CN113979042A

CN113979042A - Full-servo drive flexible control conveying line and conveying method thereof

Info

Publication number: CN113979042A
Application number: CN202111365719.1A
Authority: CN
Inventors: 唐嘉强; 张健; 童志鹏
Original assignee: Shengjihengxin Shiyan Industrial Equipment Technology Co ltd
Current assignee: Shengjihengxin Shiyan Industrial Equipment Technology Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-01-28

Abstract

The invention discloses a full-servo drive flexible control conveying line and a conveying method thereof, and relates to the technical field of automobile body welding equipment. According to the invention, each servo conveying trolley is matched with independent lifting servo drive and horizontal walking servo drive, so that automation is easy to realize, and the process benefit is maximized while the efficiency is improved.

Description

Full-servo drive flexible control conveying line and conveying method thereof

Technical Field

The invention relates to the technical field of automobile body welding equipment, in particular to a full-servo drive flexible control conveying line and a conveying method thereof.

Background

The welding and conveying device for the vehicle body is an important component of a welding and assembling production line. The conveying line is divided into an overhead conveying line and a bottom conveying line according to the relative position of the conveying line and the vehicle body parts. Overhead transfer chain adopts aerial transport structure, and the hoist has the risk of dropping, has strict demand to the aerial steel structure of factory building simultaneously, so use relatively less.

The bottom conveying line is a common conveying form, and is roughly divided into the following parts according to the conveying line structure: lifting direct conveying type, skid conveying type, process trolley conveying type, rolling bed conveying type, automatic guide conveying type, reciprocating rod conveying type and the like.

The lifting direct-conveying type is that after a conveying body arranged on a clamp lifting support is lifted, a workshop is lifted to be separated from a clamp, and a vehicle part is directly conveyed to the next station. The conveying line has low efficiency and inaccurate positioning, and is not generally used for automatic lines; the skid conveying type is divided into a manual conveying type and a friction wheel conveying type according to different conveying modes, the manual conveying type gradually gets rid of, and the friction wheel conveying type utilizes the friction force generated between the friction wheel and the skid as power to push a skid conveying workshop. The vehicle part is accurately positioned on the skid through the positioning pin, but the sliding positioning accuracy of the skid between stations is not high; the conveying type principle of the process trolley is the same as that of a skid, but the process trolley is usually pushed manually; the roller bed conveying type is a special skid conveying mechanism, and has strong universality. The above structures have a common characteristic that horizontal conveying is carried out simultaneously, the horizontal conveying strokes are the same as each other as the same power source, namely the distance between two stations, and therefore the distance between the line body stations is required to be consistent.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a full-servo drive flexible control conveying line and a conveying method thereof, which solve the defects of low automation degree, low efficiency and the like of the existing conveying mechanism, flexibly control the lifting and translation actions of a vehicle body in a conveying system, and enable the vehicle body to translate between more than two stations or stop waiting at any position between the two stations so as to meet the requirements of the process and the efficiency. The invention breaks through the technological limitation of the whole reciprocating motion of the existing conveying line body or the limitation that the automation is not easy to realize by the uncoordinated control of a single conveying trolley.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a full servo drive flexible control conveying line comprises a linear slide rail base and a plurality of stations arranged at intervals along the conveying direction of the linear slide rail base in sequence, wherein a plurality of servo conveying trolleys are arranged on the linear slide rail base, each servo conveying trolley is provided with an independent lifting and walking mechanism, and the servo conveying trolleys are used for conveying automobile body parts between two or more stations.

On the basis of the technical scheme, the number of the servo conveying trolleys is determined on the premise of maximizing the utilization rate of the robot according to the requirement of station beats.

On the basis of the technical scheme, the servo conveying trolley comprises a sliding plate and a lifting plate, wherein the sliding plate is provided with a walking transmission mechanism and a lifting transmission mechanism; the walking transmission mechanism is used for driving the sliding plate to move along the linear sliding rail base; the lifting transmission mechanism is connected with the lifting plate and used for driving the lifting plate to lift.

On the basis of the technical scheme, the lifting plate is provided with a vehicle body supporting clamp, a supporting clamp BASE and a vehicle body supporting seat.

On the basis of the technical scheme, a shared sliding rail is arranged on the linear sliding rail base, the sliding plate is provided with a plurality of sliding blocks matched with the shared sliding rail, and a plurality of anti-collision safety detection switches are further arranged on the linear sliding rail base.

On the basis of the technical scheme, a shared rack is arranged on the linear slide rail base; the walking transmission mechanism comprises a first servo motor speed reducer, and an output shaft of the first servo motor speed reducer is connected with a helical gear meshed with the shared rack.

On the basis of the technical scheme, the lifting transmission mechanism comprises a second servo motor speed reducer and a cylindrical rack, and an output shaft of the first servo motor speed reducer is connected with a transmission gear meshed with the cylindrical rack.

On the basis of the technical scheme, two ends of the sliding plate are respectively provided with a lifting guide mechanism, each lifting guide mechanism comprises a limiting seat and two guide shafts, and the upper ends of the guide shafts penetrate through the limiting seats and then are connected with the lifting plate; and two ends of the limiting seat are respectively provided with an anti-collision limiting block.

On the basis of the technical scheme, the number of the stations is 15, and the stations sequentially comprise a UB110 station, a UB120 station, a UB130 station, a UB140 station, a UB150 station, a MB010 station, a MB020 station, a MB030 station, a MB040 station, a MB050 station, a MB060 station, a MB070 station, a MB080 station, a MB090 station and a MB100 station; the servo conveying trolley is provided with 8 trolleys which are sequentially

The No. 1 servo conveying trolley has an operation interval of UB110 station-UB 130 station;

the No. 2 servo conveying trolley has an operation interval of UB130 station-UB 150 station;

the No. 3 servo conveying trolley has an operation interval of UB150 station-MB 020 station;

the No. 4 servo conveying trolley has an operation interval of MB020 station-MB 040 station;

the No. 5 servo conveying trolley has an operation interval of MB040 station-MB 050 station;

the No. 6 servo conveying trolley has an operation interval of MB050 station-MB 060 station;

the No. 7 servo conveying trolley has an operation interval of MB060 station-MB 080 station;

no. 8 servo conveying trolley, the running interval is MB080 station-station MB 110.

The invention also provides a conveying method based on the full servo drive flexible control conveying line, which comprises the following steps:

s1.7, simultaneously operating the servo conveying trolley No. 8 and the servo conveying trolley No. 7, wherein the servo conveying trolley No. 8 conveys the vehicle body parts to the MB100 station from the MB080 station, and the servo conveying trolley No. 7 conveys the vehicle body parts to the MB080 station from the MB070 station;

s2.7, simultaneously returning the servo conveying trolley No. 8 and the servo conveying trolley No. 7, wherein the servo conveying trolley No. 8 returns to the MB080 station from the MB100 station to be ready, and the servo conveying trolley No. 7 returns to the MB060 station from the MB080 station to be ready;

s3.4, simultaneously moving a servo conveying trolley No. 4, a servo conveying trolley No. 5, a servo conveying trolley No. 6 and a servo conveying trolley No. 7, wherein the servo conveying trolley No. 7 conveys the vehicle body parts to an MB070 station from an MB060 station, the servo conveying trolley No. 6 conveys the vehicle body parts to the MB060 station from an MB050 station, the servo conveying trolley No. 5 conveys the vehicle body parts to an MB050 station from an MB040 station, and the servo conveying trolley No. 4 conveys the vehicle body parts to an MB040 station from an MB030 station;

s4.4, simultaneously returning the No. 4 servo conveying trolley, the No. 5 servo conveying trolley and the No. 6 servo conveying trolley, wherein the No. 6 servo conveying trolley returns to the MB050 station from the MB060 station to be ready, the No. 5 servo conveying trolley returns to the MB040 station from the MB050 station to be ready, and the No. 4 servo conveying trolley returns to the MB020 station from the MB040 station to be ready;

s5.3, simultaneously moving the servo conveying trolley No. 4 and the servo conveying trolley No. 3, wherein the servo conveying trolley No. 4 conveys the car body parts to the MB030 station from the MB020 station, and the servo conveying trolley No. 3 conveys the car body parts to the MB020 station from the MB010 station;

s6.3, returning the servo conveying trolley to the UB150 station from the MB020 station for standby;

s7.1, simultaneously moving the servo conveying trolley No. 1, the servo conveying trolley No. 2 and the servo conveying trolley No. 3, wherein the servo conveying trolley No. 3 conveys the vehicle body parts to an MB020 station from a UB150 station, the servo conveying trolley No. 2 conveys the vehicle body parts to the UB150 station from a UB130 station, and the servo conveying trolley No. 1 conveys the vehicle body parts to the UB130 station from a UB120 station;

s8.1, simultaneously returning the servo conveying trolley No. 1 and the servo conveying trolley No. 2, wherein the servo conveying trolley No. 2 returns to the UB130 station from the UB150 station for standby, and the servo conveying trolley No. 1 returns to the UB110 station from the UB130 station for standby;

and S9.1, the servo conveying trolley acts to convey the vehicle body parts from the UB110 station to the UB120 station, and the positions of the servo conveying trolleys are restored to the original positions to be ready to enter the next working cycle.

The invention has the beneficial effects that:

1. in the invention, the servo conveying trolley is provided with the independent walking servo driving system and the independent lifting servo driving system, the conveying process action is flexibly controllable, multi-dimensional selection is provided for the dynamic layout of the welding process space, and the limitation of process planning is greatly reduced.

2. In the invention, as each servo conveying trolley has independent and flexible and controllable process action, the number of the servo conveying trolleys in the conveying device can be effectively planned by combining process requirements and station number.

3. According to the invention, each servo transport trolley can have different horizontal walking strokes and different lifting strokes according to the process planning and the station layout. The method provides possibility for improving process beat and production line efficiency.

4. In the invention, each servo transport trolley can independently move without association, the process planning can realize that the servo trolleys related to the subsequent stations transport the car body parts while the preorder welding car, namely, the welding car and the transportation are simultaneously carried out in the same production line body, so that the production line beat is effectively improved.

Drawings

FIG. 1 is a schematic diagram of a fully servo driven flexible control conveyor line according to an embodiment of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view of a linear slide base and a servo transport cart in an embodiment of the present invention;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a front view of a servo transport cart in an embodiment of the present invention;

FIG. 6 is a side view of a servo transport cart in an embodiment of the present invention;

FIG. 7 is a top view of a servo transport cart in an embodiment of the present invention;

FIG. 8 is a schematic view of the transmission portion of the servo conveying trolley in the embodiment of the invention;

FIG. 9 is a diagram illustrating a state of the fully servo-driven flexible control transmission line in step S1 according to an embodiment of the present invention;

FIG. 10 is a diagram illustrating a state of the fully servo-driven flexible control conveyor line in step S2 according to an embodiment of the present invention;

FIG. 11 is a diagram illustrating a state of the fully servo-driven flexible control conveyor line in step S3 according to an embodiment of the present invention;

FIG. 12 is a diagram illustrating a state of the fully servo-driven flexible control transmission line in step S4 according to an embodiment of the present invention;

FIG. 13 is a diagram illustrating a state of the fully servo-driven flexible control conveyor line in step S5 according to an embodiment of the present invention;

FIG. 14 is a diagram illustrating a state of the fully servo-driven flexible control transmission line in step S6 according to an embodiment of the present invention;

FIG. 15 is a diagram illustrating a state of the fully servo-driven flexible control transmission line in step S7 according to an embodiment of the present invention;

FIG. 16 is a diagram illustrating a state of the fully servo-driven flexible control transmission line in step S8 according to an embodiment of the present invention;

FIG. 17 is a diagram illustrating a state of the fully servo-driven flexible control transmission line in step S9 according to an embodiment of the present invention;

reference numerals:

1-a linear slide rail base; 11-common slide rail; 12-a common rack;

2-servo conveying trolley; 21-a sliding plate; 211-a slider; 22-a lifter plate; 221-support fixture BASE; 222-a body support clamp; 223-a vehicle body support seat; 23-a walking transmission mechanism; 231-a first servomotor reducer; 232-helical gear; 24-a lifting transmission mechanism; 241-a second servo motor reducer; 242-a drive gear; 243-cylindrical rack; 25-a lifting guide mechanism; 251-a limiting seat; 252-a guide shaft; 253-an anti-collision limiting block;

3-anti-collision safety detection switch;

and 4-station.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "a number" or "a number" means two or more unless explicitly specified otherwise.

The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.

Referring to fig. 1 to 4, an embodiment of the invention provides a full servo drive flexible control conveying line, which comprises a linear slide rail base 1 and a plurality of stations 4 arranged at intervals along the conveying direction of the linear slide rail base 1 in sequence, wherein the linear slide rail base 1 is provided with a plurality of servo conveying trolleys 2, and each servo conveying trolley 2 is provided with an independent lifting and walking mechanism and is used for conveying vehicle body parts between two or more stations 4. Specifically, the number of the servo conveying trolleys 2 is determined on the premise of maximizing the utilization rate of the robot according to the requirement of 4 beats at the station.

Referring to fig. 5 to 8, the servo conveying trolley 2 comprises a sliding plate 21 and a lifting plate 22, and the sliding plate 21 is provided with a walking transmission mechanism 23 and a lifting transmission mechanism 24; the walking transmission mechanism 23 is used for driving the sliding plate 21 to move along the linear slide rail base 1; the lifting transmission mechanism 24 is connected with the lifting plate 22 and is used for driving the lifting plate 22 to lift. Specifically, the lifter plate 22 is provided with a vehicle body support jig 222, a support jig BASE221, and a vehicle body support BASE 223. The linear slide rail base 1 is provided with a common slide rail 11, the slide plate 21 is provided with a plurality of slide blocks 211 matched with the common slide rail 11, and the slide blocks bear the whole servo trolley body to reciprocate on the linear slide rail base, so that the linear slide rail base is guided by rolling bodies and has small friction force. The transmission structure has high efficiency, simple structure and small damping, and provides structural guarantee for servo control. The linear slide rail base 1 is also provided with a plurality of anti-collision safety detection switches 3. A common rack 12 is arranged on the linear slide rail base 1; the travel transmission mechanism 23 includes a first servo motor reducer 231, and an output shaft of the first servo motor reducer 231 is connected to a helical gear 232 that is engaged with the common rack 12. The elevating transmission mechanism 24 includes a second servo motor reducer 241 and a cylindrical rack 243, and an output shaft of the first servo motor reducer 231 is connected with a transmission gear 242 engaged with the cylindrical rack 243 to convert a circular motion of the gear into an elevating motion of the rack, thereby elevating the vehicle body member. The two ends of the sliding plate 21 are respectively provided with a lifting guide mechanism 25, the lifting guide mechanism 25 comprises a limiting seat 251 and two guide shafts 252, and the upper ends of the guide shafts 252 penetrate through the limiting seat 251 and then are connected with the lifting plate 22; the two ends of the limiting seat 251 are respectively provided with an anti-collision limiting block 253.

TABLE 1 transporting interval table of servo transporting trolley

Referring to table 1, in the present embodiment, 15 stations 4 are provided, which are, in sequence, a UB110 station, a UB120 station, a UB130 station, a UB140 station, a UB150 station, a MB010 station, a MB020 station, a MB030 station, a MB040 station, a MB050 station, a MB060 station, a MB070 station, a MB080 station, a MB090 station, and a MB100 station, where the UB140 station and the MB090 station are reserved stations; the servo conveying trolley 2 is provided with 8 platforms which are sequentially

The embodiment of the invention also provides a conveying method based on the full servo drive flexible control conveying line, which comprises the following steps:

referring to fig. 9, in step S1.7, the servo transport cart and the servo transport cart 8 simultaneously move, wherein the servo transport cart 8 transports the body parts from the MB080 station to the MB100 station, and the servo transport cart 7 transports the body parts from the MB070 station to the MB080 station;

referring to fig. 10, in step S2.7, the servo transport cart and the servo transport cart No. 8 are returned simultaneously, wherein the servo transport cart No. 8 is returned from the MB100 station to the MB080 station for standby, and the servo transport cart No. 7 is returned from the MB080 station to the MB060 station for standby;

referring to fig. 11, in step S3.4, the No. 5, the No. 6 and the No. 7 servo transport trolleys simultaneously move, wherein the No. 7 servo transport trolley transports the body parts from the MB060 station to the MB070 station, the No. 6 servo transport trolley transports the body parts from the MB050 station to the MB060 station, the No. 5 servo transport trolley transports the body parts from the MB040 station to the MB050 station, and the No. 4 servo transport trolley transports the body parts from the MB030 station to the MB040 station;

referring to fig. 12, in step S4.4, the No. 5 servo transport trolley and the No. 6 servo transport trolley return simultaneously, wherein the No. 6 servo transport trolley returns to the MB050 station from the MB060 station to be ready, the No. 5 servo transport trolley returns to the MB040 station from the MB050 station to be ready, and the No. 4 servo transport trolley returns to the MB020 station from the MB040 station to be ready;

referring to fig. 13, in step S5.3, the No. 4 servo transport trolley and the No. 3 servo transport trolley act simultaneously, wherein the No. 4 servo transport trolley transports the car body parts from the MB020 station to the MB030 station, and the No. 3 servo transport trolley transports the car body parts from the MB010 station to the MB020 station;

referring to fig. 14, the servo transport trolley of step S6.3 returns to the UB150 station from the MB020 station for standby;

referring to fig. 15, in step S7.1, the servo transport trolley 2 and the servo transport trolley 3 act simultaneously, wherein the servo transport trolley 3 transports the body parts from the UB150 station to the MB020 station, the servo transport trolley 2 transports the body parts from the UB130 station to the UB150 station, and the servo transport trolley 1 transports the body parts from the UB120 station to the UB130 station;

referring to fig. 16, in step S8.1, the servo transport cart and the servo transport cart 2 return simultaneously, where the servo transport cart 2 returns from the UB150 station to the UB130 station for standby, and the servo transport cart 1 returns from the UB130 station to the UB110 station for standby;

referring to fig. 17, in step S9.1, the servo transport cart moves to transport the body parts from the UB110 station to the UB120 station, and the position of each servo transport cart returns to the original position to be ready for the next working cycle (at this time, the welding task of the body parts at each station is completed and the body parts are ready for transport).

The full-servo drive flexible control conveying line provided by the invention has the advantages that in the conveying process of vehicle body parts, the parts are lifted and horizontally moved, power is supplied by a servo motor, the linear slide rail is matched for guiding, the positioning precision requirement is met, vehicle parts are accurately positioned on the servo pulley provided with the supporting clamp unit, each servo conveying trolley is matched with independent lifting servo drive and horizontal moving servo drive, the automation is easier to realize, and the process benefit is maximized while the efficiency is improved.

The servo conveying trolley is characterized in that the trolley in charge of conveying the body plates is not limited by the number of stations any more, the number of the conveying trolleys is generally reduced by one by the number of stations because the traditional welding conveying line moves integrally, and the number of the conveying trolleys is determined on the premise of maximizing the utilization rate of robots according to the requirement of the station beats.

In the description of the specification, reference to the description of "one embodiment," "preferably," "an example," "a specific example" or "some examples" or the like means that a particular feature, mechanism, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and illustrative representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, mechanisms, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.

Claims

1. The utility model provides a full servo drive flexible control transfer chain, includes linear slide rail base (1) and a plurality of stations (4) that linear slide rail base (1) direction of delivery set up in proper order the interval along the line, its characterized in that: the linear slide rail base (1) is provided with a plurality of servo conveying trolleys (2), and each servo conveying trolley (2) is provided with an independent lifting and walking mechanism and is used for conveying vehicle body parts between two or more stations (4).

2. The full servo drive flexible control conveyor line of claim 1, wherein: the number of the servo conveying trolleys (2) is determined on the premise of maximizing the utilization rate of the robot according to the beat requirement of the stations (4).

3. The full servo drive flexible control conveyor line of claim 1, wherein: the servo conveying trolley (2) comprises a sliding plate (21) and a lifting plate (22), wherein a walking transmission mechanism (23) and a lifting transmission mechanism (24) are arranged on the sliding plate (21); the walking transmission mechanism (23) is used for driving the sliding plate (21) to move along the linear sliding rail base (1); the lifting transmission mechanism (24) is connected with the lifting plate (22) and used for driving the lifting plate (22) to lift.

4. The full servo drive flexible control conveyor line of claim 3, wherein: the lifting plate (22) is provided with a vehicle body supporting clamp (222), a supporting clamp BASE (221) and a vehicle body supporting seat (223).

5. The full servo drive flexible control conveyor line of claim 3, wherein: the anti-collision safety detection device is characterized in that a shared slide rail (11) is arranged on the linear slide rail base (1), a plurality of slide blocks (211) matched with the shared slide rail (11) are arranged on the slide plate (21), and a plurality of anti-collision safety detection switches (3) are further arranged on the linear slide rail base (1).

6. The full servo drive flexible control conveyor line of claim 3, wherein: a common rack (12) is arranged on the linear slide rail base (1); the walking transmission mechanism (23) comprises a first servo motor speed reducer (231), and an output shaft of the first servo motor speed reducer (231) is connected with a helical gear (232) meshed with the common rack (12).

7. The full servo drive flexible control conveyor line of claim 3, wherein: the lifting transmission mechanism (24) comprises a second servo motor reducer (241) and a cylindrical rack (243), and an output shaft of the first servo motor reducer (231) is connected with a transmission gear (242) meshed with the cylindrical rack (243).

8. The full servo drive flexible control conveyor line of claim 3, wherein: two ends of the sliding plate (21) are respectively provided with a lifting guide mechanism (25), the lifting guide mechanism (25) comprises a limiting seat (251) and two guide shafts (252), and the upper ends of the guide shafts (252) penetrate through the limiting seat (251) and then are connected with the lifting plate (22); and two ends of the limiting seat (251) are respectively provided with an anti-collision limiting block (253).

9. The full servo drive flexible control conveyor line of claim 1, wherein: the number of the stations (4) is 15, and the stations are respectively a UB110 station, a UB120 station, a UB130 station, a UB140 station, a UB150 station, a MB010 station, a MB020 station, a MB030 station, a MB040 station, a MB050 station, a MB060 station, a MB070 station, a MB080 station, a MB090 station and a MB100 station in sequence; the servo conveying trolley (2) is provided with 8 trolleys which are sequentially

10. The conveying method of the full servo drive flexible control conveying line according to claim 8, characterized by comprising the following steps: