CN109987388A - Floor truck - Google Patents

Abstract

The present invention provides a kind of floor trucks, including moving body and at least two support fixtures.Moving body can walk along predefined paths.At least two support fixtures are arranged at intervals on moving body, and each support fixture top can cooperate to fix workpiece；Support fixture includes: support base, connector and positioning device；Support base is connect with moving body；Connector is set to support base top to be fixedly connected with workpiece, and connector can float in the horizontal plane relative to support base；Connector can be fixed on support base by positioning device, or released and fixed to connector and connector is made to float.Floor truck of the present invention eliminates all kinds of errors of preceding working procedure, realizes the error that when fitting and elimination brings workpiece to position by floor truck kinematic error before the positioning of workpiece and welding fixture docking.Meanwhile positioning device can be relatively fixed with support base by connector, ensure that workpiece transports safety.

Description

Floor truck

Technical field

The present invention relates to warehoused cargo technical field of transportation more particularly to a kind of semitrailer workpiece handling trolleies.

Background technique

Semitrailer car body is the steel construction as made of each sheet metal molded part welding, during the manufacturing, is used The transhipment that AGV (Automated Guided Vehicle, automated guided vehicle) floor truck carries out fitting and workpiece can be with The safety for greatling improve workpiece logistics improves the percent of automatization of production procedure.However, workpiece easily occurs in preceding working procedure All kinds of errors, e.g., the distortion inaccuracy that the assembled error of workpiece, postwelding shape；When AGV floor truck fitting, with determining for workpiece Usually there is also biggish errors for position, cause stable and safety problem caused by fitting inaccuracy；Meanwhile in AGV floor truck During transhipment, due to the error that the error bring workpiece of traveling positions, cause to be difficult to ask with the cooperation of welding fixture Topic.

Summary of the invention

In order to solve the above-mentioned technical problem, the invention reside in providing a kind of floor truck, with solve the prior art carry it is small All kinds of errors of preceding working procedure before vehicle fitting, position inaccurate when floor truck fitting, and because of floor truck kinematic error band The problems such as carrying out Workpiece's Tack Error.

In view of the above technical problems, the present invention proposes a kind of floor truck, comprising: moving body and at least two propclips Tool；Moving body can walk along predefined paths；At least two support fixtures are positioned apart from the moving body, are respectively supported The top of fixture can cooperate to fix workpiece；The support fixture includes: support base, connector and positioning device；Institute Support base is stated to connect with the moving body；The connector is set to the support base top and connects to fix with the workpiece It connects, the connector can float in the horizontal plane relative to the support base；The positioning device can be by the connector It is fixed on the support base, or releasing enables the connector to float the fixing for connector.

In a preferred approach, the top of the support base is embedded with multiple Universal casters；The connector can with it is described Universal caster cooperates and floats in the horizontal plane.

In a preferred approach, the support fixture further include: position-limit mechanism, the position-limit mechanism and the connector, institute Support base connection is stated, to limit the range that the connector floats on the support base.

In a preferred approach, the position-limit mechanism includes: limit base and limit plate；The limit base is fixedly connected on described Support base top simultaneously surrounds a perforation with the support base top end surface；One end of the limit plate is connect with the connector, The other end passes through the perforation and can be movable in the extent of perforation.

In a preferred approach, the support fixture includes: along spaced two institutes of the moving body width direction Support base is stated, this two support base tops are respectively correspondingly arranged the connector, which passes through one Support plate is fixedly connected；The support plate is equipped with pin hole, and the pin hole is corresponding between two support bases；The positioning dress Set includes: actuator and positioning pin；The actuator is between two support bases and relatively fixed with two support base；It is described fixed Position pin corresponds to the pin hole and is arranged, and can be driven by the actuator and move up and down and protrude into the pin hole or from the pin hole In exit, to position the support plate or release positioning to the support plate.

In a preferred approach, the pin hole has two separately in the support plate；The positioning pin is adaptedly There are two tools, and one of them is circular pegs, another is rhombus pin, and the top of each positioning pin all has tip；Two is described fixed Position pin passes through the output axis connection of a pull-push piece and the actuator, and can synchronize and move up and down；The pull-push piece and the drive Moving part connection.

In a preferred approach, the connector is electromagnet, passes through the fixed workpiece of magnetic-adsorption.

In a preferred approach, the support fixture further include: mechanical touching switch；The machinery touching switch is set to institute The side of electromagnet is stated, whether has workpiece on the electromagnet to detect.

In a preferred approach, the support fixture further include: dot laser measurement sensor, it can be along the moving body Width direction outgoing laser beam；Wherein, the laser beam that the dot laser measurement sensor projects is higher than the top of the electromagnet Face.

In a preferred approach, at least one support fixture can move and close or remote along the surface of the moving body From support fixture described in other, to adjust the spacing of each support fixture.

Compared with prior art, the invention has the following advantages: floor truck of the invention, the company of support fixture Fitting can float in the horizontal plane relative to support base, to eliminate all kinds of errors of preceding working procedure, realize fitting Shi Yugong The positioning of part, and send part rear connectors that workpiece is driven to adjust position in the horizontal plane in order to dock with welding fixture, especially It is to eliminate the error positioned due to floor truck kinematic error bring workpiece before welding fixture docks.Meanwhile passing through positioning Device can be relatively fixed with support base by connector, ensure that the safety that workpiece transports.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the present embodiment floor truck.

Structural schematic diagram when Fig. 2 is the present embodiment floor truck carrying frame.

Fig. 3 is the structural schematic diagram of the present embodiment support fixture.

Fig. 4 is the partial structure diagram of the present embodiment support fixture.

Fig. 5 is the structural schematic diagram of the present embodiment positioning device.

The reference numerals are as follows: 100, vehicle frame；2, moving body；21, sliding rail；301, stationary fixture；302, folder is adjusted Tool；31, support base；311, connecting plate；312, stiffening plate；313, connecting plate；314, Universal caster；315, clamping portion；321, electric Magnet；322, support plate；3221, the second pin hole；323, mechanical touching switch；331, limit base；3311, it perforates；332, it limits Plate；34, dot laser measurement sensor；351, motor；352, pull-push piece；353, positioning pin.

Specific embodiment

The exemplary embodiment for embodying feature of present invention and advantage will describe in detail in the following description.It should be understood that The present invention can have various variations in different embodiments, neither depart from the scope of the present invention, and theory therein Bright and diagram inherently is illustrated as being used, rather than to limit the present invention.

Refering to fig. 1 to Fig. 5, floor truck provided in this embodiment refers mainly to AGV trolley, can be along defined guiding road Diameter traveling, is primarily adapted for use in and carries various types of vehicles workpiece, especially vehicle frame 100.The floor truck includes: moving body 2 and extremely Few two support fixtures.

Moving body 2 can walk along predefined paths.At least two support fixtures are positioned apart from moving body 2, respectively The top of support fixture can cooperate to fix vehicle frame 100.The support fixture includes: support base 31, connector and positioning Device.Support base 31 is connect with moving body 2；Connector is set to 31 top of support base to be fixedly connected with vehicle frame 100, even Fitting can float in the horizontal plane relative to support base 31；Connector can be fixed on support base 31 by positioning device, or Releasing enables connector to float fixing for connector.

The connector of the present embodiment floor truck, support fixture can float in the horizontal plane relative to support base, with Realize floor truck fitting when and workpiece positioning, and send part rear connectors drive workpiece float in the horizontal plane in order to Welding fixture docking；Especially, it is eliminated before being docked with welding fixture since floor truck kinematic error bring workpiece positions Error.Meanwhile can be relatively fixed with support base by connector by positioning device, it ensure that the safety that workpiece transports.

Specifically, the present embodiment is illustrated with carrying frame 100.The moving body 2 of the present embodiment is square body Structure, refering to fig. 1, define its length direction be x to, width direction be y to, be referred to herein x to y to orientation when with This is reference.Wherein, moving body 2 along its x to surface be equipped with sliding rail 21.It is forward and backward involved in the present embodiment to refer both to move The front and back of 2 driving direction of motor vehicles bodies.

In actual use, the structure of moving body 2 be not limited to the present embodiment in square body, can with other structures, It has the supporting surface to connect support fixture.

The present embodiment support fixture is two, and one is stationary fixture 301, another is alignment jig 302, stationary fixture 301 are fixedly connected on the front position of moving body 2；Alignment jig 302 is located at the back-end location of moving body 2, adjusting folder Tool 302 matches to merge with sliding rail 21 to be moved along sliding rail 21 close to or far from stationary fixture 301.Further, alignment jig 302 is logical Overdrive system is moved along sliding rail 21, which is driven by motor gear and rack teeth mechanism and drives alignment jig 302 in sliding rail It is slided on 21.

The spacing of the present embodiment stationary fixture 301 and alignment jig 302 is adjustable, lifts various sizes of vehicle work with compatibility Part, such as straight spine unwheeling, small swan-neck vehicle, flat breast board car；The position of spring bracket can be especially avoided when lifting vehicle frame 100. Meanwhile the floor truck is also applicable in the loading and unloading posture of different workpieces, i.e., positive fitting or reversed fitting.

In other embodiments, the quantity of support fixture is not limited to two, is also possible to two or more；In addition, support Fixture can also all be alignment jig 302, by the spacing that adjustment of displacement is mutual, with various sizes of work pieces mate.

In the present embodiment, alignment jig 302 includes: support base 31, electromagnet 321, mechanical touching switch 323, limit Mechanism and positioning device.

Referring again to Fig. 3 and Fig. 5, the quantity of support base 31 is two, is erected along y to interval.The bottom of two support bases 31 Portion is fixedly connected with a connecting plate 311, and the connecting plate 311 is to support two support bases 31 and two support base 31 is made to pass through the company Fishplate bar 311 constitutes a relatively-stationary entirety, which is cooperated by connecting plate 311 and sliding rail 21.Further, even The position that fishplate bar 311 and support base 31 connect is equipped with multiple stiffening plates 312 to reinforce the bonding strength of the two.

Be fixed with a connecting plate 313 at the top of two support bases 31, connecting plate 313 along y to being extended, the connecting plate The position of 313 corresponding each support bases 31 is equipped with multiple Universal casters 314, which is partially submerged into table on connecting plate 313 Face.Further, for connecting plate 313 along y to two clamping portions 315 of connection, which avoids the setting of electromagnet 321, Wherein, clamping portion 315 and 313 upper surface of connecting plate constitute card slot.Further, the first pin hole there are two being set on connecting plate 313 (not shown), two first pin holes are along y to being spaced apart and on position between two support bases 31.

In actual use, the direction of two the first pin holes distribution not limits, and needs the setting of the two interval.

Electromagnet 321 is two, is located at the top of two support bases 31, electromagnet 321 is fixed by magnetic-adsorption Vehicle frame 100.

Specifically, two electromagnet 321 are fixedly installed in support plate 322, and two electromagnet 321 pass through the support Plate 322 is mutually permanently connected.Support plate 322 is placed on connecting plate 313, and two electromagnet 321 correspondence in support plate 322 is located at The top of two support bases 31, support plate 322 can with Universal caster 314 cooperate and make electromagnet 321 in the horizontal plane with support Relative displacement occurs for seat 31, realizes electromagnet 321 in the floating of horizontal plane.Further, support plate 322 is arranged in card slot It is interior, and itself and card slot clearance fit；Meanwhile the lower section of corresponding first pin hole of support plate 322 is equipped with the second pin hole 3221.

Mechanical touching switch 323 is set to the side of electromagnet 321, and for detecting, whether there is or not branch on each electromagnet 321 Support vehicle frame 100.

Position-limit mechanism is connect with electromagnet 321, support base 31, to limit the model that electromagnet 321 floats on support base 31 It encloses.Specifically, position-limit mechanism includes: limit base 331 and limit plate 332, and wherein limit plate 332 is bent plate.

Limit base 331 is fixedly connected on the both ends of 313 length direction of connecting plate, and each limit base 331 connects with connecting plate 313 It connects and surrounds a perforation 3311；Wherein, the end of limit base 331 and 322 length direction of support plate has interval.Limit plate 332 One end connect with the end of 322 length direction of support plate, the other end pass through limit base 331 perforation 3311 bend setting.When Limit plate 332 is driven to move simultaneously when support plate 322 cooperates and is subjected to displacement with Universal caster 314, limit base 331 can limit The activity in 3311 ranges of perforating of limit plate 332, to limit the floating range in the horizontal plane of support plate 322.

In the present embodiment, support plate 322 drives two electromagnet 321 that can adjust to y to floating along x, can also be Horizontal plane is being adjusted with x to floating with y Xiang Chengyi angle, the mutual cooperation of limit base 331, limit plate 332 and clamping portion 315 The floating range of the support plate 322 can be limited.

More preferably, limit plate 332 bends setting upward, and there are two dot laser measurement sensings for the upper end installation being folded upward at Device 34, for two dot laser measurement sensors 34 along x to distribution, each dot laser measurement sensor 34 can be sharp to projecting along y Light beam, if hot spot gets to blocking surfaces within the specified scope, some scattered light is back to transducer receivers, system senses Barrier exists and alarms, and guarantees the accuracy of floor truck fitting.Wherein, two dot laser measurement sensors 34 are logical It crosses a long slab and is connect with the upper end that limit plate 332 is bent upward；Simultaneously for accurate, each dot laser measurement sensor of measurement 34 laser beams projected are higher than the top surface of electromagnet 321.

In actual use, the quantity for the dot laser measurement sensor 34 installed at the top of each support base 31 is not limited to this reality Apply two in example；Dot laser measurement sensor 34 can also be by other component and being installed on the top surface higher than electromagnet 321 Position, and convenient for along x to and towards 100 direction outgoing laser beam of vehicle frame.

In other embodiments, limit plate 332 is also possible to straight panel structure, and dot laser range unit, which can be omitted, at this time sets It sets.

Positioning device includes: the positioning pin 353 of motor 351, pull-push piece 352 and two intervals.

Motor 351 is located at the lower section of support plate 322 and connecting plate 313, and motor 351 is fixedly installed between two support bases 31 Connecting plate 311 on so that motor 351 is fixedly connected with two support bases 31.The lower end of pull-push piece 352 and the output of motor 351 Axis connection, the upper end are connect with positioning pin 353.Positioning pin 353 is set in corresponding first pin hole of vertical direction and the second pin hole 3221 It sets；Further, which is two, and one is circular pegs, the other is rhombus pin, the two top all has tip, And the cooperation of circular pegs and rhombus pin is prevented from crossing on 313 length direction of support plate 322 and connecting plate and be positioned.

Motor 351 can drive pull-push piece 352 to move up and down, and protrude into so that pull-push piece 352 drives two positioning pins 353 to synchronize Second pin hole 3221 and the first pin hole fixed support plate 322, to position two electromagnet 321 relative to support base 31；Alternatively, Pull-push piece 352 drives the synchronization of two positioning pins 353 to exit from the first pin hole and the second pin hole 3221, releases to two electromagnet 321 positioning relative to support base 31.

In actual use, motor 351 can also not be limited herein by other actuators.

In other embodiments, the quantity of the second pin hole 3221 and the first pin hole can be one, be also possible to it is multiple, and Positioning pin 353 is adapted to its quantity.

Stationary fixture 301 is roughly the same with the structure of alignment jig 302, the difference is that, in stationary fixture 301, The connecting plate 311 that the bottom of its two support base 31 is fixedly connected is fixedly connected with the upper surface of moving body 2, therefore, fixing clamp The specific structure of tool 301 repeats no more.

In other embodiments, the quantity of the support base 31 of each support fixture be not limited to two can also be two with On, the direction that each support base 31 is distributed be not limited to along y to.

The working principle of the present embodiment floor truck is: during fitting, connector is relative to support base 31 in level It floats in face, to guarantee accuracy when connector fitting；After fitting, connector is relatively fixed to prop up by positioning device Support seat 31 is transported, and guarantees the safety of transportational process；Later, after transport to welding sequence, trolley parking releases positioning device Positioning to connector makes connector float in the horizontal plane again to reduce floor truck kinematic error and workpiece positioning is brought to miss Difference improves the merging precision with welding tooling.Meanwhile the floor truck also effectively eliminates all kinds of errors of preceding working procedure, such as The distortion inaccuracy etc. that the assembled error of workpiece, postwelding shape, that is, the floating of all errors being superimposed upon in effective horizontal plane It is eliminated.As it can be seen that positioning device can either guarantee that floor truck is sent workpiece to welding in effective gripping range Fixture can also effectively eliminate the error of workpiece previous process and because of error brought by floor truck transportational process.

Further, during fitting, firstly, the cooperation by support plate 322 and Universal caster 314 adjusts electromagnet 321 position；Then, after motor 351 drives pull-push piece 352 to rise positioning pin 353, to pass through positioning device to electromagnet 321 positioned after carry out 100 fitting of vehicle frame, avoid the quick condition being likely to occur when 321 fitting of electromagnet.Work as vehicle frame 100, which are handled upside down trolley, transports to welding bench position, and before preparing feeding, fixed in order to eliminate the running error of floor truck Position pin 353 is fallen, and the positioning to electromagnet 321 of positioning device is released；Later, electromagnet 321 by support plate 322 with it is universal Ball 314 is in contact, and electromagnet 321 adsorbs vehicle frame 100 and can carry out in horizontal plane with respect to Universal caster 314 and support base 31 Sliding, to finely tune the position of electromagnet 321, to eliminate the mistake positioned due to floor truck kinematic error bring vehicle frame 100 Difference guarantees the automatic cooperation after floor truck transports with welding fixture, realizes 100 automatic transporting of vehicle frame, feeding, steps up, welds, Improve whole safety and percent of automatization.

Further, after electromagnet 321 being powered, the vehicle frame 100 of upside can be adsorbed by generating magnetic force, and guarantee was transported The stabilization and safety of vehicle frame 100 in journey.

Further, it since mechanical touching switch 323 and dot laser measurement sensor 34 are integrated on support fixture, is connecing The vehicle frame 100 before floor truck is carried is able to detect during part, and whether there is or not detections and the detection of validity fitting, it is ensured that production line Continuous operation.

Further, for the vehicle frame of vehicle 100, the position of mobile alignment jig 302 does not make it close to or far from solid Clamp tool 301 to adapt to a variety of loading and unloading postures of a variety of vehicle systems, especially positive fitting when can avoid spring bracket on vehicle frame 100 Installation site, avoid damaging spring bracket in handling process.

The floor truck of the present embodiment changes logistics mode when conventional workpiece transhipment, fitting workpiece type adaptability By force；In addition, the case where improving the safety of workpiece logistics, occupying human resources when avoiding workpiece transhipment, production procedure Percent of automatization is improved.

Although describing the present invention with reference to the above exemplary embodiment, it is to be understood that, term used be explanation and Term exemplary, and not restrictive.Due to the present invention can be embodied in a variety of forms without departing from invention spirit or Essence, it should therefore be appreciated that above embodiment is not limited to any of the foregoing details, and should be defined by the appended claims The whole change and modification widely explained, therefore fallen into claim or its equivalent scope in spirit and scope all should be with Attached claim is covered.

Claims (10)

1. a kind of floor truck characterized by comprising

Moving body can walk along predefined paths；

At least two support fixtures are positioned apart from the moving body, the top of each support fixture can cooperate with Fixed workpiece；The support fixture includes: support base, connector and positioning device；The support base and the moving body connect It connects；The connector is set to the support base top to be fixedly connected with the workpiece, and the connector can be relative to The support base floats in the horizontal plane；The connector can be fixed on the support base by the positioning device, or solution Except enabling the connector to float the fixing for connector.

2. floor truck as described in claim 1, which is characterized in that the top of the support base is embedded with multiple universal rollings Pearl；The connector can cooperate with the Universal caster and float in the horizontal plane.

3. floor truck as described in claim 1, which is characterized in that the support fixture further include: position-limit mechanism, the limit Position mechanism is connect with the connector, the support base, to limit the range that the connector floats on the support base.

4. floor truck as claimed in claim 3, which is characterized in that the position-limit mechanism includes: limit base and limit plate；

The limit base is fixedly connected on the support base top and surrounds a perforation with the support base top end surface；The limit One end of position plate is connect with the connector, and the other end passes through the perforation and can be movable in the extent of perforation.

5. floor truck as described in claim 1, which is characterized in that the support fixture includes: wide along the moving body Spaced two support bases in direction are spent, this two support base tops are respectively correspondingly arranged the connector, Two connectors are fixedly connected by a support plate；The support plate is equipped with pin hole, and the pin hole is corresponding to be located at two institutes It states between support base；

The positioning device includes: actuator and positioning pin；The actuator between two support bases and with two support base It is relatively fixed；The positioning pin is arranged corresponding to the pin hole, and can be driven by the actuator and move up and down and protrude into described Pin hole is exited from the pin hole, to position the support plate or release the positioning to the support plate.

6. the floor truck stated such as claim 5, which is characterized in that the pin hole has two separately in the support plate It is a；There are two the positioning pin adaptedly has, and one of them is circular pegs, another is rhombus pin, the top of each positioning pin All have tip；

Two positioning pins pass through the output axis connection of a pull-push piece and the actuator, and can synchronize and move up and down；It is described to push away Draw piece is connect with the actuator.

7. floor truck as claimed in claim 3 or 5, which is characterized in that the connector is electromagnet, is inhaled by magnetic force Attached fixed workpiece.

8. floor truck as claimed in claim 7, which is characterized in that the support fixture further include: mechanical touching switch；Institute The side that mechanical touching switch is set to the electromagnet is stated, whether has workpiece on the electromagnet to detect.

9. floor truck as claimed in claim 7, which is characterized in that the support fixture further include: dot laser measurement sensing Device, can be along the width direction outgoing laser beam of the moving body；Wherein, what the dot laser measurement sensor projected swashs Light beam is higher than the top surface of the electromagnet.

10. floor truck as described in claim 1, which is characterized in that at least one support fixture can be moved along described The surface of car body it is mobile and close to or far from support fixture described in other, to adjust the spacing of each support fixture.