base 2-2, a motor A2-3, a lead screw A2-4 and an oil cylinder B2-7, the movable base 2-2 is a C-shaped plate, the bottom end of the movable base 2-2 is provided with a lower guide rail groove 2-2-1, one side of the upper side of a vertical bottom plate 1-1 of the base 1 is provided with a guide rail A1-2 and a guide rail B1-3 in sequence from top to bottom, the guide rail C1-4, the guide rail D1-5, 2 moving bases 2-2 are respectively connected to the bases through a lower guide rail groove 2-2-1, a guide rail A1-2, a guide rail B1-3, a guide rail C1-4 and a guide rail D1-5, one side of each moving base 2-2 is connected to a piston of an oil cylinder A2-1, and the moving bases 2-2 are driven to move linearly through the expansion and contraction of the pistons; the oil cylinder A2-1 is arranged on the base 1, two ends of a lead screw A2-4 are fixed in the movable base 2-2 through bearings 2-5, one end of the lead screw A2-4 is connected with a motor A2-3, a lead screw nut A2-6 is arranged on the lead screw A2-4, an oil cylinder B2-7 is arranged on the lead screw nut A2-6, the oil cylinder B2-7 is connected with a vacuum positioning block 2-8, the vacuum positioning block 2-8 is connected with a vacuum system, and the positioning surface is clamped after vacuum is extracted through a vacuum pump of the vacuum system.

The piston of the oil cylinder A2-1 stretches and retracts to drive the movable base 2-2 to move linearly, x-direction adjustment of the vacuum positioning block 2-8 is achieved, the motor A drives the screw rod A to rotate to achieve z-direction adjustment of the vacuum positioning block 2-8, y-direction positioning and clamping of the vacuum positioning block 2-8 are achieved through stretching and retracting of the oil cylinder B2-7, and the fact that the vacuum positioning block 2-8 can be accurately attached to a positioning point of a car door is guaranteed through three-degree-of-freedom adjustment of the vacuum positioning block.

The movable base is provided with an upper guide rail 2-2-2, two sides of the bottom surface of the lead screw nut A2-6 are provided with guide rail grooves which are connected with the two upper guide rails 2-2-2 on the upper surface of the movable base 2-2, so that the lead screw nut 2-6 moves along the upper guide rail 2-2-2 of the movable base 2-2 under the rotation of a motor A2-3.

The second positioning mechanism comprises a motor B3-1, a lead screw B3-2, a lateral positioning block 3-5 and an oil cylinder C3-6, a guide rail E1-6 and a guide rail F1-7 are vertically arranged on the other side of the base 1 in parallel, two ends of the lead screw B3-2 are fixed between the guide rail E1-6 and the guide rail F1-7 through bearings 3-3, one end of the lead screw B3-2 is connected with a motor B3-1, a lead screw nut B3-4 is arranged on the lead screw B3-2, two guide rail grooves are machined in the bottom surface of the lead screw nut B3-4, the lead screw nut B3-4 is connected with the guide rail E1-6 and the guide rail F1-7 on the base 1, and moves linearly along the guide rail E1-6 and the guide rail F1-7; the lead screw nut B3-4 is provided with a lateral positioning block 3-5, the lateral positioning block 3-5 is provided with an oil cylinder C3-6, the oil cylinder C3-6 is connected with a vacuum positioning block 3-7, the vacuum positioning block 3-7 is connected with a vacuum system, and clamping is achieved after vacuum is pumped through a vacuum pump of the vacuum system.

The motor B3-1 drives the screw rod B3-2 to rotate to realize Z-direction adjustment of the vacuum positioning block 3-7, the vacuum positioning block 3-7 can be aligned to a positioning point on the side edge of the car door, and y-direction positioning and clamping of the vacuum positioning block 3-7 are realized through extension and retraction of the oil cylinder C3-6.

The lateral positioning blocks 3-5 are L-shaped positioning blocks, and lateral positioning is carried out on the edges on the right side of the car door through the lateral positioning blocks.

The third positioning mechanism 4 comprises a motor C4-1, a lead screw C4-2 and a bottom edge positioning block 4-5, a guide rail G1-8 and a guide rail H1-9 are arranged at the bottom end of the base 1 side by side and transversely, two ends of the lead screw C4-2 are fixed between the guide rail G1-8 and the guide rail H1-9 through bearings 4-3, one end of the lead screw C4-2 is connected with the motor C4-1, a lead screw nut C4-4 is arranged on the lead screw C4-1, and a bottom edge positioning block 4-5 is arranged on the lead screw nut C4-4.

The bottom edge of the car door is positioned by adjusting the distance between 4 and 5 of the 2 bottom edge positioning blocks.

The bottom edge positioning blocks are rectangular plates, and the bottom edges of the car door are positioned through the 2 bottom edge positioning blocks.

The oil cylinder A, the oil cylinder B, the oil cylinder C, the motor A, the motor B and the motor C are all connected to the computer control system.

The using method of the flexible positioning system for the car door comprises the following operation steps:

(1) determining the initial position of a positioning system, taking the central point of the intersection line of the positioning surface of the lateral positioning block and the positioning surface of the bottom edge positioning block as the center of a coordinate system of the positioning system, taking the middle position of the adjustment range of each vacuum positioning block as the initial positioning position of the positioning system, and acquiring the coordinate value of each vacuum positioning block in the coordinate system;

(2) determining the position of a vehicle door positioning point, and determining the coordinate value of each positioning point of the vehicle door in a local coordinate system by taking the rear lower angular point of the vehicle door as the central point of the local coordinate system of the vehicle door according to the position coordinate of each positioning point of the detected vehicle door in the whole vehicle design coordinate system; the positioning points are 6, the vacuum positioning blocks in the 2 groups of first positioning mechanisms and the vacuum positioning blocks in the second positioning mechanisms are combined to form 3-point y-direction positioning points, the lateral positioning blocks in the second positioning mechanisms are 1 x-direction positioning points, the 2 groups of third positioning mechanisms form 2 z-direction positioning points, 6-degree-of-freedom constraint of the car door is realized together, and the positioning points of the car door correspond to the positions of the vacuum positioning blocks, the lateral positioning blocks and the bottom edge positioning blocks on the positioning mechanisms.

(3) Determining the adjustment quantity of a first positioning mechanism, a second positioning mechanism and a third positioning mechanism, and subtracting the coordinate system coordinate value corresponding to the first positioning mechanism, the second positioning mechanism and the third positioning mechanism from the local coordinate system coordinate value of each positioning point of the vehicle door to obtain the adjustment quantity of each direction of the first positioning mechanism, the second positioning mechanism and the third positioning mechanism;

(4) and (4) controlling and adjusting, namely adjusting the position of a vacuum positioning block in the first positioning mechanism, the position of a vacuum positioning block and a lateral positioning block in the second positioning mechanism, and the position of a bottom edge positioning block in the third positioning mechanism according to the adjustment amount determined in the step (3), then positioning the vehicle door to be detected, electrifying a vacuum system to work, generating vacuum suction at the vacuum positioning block, and realizing clamping.

Example 2:

the structure of the flexible positioning system for the car door is as described in embodiment 1, and the flexible positioning system is characterized in that a base 1 is an L-shaped plate, so that the flexible positioning system is conveniently fixed on the ground, and a first positioning mechanism, a second positioning mechanism and a third positioning mechanism are conveniently and vertically installed.