CN114475868B - AGV backpack flexible positioning clamping tool - Google Patents
AGV backpack flexible positioning clamping tool Download PDFInfo
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- CN114475868B CN114475868B CN202210096287.7A CN202210096287A CN114475868B CN 114475868 B CN114475868 B CN 114475868B CN 202210096287 A CN202210096287 A CN 202210096287A CN 114475868 B CN114475868 B CN 114475868B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/026—Positioning of sub-units or components with respect to body shell or other sub-units or components by using a jig or the like; Positioning of the jig
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention provides an AGV backpack flexible positioning clamping tool which comprises an AGV body, a bracket, an electric hook pin mechanism, an electric side wall preassembly lifting device, a rear supporting mechanism and a power taking device, wherein the electric hook pin mechanism and the electric side wall supporting mechanism are connected with the power taking device through cables; the AGV comprises an AGV body, a bracket, a positioning device, a limiting device, an adjustable limiting mechanism, a positioning device, an electric control system and a control system, wherein the upper end part of the AGV body is provided with the limiting device, and the lower end surface of the bracket is provided with the adjustable limiting mechanism matched with the limiting device; the positioning and clamping device can be compatible with multi-vehicle type vehicle body conveying through transformation, one-time input and multi-vehicle type sharing are achieved, and the tool utilization rate is maximized.
Description
Technical Field
The invention belongs to the technical field of automobile manufacturing, and particularly relates to an AGV backpack flexible positioning and clamping tool.
Background
The body-in-white conveying mode includes roller bed conveying, reciprocating rod conveying and the like, wherein the roller bed conveying and the reciprocating rod conveying are common, and in the case of roller bed conveying, for example, as shown in fig. 1, a body-in-white 12 is placed on a conveying bracket 2, and the conveying bracket moves forwards by means of friction force of wheels on a roller bed 1.
As shown in fig. 2, the transportation bracket structure is composed of a bracket frame 6, a front positioning support structure 3, two side wall pre-installed supporting blocks 4 at two sides, and a rear support part 5. The front positioning and supporting structure 3 corresponds to the hole in the vehicle body and plays a role in positioning the position of the vehicle body, and the front positioning and supporting structure 3 and the rear supporting part 5 support the vehicle body. The positioning pins and the supporting blocks are fixed structures, flexible positioning and supporting of different automobile bodies cannot be achieved, the two sets of side wall preassembly supporting blocks 4 on two sides support side walls to achieve side wall preassembly, and due to the fact that the structure is fixed and single, compatibility of side walls of automobile bodies of different automobile types cannot be achieved automatically.
The structure has the following defects:
1. different vehicle types of the roller bed conveying line need different brackets, bracket storage areas are needed, the occupied area is large, and the investment is large.
2. The side wall pre-installed supporting blocks on two sides are not changeable in structure and can only correspond to one vehicle type, and the vehicle type compatibility is poor.
3. The conveying bracket can not be connected with power, and the clamping unit, such as an air cylinder, can not be used.
Disclosure of Invention
The invention provides an AGV backpack flexible positioning and clamping tool, which cancels an air source and a pneumatic element, adopts an electric control system to realize the action driving of a positioning device, can swing out the limitation of an external air source, realizes wireless and lays a foundation for intelligent control; the positioning and clamping device can be compatible with multi-vehicle type vehicle body conveying through transformation, one-time investment and multi-vehicle type sharing are achieved, and the tool utilization rate is maximized.
An AGV backpack flexible positioning clamping tool comprises an AGV body, a bracket, an electric hooking pin mechanism, an electric side wall preassembly lifting device, a rear supporting mechanism and a power taking device, wherein the electric hooking pin mechanism and the electric side wall preassembly lifting device are connected with the power taking device through cables; the AGV comprises an AGV body and is characterized in that a limiting device is arranged at the upper end of the AGV body, an adjustable limiting mechanism matched with the limiting device is arranged on the lower end face of a bracket, the adjustable limiting mechanism comprises a limiting block, an adjusting gasket and a fixed block which are sequentially connected, the fixed block is installed on the bracket, and the adjusting gasket is arranged between the limiting block and the fixed block; the rear supporting mechanism comprises a support, a supporting base frame arranged on the support and a rear supporting block arranged on the supporting base frame in a sliding installation mode, and the rear supporting block is used for supporting a vehicle body longitudinal beam.
The bracket structure adopts a changeable structure, namely, the bracket structure is matched with different AGVs through the adjustment of the adjustable limiting mechanism, more vehicle bodies are compatible, and the compatibility of the bracket to different vehicle bodies under the condition of not increasing the total number of the brackets is realized.
The electric side wall preassembling lifting device adopts a structure of 'motor + electric cylinder + opposite sex supporting block', realizes stepless adjustment of side wall supporting height, realizes compatibility of multiple vehicle types through PLC program control, and can realize compatibility of more than 10 vehicle types.
The mode of 'motor + electric control' is adopted, electricity is directly taken from the AGV, and the clamping unit is free from external energy intervention and operates independently. Air sources and pneumatic elements are abandoned, an electric control system is adopted to realize the action drive of the positioning device, the limitation of an external air source can be released, the wireless and intelligent control foundation is realized.
Preferably, the number of the electric side wall preassembling lifting devices is 4, and the electric side wall preassembling lifting devices are respectively arranged at corresponding positions on two sides of the front part and two sides of the middle part of the body-in-white. Four groups of electric single-shaft electric cylinders are adopted, the stroke is stepless to change, and the compatibility of multiple vehicle types is realized.
Preferably, the rear support mechanism further comprises a threaded pin and a rear support seat, the rear support block is connected with the rear support seat at the lower part, the support base frame is constructed to be a sliding chute structure, the rear support seat is connected with the support base frame in a transverse sliding mode, the support base frame is arranged on the support, the threaded pin in threaded connection with the support base frame is arranged on the side wall of the support base frame in a penetrating mode, and one end of the threaded pin is abutted to the rear support seat. The structure is simple and easy to realize, the longitudinal position of the rear supporting mechanism is adjustable, and the supporting conditions of more vehicle types are met.
Preferably, the rear support base is constructed in a T-shaped block structure, and a lower protrusion of the rear support base is engaged with a sliding groove of the support base frame. Simple structure, low cost and stable sliding connection.
Preferably, the rear support structure further comprises a spacer disposed between the rear support block and the rear support block. The supporting height of the rear supporting mechanism can be adjusted, and the flexibility is higher.
Preferably, the limiting device comprises a left side width limiting device, a length limiting device and a right side width limiting device, the number of the adjustable limiting mechanisms is 3, the adjustable limiting mechanisms are respectively matched with two longitudinal sides and two transverse sides of the length limiting device, and the left side width limiting device and the right side width limiting device are respectively matched with two side wall surfaces of the bracket. The mode of contact between the surface of the limiting block and the surface is adopted, the mode of contact between the cambered surface of the pin and the cambered surface of the hole is replaced, the contact area is increased, and the impact deformation during starting and stopping is reduced.
Preferably, electronic pin mechanism that colludes includes locating pin, round pin colludes, key seat, opens detection switch, detection switch seat, detection switch trigger block, presss from both sides tight detection switch, electric jar mount pad, electric jar fixed block, electric jar pole joint and crosses the cab apron, the round pin colludes the setting and is in on the locating pin, electric jar mount pad with the key seat passes through cross the cab apron and connect, electric jar mount pad sets up key seat below, the locating pin sets up key seat upper portion, the detection switch seat is installed on the lateral wall of key seat, open detection switch with press from both sides tight detection switch and install respectively the upper portion and the lower part of detection switch seat, detection switch trigger block installs on the electric jar connector, detection switch trigger block extends to open detection switch with press from both sides the tight clearance that detects between the switch, the locating pin below power connection in proper order the electric jar connector with the telescopic link of electric jar, the electric jar sets up on the electric jar mount pad. The hooking pin driver is changed into an electric cylinder from an air cylinder, electric driving is achieved, a detection switch is clamped and opened through the external device, visual and adjustment are facilitated, the application scene is wide, the existing pneumatic hooking pin can be completely replaced, and the hooking pin is arranged on a mobile device and has more advantages.
Preferably, the power taking device comprises an upper mounting beam, an upper electrode mounting plate, a lower end electrode plate, an upper end electrode plate and a dust cover; go up installation roof beam sub-unit connection go up the electrode mounting panel, the upper end plate electrode sets up go up electrode mounting panel lower part, upward install downwards on the electrode mounting panel lateral wall the dust cover, the lower extreme plate electrode with the upper end plate electrode all sets up in the space of dust cover envelope, the lower extreme plate electrode sets up lower electrode mounting panel upper portion, the plug on the lower extreme plate electrode with slot cooperation on the upper end plate electrode, but extending structure is constructed to the plug on the lower extreme plate electrode. The dead weight of the electricity taking end and the elastic structure of the electrode block of the electricity receiving end are used for realizing automatic electricity taking without manual intervention under a vertical posture, the problems of small butt joint size range and difficult butt joint are solved, and the adverse effects of welding slag and dust in the welding process of the vehicle body are effectively avoided.
Preferably, the telescopic stroke of the plug on the lower end electrode plate is 8-12 mm; the plug structure on the lower extreme electrode board is rectangular protruding, the slot structure on the upper end electrode board is the bar groove. The deviation of the height direction can be eliminated, and automatic electricity taking without manual intervention under the vertical posture is realized. The widened electrode pin structure is adopted, the butt joint size range is large, the electricity taking butt joint is simple, the contact surface is large, and the circuit connection is reliable.
Preferably, electronic side wall pre-installation lifting device includes: the lifting electric device comprises a supporting block, a first fastening plate, an installation back plate, a lifting electric cylinder, a second fastening plate, a lifting servo motor and a reduction gearbox, wherein the supporting block is arranged above the installation back plate, the reduction gearbox is arranged below the installation back plate, the first fastening plate and the second fastening plate are fixedly connected with the upper portion and the lower portion of the installation back plate respectively, the lifting electric cylinder is arranged on the first fastening plate and the second fastening plate, the lifting servo motor is in power connection with the lifting electric cylinder through the reduction gearbox, and a telescopic rod of the lifting electric cylinder is connected with the supporting block. The power source of the invention adopts electric power to replace pneumatic power, does not depend on gas circuit arrangement, is easy to move equipment, adopts motor servo control, and can realize stepless and arbitrary stop of the position in the stroke.
The invention has the beneficial effects that:
the bracket structure of the invention adopts a changeable structure, namely, the bracket is matched with different AGVs through the adjustment of the adjustable limiting mechanism, more vehicle bodies are compatible, and the compatibility of the bracket to different vehicle bodies is realized under the condition of not increasing the total number of the brackets.
The bracket tool disclosed by the invention abandons air sources and pneumatic elements, adopts an electric control system to realize the action drive of the positioning device, can swing out the limitation of an external air source, realizes wireless and lays a foundation for intelligent control.
The bracket positioning and clamping device can be compatible with the transportation of the vehicle bodies of multiple vehicle types through conversion, so that one-time investment and multiple vehicle types sharing are realized, and the tool utilization rate is maximized.
The invention can realize automatic conversion of the electric control tool unit through the inverter and the PLC control system.
The structural bracket has a simple form and structure, and is beneficial to avoiding a welding space.
Drawings
Fig. 1 is a schematic structural diagram of a body-in-white rolling bed conveying device in the prior art.
Fig. 2 is a prior art positioning structure of a roller bed type conveying bracket.
FIG. 3 is a schematic diagram of the overall structure of an AGV backpack flexible positioning and clamping tool according to the present invention.
FIG. 4 is a schematic diagram of the mating arrangement of the AGV body and pallet of the present invention.
FIG. 5 is a schematic diagram of the AGV body configuration according to the present invention.
Fig. 6 is a schematic structural diagram of the adjustable limiting mechanism of the present invention.
Fig. 7 is a schematic structural view of the rear support mechanism according to the present invention.
Fig. 8 is a schematic structural view of the electric hooking mechanism of the invention.
Fig. 9 is a schematic structural diagram of the power taking device according to the present invention.
Fig. 10 is a schematic bottom view of the upper electrode plate according to the present invention.
Fig. 11 is a schematic structural view of the lower electrode plate according to the present invention.
Fig. 12 is a schematic structural view of an electric side wall preassembling and lifting device.
In the figure:
1, rolling a bed;
2-conveying the bracket;
3-positioning a support structure in front;
4-side wall pre-mounting support blocks;
5-rear supporting part;
6-conveying the bracket frame;
7-an AGV body, 701-a left side width limiting device, 702-a length limiting device, 703-a right side width limiting device;
8-bracket, 801-adjustable limiting mechanism, 8011-limiting block, 8012-adjusting gasket and 8013-fixing block;
9-an electric pin hooking mechanism, 901-a positioning pin, 902-a pin hook, 903-a pin seat, 904-an opening detection switch, 905-a detection switch seat, 906-a detection switch trigger block, 907-a clamping detection switch, 908-an electric cylinder, 909-an electric cylinder mounting seat, 9010-an electric cylinder fixing block, 9011-an electric cylinder rod joint and 9012-a transition plate;
10-an electric side wall preassembling lifting device, 1001-a supporting block, 1002-a first fastening plate, 1003-a mounting back plate, 1004-a lifting electric cylinder, 1005-a second fastening plate, 1006-a lifting servo motor and 1007-a reduction gearbox;
11-rear support mechanism, 1101-bracket, 1102-support pedestal, 1103-rear support block, 1104-threaded pin, 1105-rear support seat, 1106-gasket;
12-body in white;
13-power-taking device, 1301-upper mounting beam, 1302-upper electrode mounting plate, 1303-lower electrode mounting plate, 1304-lower end electrode plate, 1305-upper end electrode plate, 1306-dust cover, 1307-plug and 1308-slot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein the exemplary embodiments and descriptions are provided for illustration of the invention and not for limitation of the invention.
In the description of the present invention, it is to be understood that the terms "left", "right", "upper", "lower", "front", "rear", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that a device or structure referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Example 1:
as shown in fig. 3, an AGV backpack flexible positioning and clamping tool includes an AGV body 7, a bracket 8, an electric hook mechanism 9, an electric side wall preassembly lifting device 10, a rear supporting mechanism 11 and a power taking device 13, wherein the electric hook mechanism 9 and the electric side wall preassembly lifting device 10 are both connected with the power taking device 13 through cables, the electric hook mechanism 9 and the electric side wall preassembly lifting device 10 are both driven by a motor, and the power taking device 13 is connected with a power cable of the AGV;
as shown in fig. 4 to 6, the AGV body 7 is provided with a limiting device at an upper end thereof, the tray 8 is provided with an adjustable limiting mechanism 801 at a lower end thereof, the adjustable limiting mechanism 801 comprises a limiting block 8011, an adjusting pad 8012 and a fixing block 8013 which are sequentially connected, the fixing block 8013 is mounted on the tray 8, and the adjusting pad 8012 is disposed between the limiting block 8011 and the fixing block 8013;
as shown in fig. 7, the rear support mechanism 11 includes a bracket 1101, a support base frame 1102 arranged on the bracket 1101, and a rear support block 1103 slidably mounted on the support base frame 1102, wherein the rear support block 1103 is used for supporting a vehicle body side member.
In this embodiment: the body-in-white is placed on the bracket 8, the electric side wall preassembly lifting device 10 and the rear supporting mechanism 11 support the body-in-white, the electric hooking mechanism 9 is matched with a hole in the body-in-white to position and clamp the body-in-white, and the bracket 8 moves forwards by means of the friction force of wheels on the roller bed.
Example 2:
as shown in fig. 3, an AGV backpack flexible positioning and clamping tool includes an AGV body 7, a bracket 8, an electric hook pin mechanism 9, an electric side wall preassembly lifting device 10, a rear supporting mechanism 11 and a power taking device 13, wherein the electric hook pin mechanism 9 and the electric side wall preassembly lifting device 10 are both connected with a power taking device 13 through a cable, the electric hook pin mechanism 9 and the electric side wall preassembly lifting device 10 are both driven by a motor, and the power taking device 13 is connected with a power cable of the AGV;
as shown in fig. 4 to 6, the AGV body 7 is provided with a limiting device at the upper end thereof, the lower end surface of the bracket 8 is provided with an adjustable limiting mechanism 801 matched with the limiting device, and the adjustable limiting mechanism 801 comprises a limiting block 8011, an adjusting gasket 8012 and a fixing block 8013 which are connected in sequence; as shown in fig. 7, the fixing block 8013 is mounted on the bracket 8, and the adjusting pad 8012 is disposed between the limiting block 8011 and the fixing block 8013;
as shown in fig. 7, the rear support mechanism 11 includes a bracket 1101, a support base frame 1102 arranged on the bracket 1101, and a rear support block 1103 slidably mounted on the support base frame 1102, wherein the rear support block 1103 is used for supporting a vehicle body side member.
As shown in fig. 3, the present embodiment further includes a PLC control assembly 14 and an inverter 15 disposed on the bracket, the PLC control assembly 14 is in cable connection with the electric hooking mechanism 9 and the electric side wall pre-installation lifting device 10, and automatic conversion of the electric control tool unit is realized through the inverter and a PLC control system.
The structure of the bracket 8 in the embodiment can be changed, that is, the bracket 8 can be matched with different AGVs through the adjustment of the adjustable limiting mechanism 801, so that more bodies can be compatible, and the compatibility of the bracket 8 with different bodies can be realized under the condition that the total number of the brackets 8 is not increased.
The electric side wall preassembling and lifting device 10 of the embodiment adopts a structure of 'motor + electric cylinder + opposite sex supporting block', realizes stepless adjustment of side wall supporting height, and realizes compatibility of about 10 types of vehicles of multiple vehicles through PLC program control.
This embodiment adopts "motor + automatically controlled" mode, directly gets the electricity from the AGV, realizes that clamping unit breaks away from external energy and intervenes independent operation. Air sources and pneumatic elements are abandoned, an electric control system is adopted to realize the action drive of the positioning device, the limitation of an external air source can be released, the wireless and intelligent control foundation is realized.
In the embodiment, as shown in fig. 3, 4 electric side wall preassembly lifting devices 10 are provided, and are respectively provided at corresponding positions on two sides of the front portion and two sides of the middle portion of the body-in-white 12. Four groups of electric single-shaft electric cylinders are adopted, the stroke is stepless to change, and the compatibility of multiple vehicle types is realized.
As shown in fig. 7, in this embodiment, the rear support mechanism 11 further includes a threaded pin 1104 and a rear support base 1105, the rear support block 1103 is connected to the rear support base 1105 at a lower portion thereof, the support base 1102 is configured as a sliding chute structure, the rear support base 1105 is connected to the support base 1102 in a sliding manner in a lateral direction, the support base 1102 is disposed on the bracket 1101, the threaded pin 1104 threadedly connected to the support base 1102 is disposed on a side wall of the support base 1102, and one end of the threaded pin 1104 abuts against the rear support base 1105. The structure is simple and easy to realize, the longitudinal position of the rear supporting mechanism 11 is adjustable, and the supporting conditions of more vehicle types are met.
As shown in fig. 7, in the present embodiment, the rear support base 1105 is constructed in a T-block structure, and a lower projection of the rear support base 1105 is engaged with a slide groove of the support chassis 1102. Simple structure, low cost and stable sliding connection.
As shown in fig. 7, in this embodiment, a gasket 1106 is further included, and the gasket 1106 is disposed between the rear support block 1105 and the rear support block 1103. The supporting height of the rear supporting mechanism 11 can be adjusted, and the flexibility is higher.
As shown in fig. 4 and 5, in this embodiment, the limiting device includes a left width limiting device 701, a length limiting device 702, and a right width limiting device 703, the number of the adjustable limiting mechanisms 801 is 3, 3 of the adjustable limiting mechanisms 801 are respectively engaged with two longitudinal sides and two transverse sides of the length limiting device 702, and the left width limiting device 701 and the right width limiting device 703 are respectively engaged with two side walls of the bracket 8. A surface-to-surface contact mode of the limiting block 8011 is adopted, a cambered surface contact mode of a pin and a hole is replaced, the contact area is increased, and impact deformation during starting and stopping is reduced.
As shown in fig. 8, in this embodiment, the electric pin hooking mechanism 9 includes a positioning pin 901, a pin hook 902, a pin seat 903, an open detection switch 904, a detection switch seat 905, a detection switch trigger block 906, a clamp detection switch 907, an electric cylinder 908, an electric cylinder mounting seat 909, an electric cylinder fixing block 9010, an electric cylinder rod joint 9011 and a transition plate 9012, the pin hook 902 is disposed on the positioning pin 901, the electric cylinder mounting seat 909 and the pin seat 903 are connected through the transition plate 9012, the electric cylinder mounting seat 909 is disposed below the pin seat 903, the positioning pin 901 is disposed on the upper portion of the pin seat 903, the detection switch seat 905 is mounted on a side wall of the pin seat 903, the open detection switch 904 and the clamp detection switch 907 are respectively mounted on an upper portion and a lower portion of the detection switch seat 905, the detection switch trigger block 906 is mounted on the electric cylinder 908 connecting head 906, the detection switch trigger block 906 extends to a gap between the open detection switch 904 and the clamp detection switch 907, the electric cylinder mounting seat 908 is sequentially connected to the positioning pin 901, and the electric cylinder mounting seat 908 is disposed on the telescopic rod 901. The pin hooking driver is changed from an air cylinder to an electric cylinder, electric driving is achieved, a detection switch is clamped and opened through the external device, visual and adjustment are facilitated, the application scene is wide, the existing pneumatic pin hooking driver can be completely replaced, and the pin hooking driver has the advantages when being arranged on a mobile device.
As shown in fig. 9, in this embodiment, the electricity taking device 13 includes an upper mounting beam 1301, an upper electrode mounting plate 1302, a lower electrode mounting plate 1303, a lower end electrode plate 1304, an upper end electrode plate 1305, and a dust cover 1306; the lower part of the upper mounting beam 1301 is connected with the upper electrode mounting plate 1302, the upper end electrode plate 1305 is arranged at the lower part of the upper electrode mounting plate 1302, the dust cover 1306 is arranged on the side wall of the upper electrode mounting plate 1302, the lower end electrode plate 1304 and the upper end electrode plate 1305 are arranged in the space enveloped by the dust cover 1306, and the lower end electrode plate 1304 is arranged at the upper part of the lower electrode mounting plate 1303;
as shown in fig. 10 and 11, the plug 1307 on the lower electrode plate 1304 is engaged with the slot 1308 on the upper electrode plate 1305, and the plug 1307 on the lower electrode plate 1304 is configured in a telescopic structure. The dead weight of the electricity taking end and the elastic structure of the electrode block of the electricity receiving end are used for realizing automatic electricity taking without manual intervention under a vertical posture, the problems of small butt joint size range and difficult butt joint are solved, and the adverse effects of welding slag and dust in the welding process of the vehicle body are effectively avoided.
As shown in fig. 10 and 11, in the present embodiment, the extension stroke of the plug 1307 on the lower electrode plate 1304 is 8 to 12mm; the plug 1307 on the lower electrode plate 1304 is configured as a long-strip protrusion, and the slot 1308 on the upper electrode plate 1305 is configured as a strip-shaped slot. The deviation of the height direction can be eliminated, and automatic electricity taking without manual intervention under the vertical posture is realized. The widened electrode pin structure is adopted, the butt joint size range is large, the electricity taking butt joint is simple, the contact surface is large, and the circuit connection is reliable.
As shown in fig. 12, in this embodiment, the electric side wall preassembling and lifting device 10 includes: the lifting device comprises a supporting block 1001, a first fastening plate 1002, a mounting back plate 1003, a lifting electric cylinder 1004, a second fastening plate 1005, a lifting servo motor 1006 and a reduction box 1007, wherein the supporting block 1001 is arranged above the mounting back plate 1003, the reduction box 1007 is arranged below the mounting back plate 1003, the first fastening plate 1002 and the second fastening plate 1005 are respectively and fixedly connected with the upper part and the lower part of the mounting back plate 1003, the lifting electric cylinder 1004 is arranged on the first fastening plate 1002 and the second fastening plate 1005, the lifting servo motor 1006 is in power connection with the lifting electric cylinder 1004 through the reduction box 1007, and an expansion rod of the lifting electric cylinder 1004 is connected with the supporting block 1001. The power source of the invention adopts electric power to replace pneumatic power, does not depend on gas circuit arrangement, is easy to move equipment, adopts motor servo control, and can realize stepless and arbitrary stop of the position in the stroke.
Claims (10)
1. An AGV backpack flexible positioning and clamping tool is characterized by comprising an AGV body (7), a bracket (8), an electric hook pin mechanism (9), an electric side wall preassembly lifting device (10), a rear supporting mechanism (11) and an electricity taking device (13), wherein the electric hook pin mechanism (9) and the electric side wall preassembly lifting device (10) are connected with the electricity taking device (13) through cables, the electric hook pin mechanism (9) and the electric side wall preassembly lifting device (10) are driven by motors, and the electricity taking device (13) is connected with a power cable of the AGV; the AGV body (7) upper end is provided with stop device, the terminal surface is provided with and stop device complex adjustable stop gear (801) under bracket (8), adjustable stop gear (801) is including connecting gradually stopper (8011), adjusting shim (8012) and fixed block (8013), fixed block (8013) is installed on bracket (8), set up adjusting shim (8012) between stopper (8011) and the fixed block (8013); the rear supporting mechanism (11) comprises a bracket (1101), a supporting base frame (1102) arranged on the bracket (1101), and a rear supporting block (1103) slidably arranged on the supporting base frame (1102), wherein the rear supporting block (1103) is used for supporting a vehicle body longitudinal beam.
2. The AGV backpack flexible positioning and clamping tool of claim 1, further comprising: the electric side wall preassembling and lifting devices (10) are arranged in 4 numbers and are respectively arranged at the corresponding positions of the two sides of the front part and the two sides of the middle part of the body-in-white.
3. An AGV piggy-back flexible positioning and clamping tool according to claim 1, further comprising: the rear supporting mechanism (11) further comprises a threaded pin (1104) and a rear supporting seat (1105), the lower portion of the rear supporting block (1103) is connected with the rear supporting seat (1105), the supporting base frame (1102) is constructed to be a sliding groove structure, the rear supporting seat (1105) is connected with the supporting base frame (1102) in a sliding mode along the transverse direction, the supporting base frame (1102) is arranged on the support (1101), the threaded pin (1104) in threaded connection with the supporting base frame (1102) penetrates through the side wall of the supporting base frame (1102), and one end of the threaded pin (1104) abuts against the rear supporting seat (1105).
4. An AGV piggy-back flexible positioning and clamping tool according to claim 3, further comprising: the rear support block (1105) is constructed in a T-block structure, and a lower protrusion of the rear support block (1105) is engaged with the support base frame (1102).
5. An AGV piggy-back flexible positioning and clamping tool according to claim 4, further comprising: further comprising a shim (1106), the shim (1106) disposed between the rear support block (1105) and the rear support block (1103).
6. The AGV backpack flexible positioning and clamping tool of claim 1, further comprising: the limiting device comprises a left side width limiting device (701), a length limiting device (702) and a right side width limiting device (703), the number of the adjustable limiting mechanisms (801) is 3, the adjustable limiting mechanisms (801) are respectively matched with two longitudinal sides and two transverse sides of the length limiting device (702), and the left side width limiting device (701) and the right side width limiting device (703) are respectively matched with two side wall surfaces of the bracket (8).
7. An AGV piggy-back flexible positioning and clamping tool according to claim 1, further comprising: the electric pin hooking mechanism (9) comprises a positioning pin (901), a pin hook (902), a pin seat (903), an opening detection switch (904), a detection switch seat (905), a detection switch trigger block (906), a clamping detection switch (907), an electric cylinder (908), an electric cylinder mounting seat (909), an electric cylinder fixing block (9010), an electric cylinder rod joint (9011) and a transition plate (9012), wherein the pin hook (902) is arranged on the positioning pin (901), the electric cylinder mounting seat (909) and the pin seat (903) are connected through the transition plate (9012), the electric cylinder mounting seat (909) is arranged below the pin seat (903), the positioning pin (901) is arranged on the upper portion of the pin seat (903), the detection switch seat (905) is arranged on the side wall of the pin seat (903), the opening detection switch (904) and the clamping detection switch (907) are respectively arranged on the upper portion and the lower portion of the detection switch seat (905), the detection switch block (906) is arranged on the upper portion of the electric cylinder mounting seat (905), the electric cylinder mounting seat (908) is connected with the clamping detection switch head (906), and the detection switch (908) is connected with the telescopic rod (906), the electric cylinder (908) is arranged on the electric cylinder mounting seat (909).
8. The AGV backpack flexible positioning and clamping tool of claim 1, further comprising: the electricity taking device (13) comprises an upper mounting beam (1301), an upper electrode mounting plate (1302), a lower electrode mounting plate (1303), a lower end electrode plate (1304), an upper end electrode plate (1305) and a dust cover (1306); the lower portion of the upper mounting beam (1301) is connected with the upper electrode mounting plate (1302), the upper end electrode plate (1305) is arranged at the lower portion of the upper electrode mounting plate (1302), the dust cover (1306) is mounted downwards on the side wall of the upper electrode mounting plate (1302), the lower end electrode plate (1304) and the upper end electrode plate (1305) are arranged in a space enveloped by the dust cover (1306), the lower end electrode plate (1304) is arranged at the upper portion of the lower electrode mounting plate (1303), a plug (1307) on the lower end electrode plate (1304) is matched with a slot (1308) on the upper end electrode plate (1305), and the plug (1307) on the lower end electrode plate (1304) is constructed into a telescopic structure.
9. The AGV backpack flexible positioning and clamping tool of claim 8, wherein: the telescopic stroke of the plug (1307) on the lower end electrode plate (1304) is 8-12 mm; the plug (1307) on the lower end electrode plate (1304) is constructed into a strip-shaped protrusion, and the slot (1308) on the upper end electrode plate (1305) is constructed into a strip-shaped slot.
10. The AGV backpack flexible positioning and clamping tool of claim 1, further comprising: electronic side wall pre-installation lifting device (10) includes: the mounting device comprises a supporting block (1001), a first fastening plate (1002), a mounting back plate (1003), a lifting electric cylinder (1004), a second fastening plate (1005), a lifting servo motor (1006) and a reduction gearbox (1007), wherein the supporting block (1001) is arranged above the mounting back plate (1003), the reduction gearbox (1007) is arranged below the mounting back plate (1003), the first fastening plate (1002) and the second fastening plate (1005) are fixedly connected with the upper portion and the lower portion of the mounting back plate (1003) respectively, the lifting electric cylinder (1004) is arranged on the first fastening plate (1002) and the second fastening plate (1005), the lifting servo motor (1006) is in power connection with the lifting electric cylinder (1004) through the reduction gearbox (1007), and an expansion rod of the lifting electric cylinder (1004) is connected with the supporting block (1001).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210096287.7A CN114475868B (en) | 2022-01-26 | 2022-01-26 | AGV backpack flexible positioning clamping tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210096287.7A CN114475868B (en) | 2022-01-26 | 2022-01-26 | AGV backpack flexible positioning clamping tool |
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| CN114475868A CN114475868A (en) | 2022-05-13 |
| CN114475868B true CN114475868B (en) | 2023-04-14 |
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| CN202210096287.7A Active CN114475868B (en) | 2022-01-26 | 2022-01-26 | AGV backpack flexible positioning clamping tool |
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| WO2008002749A2 (en) * | 2006-06-28 | 2008-01-03 | Utica Enterprises, Inc. | Assembly line vehicle body positioning |
| KR100980980B1 (en) * | 2008-04-22 | 2010-09-07 | 현대자동차주식회사 | Pin clamp apparatus |
| WO2011053681A1 (en) * | 2009-10-30 | 2011-05-05 | Comau, Inc. | Final assembly machine and method of use |
| KR101845553B1 (en) * | 2011-03-10 | 2018-04-05 | 르노삼성자동차 주식회사 | Lifter for raising and lowering vehicle body-in-white and stage for assembling vehicle body-in-white including the same |
| CN103128469B (en) * | 2013-02-28 | 2015-11-11 | 长城汽车股份有限公司 | For being merged the system and method for gusset and body bottom section |
| US10239164B2 (en) * | 2013-10-23 | 2019-03-26 | Onanon, Inc. | Robotic wire termination system |
| CN105171642B (en) * | 2015-09-10 | 2016-11-09 | 山东大学 | A kind of servo-controlled car roof combination flexible positioning device |
| CN208897959U (en) * | 2018-08-31 | 2019-05-24 | 上海赛科利汽车模具技术应用有限公司 | Flexible frock switching device |
| CN208961358U (en) * | 2018-10-25 | 2019-06-11 | 湖北汉唐智能科技股份有限公司 | Positioning intelligent clamp system is welded suitable for commercial vehicle white body stringer |
| CN109175865A (en) * | 2018-11-16 | 2019-01-11 | 湖北庚联耐磨材料科技有限公司 | The servo-positioning mechanism of one kind of multiple vehicle switchings |
| CN210414196U (en) * | 2019-03-13 | 2020-04-28 | 明珞汽车装备（上海）有限公司 | Vehicle body part positioning device |
| CN110961840A (en) * | 2019-12-02 | 2020-04-07 | 中国第一汽车股份有限公司 | Positionable AGV carrying flexible trolley |
| CN112958965B (en) * | 2021-03-19 | 2023-03-21 | 东风汽车股份有限公司 | Flexible switching device of multi-vehicle type shared clamp and control method |
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