CN114654305A

CN114654305A - Automatic change flexible production line's conveyor system

Info

Publication number: CN114654305A
Application number: CN202210546744.8A
Authority: CN
Inventors: 李传兵; 李强; 张高明; 董康华
Original assignee: Shanghai Smartstate Technology Co ltd
Current assignee: Shanghai Smartstate Technology Co ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-06-24
Also published as: CN115533594A

Abstract

The invention provides a transportation system of an automatic flexible production line, which comprises: the trolley body can move on the ground rail along the X-axis direction under the driving of the trolley driving device; the sliding table is arranged on the vehicle body and can move along the Y1 axis direction relative to the vehicle body under the drive of a lower sliding table driving device; and the tray is arranged on the sliding table and can move along the Y2 axis direction under the driving of the upper-layer tray driving device, wherein the X axis direction is perpendicular to the Y1 axis direction and the Y2 axis direction, and the Y1 axis direction is parallel to the Y2 axis direction. Compared with a single chain, the driving mode of the two chains ensures that the distance between the driving wheels and the driven wheels of the chains is not limited by the structural distance between the front clamping groove and the rear clamping groove of the tray, the stroke is increased in a limited space, and the miniaturization of equipment is facilitated.

Description

Automatic change flexible production line's conveyor system

Technical Field

The invention relates to the technical field of transportation of production lines, in particular to a transportation system of an automatic flexible production line, and particularly relates to a material transportation system of a double-station RGV trolley and a machine tool flexible processing production line.

Background

The flexible production line is a production line formed by connecting a plurality of adjustable machine tools (mostly special machine tools) and matching with an automatic conveying device. It relies on computer management and combines multiple production modes, thus reducing production cost and making the best use of things.

For a flexible processing production line, particularly a flexible processing production line of large parts, feeding and discharging actions of a material transportation system are separately carried out, so that waiting time of a machine tool is long, and production efficiency of the production line is reduced.

The publication No. CN109178149A discloses a flexible hydraulic multistage lifting RGV soft wheel surface trolley conveying system, which comprises an RGV trolley body, linear slide rails are arranged on the trolley body, a lifting system A and a lifting system B are connected on the two linear slide rails in a sliding manner, the lifting system A and the lifting system B respectively comprise a base which is connected with the linear slide rails in a sliding manner, guide cylinders are arranged on four corners of the base, an assembly platform is arranged above the guide cylinders, each base is also provided with a multistage high-pressure oil cylinder, four corners of each assembly platform are respectively provided with a universal bearing upwards, two elastic ball structures are arranged at the middle position of the upper surface of the assembly platform in the lifting system A along the transverse direction, two elastic ball structures are also arranged at the middle position of the upper surface of the assembly platform in the lifting system B along the longitudinal direction, each assembly platform is jointly lifted by the universal bearings and the elastic ball structures to form a chassis tray, however, the lifting system in the design can only move along the direction of the slide rail, and cannot move perpendicular to the slide rail, so that the flexibility is poor, and the practicability of the system is reduced.

Disclosure of Invention

In view of the drawbacks of the prior art, it is an object of the present invention to provide a transportation system for an automated flexible production line.

According to the invention, the transportation system of the automatic flexible production line comprises:

the trolley body can move on the ground rail along the X-axis direction under the driving of the trolley driving device;

the sliding table is arranged on the vehicle body and can move along the Y1 axis direction relative to the vehicle body under the drive of a lower sliding table driving device;

and the tray is arranged on the sliding table and can move along the Y2 axis direction under the driving of the upper-layer tray driving device, wherein the X axis direction is perpendicular to the Y1 axis direction and the Y2 axis direction, and the Y1 axis direction is parallel to the Y2 axis direction.

Preferably, the trolley driving device, the lower sliding table driving device and the upper tray driving device are all driven by servo motors.

Preferably, the trolley driving device comprises an X-axis rack, an X-axis motor, an X-axis speed reducer and an X-axis gear;

the X-axis gear rack is installed on the ground rail, the X-axis motor is connected with the X-axis gear through an X-axis speed reducer, and the X-axis speed reducer is installed on the vehicle body;

the X-axis gear is meshed with the X-axis rack in a matching mode, and when the X-axis motor drives the X-axis gear to rotate through the X-axis speed reducer, the vehicle body can be driven to move on the ground rail under the meshing resistance of the X-axis rack.

Preferably, the lower sliding table driving device comprises a Y1 shaft rack, a Y1 shaft motor, a Y1 shaft speed reducer, a Y1 shaft gear and a sliding rail;

the Y1 shaft rack is installed on a sliding table, the Y1 shaft speed reducer is installed on a vehicle body, the Y1 shaft motor is connected with the Y1 shaft gear through the Y1 shaft speed reducer, the sliding table is arranged on the vehicle body through a sliding rail, and the Y1 shaft gear is meshed with the Y1 shaft rack;

when the Y1 axle motor operation can drive Y1 axle gear through Y1 axle speed reducer and rotate and drive Y1 axle rack motion thereby drive the slip table and move on the slide rail.

Preferably, the tray has an initial position, a first position and a second position, and the first position and the second position are respectively located at two sides of the initial position;

the tray is driven by two sets of power mechanisms respectively to enable:

one set of power mechanism can drive the tray to move between the initial position and the first position, and the other set of power mechanism can drive the tray to move between the initial position and the second position.

Preferably, the upper tray driving device comprises a first power mechanism, a second power mechanism, a first chain mechanism, a second chain mechanism, a steel guide rail, a guide wheel mechanism and two chain pins;

a first groove structure is arranged at one positive end of the tray along the Y2 axis direction, a second groove structure is arranged at one negative end of the tray along the Y2 axis direction, the tray is arranged on the steel guide rail in a rolling manner through a guide wheel mechanism, and two chain pins are respectively arranged on the first chain mechanism and the second chain mechanism;

the first power mechanism can drive the first chain mechanism to rotate and can drive the tray to move from the initial position to the first position in the positive direction of the Y2 axis direction or drive the tray to move from the first position to the initial position in the negative direction of the Y2 axis direction when one chain pin is clamped into the second groove structure;

the second power mechanism can drive the second chain mechanism to rotate and drive the tray to move from the initial position to the second position in the negative direction of the Y2 axis direction or drive the tray to move from the second position to the initial position in the positive direction of the Y2 axis direction when the other chain pin is clamped into the first groove structure.

Preferably, the first power mechanism and the second power mechanism respectively comprise a Y2 shaft motor, a Y2 shaft speed reducer and a Y2 shaft chain wheel, and the Y2 shaft motor and the Y2 shaft chain wheel are respectively installed at two ends of the Y2 shaft speed reducer;

the first chain mechanism and the second chain mechanism respectively comprise a chain and a driven wheel, the guide wheel mechanism comprises a bottom roller and a lateral roller, the Y2 shaft speed reducer, the driven wheel and the steel guide rail are all installed on the sliding table, one end of the chain is sleeved on the Y2 shaft chain wheel, the other end of the chain is sleeved on the driven wheel, the tray is arranged on the steel guide rail through the bottom roller and the lateral roller, and the chain pin is installed on the chain;

the Y2 axle motor can drive Y2 axle chain wheel through Y2 axle speed reducer and rotate so that the chain drives the chain pin motion.

Preferably, the guide wheel mechanism further comprises a tension wheel, and the tension wheel is installed on the sliding table and connected with the chain and used for adjusting the tension degree of the chain.

Preferably, the chain pin comprises a mandrel, a bearing and a screw;

the bearing is arranged on the mandrel, and the mandrel is arranged on the chain through the screw;

the first groove structure and the second groove structure are provided with arc-shaped grooves matched with the bearings.

Preferably, the number of the sliding tables and the trays can be set so as to respond to target positions with different numbers, the target positions can be detected through a position sensor and/or an image acquisition mechanism so as to transmit detection signals to a control mechanism of the transportation system, and the control mechanism sends out control commands to guide the actions of the trolley driving device, the lower sliding table driving device and/or the upper tray driving device according to the received detection signals.

Compared with the prior art, the invention has the following beneficial effects:

1. compared with a single chain, the driving mode of the two chains ensures that the distance between the driving wheels and the driven wheels of the chains is not limited by the structural distance between the front clamping groove and the rear clamping groove of the tray, the stroke is increased in a limited space, and the miniaturization of equipment is facilitated.

2. Compared with a method for tensioning the chain by moving the driving wheel or the driven wheel, the chain tensioning mechanism provided by the invention has the advantages that the chain of the Y2 shaft is provided with the independent tensioning mechanism, so that the position of the chain pin passing through the driving wheel and the driven wheel can not be changed after the chain is worn and tensioned, namely the position of the tray can not be changed, and the precision of the movement position can be ensured.

3. The X shaft and the Y1 shaft of the invention are guided by the guide rail sliding blocks, and the Y2 shaft is guided by the steel guide rail, the bottom roller and the side roller, so that the movement of the tray in the X shaft direction and in the direction vertical to the X shaft is realized, the flexibility is good, the practicability is strong, and meanwhile, the X shaft and the Y1 shaft are driven by the servo motor, and the invention has the advantages of high bearing capacity, high positioning precision and good stability.

4. The trolley body is provided with two sets of trolley driving devices, the thrust force borne by a single X-axis gear and an X-axis rack is reduced, a gear rack with a smaller specification can be used, and the trolley is small in size and low in cost.

5. Two sets of sliding tables, two sets of sliding table driving devices or more than two sets of sliding table driving devices can be assembled on the vehicle body according to actual application scenes, two or more than two machined parts can be respectively and independently transported at the same time, the transportation time of the machined parts is shortened, and the transportation efficiency of machine tools and production lines is improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

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

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

FIG. 3 is a schematic view of the structure of the chain pin;

FIG. 4 is a schematic structural diagram of an embodiment of the present invention;

FIG. 5 is a schematic side view of the structure of the present invention, wherein the Y1 axis and the Y2 axis are indicated;

FIG. 6 is a schematic front view of the chain pin and tray slot structural connection;

FIG. 7 is a schematic bottom view of the structural connection of the chain pins and tray pockets;

FIG. 8 is an enlarged, fragmentary view of the bottom view of FIG. 7;

fig. 9 is a schematic structural diagram of the present invention.

The figures show that:

a vehicle body 1;

a trolley driving device 2;

an X-axis rack 201;

an X-axis motor 202;

an X-axis reducer 203;

an X-axis gear 204;

a lower-layer sliding table driving device 3;

y1 axle rack 301;

a Y1-axis motor 302;

y1 shaft reducer 303;

y1 shaft gear 304;

a slide table 305;

a slide rail 306;

an upper tray driving device 4;

a Y2-axis motor 401;

y2 shaft reducer 402;

y2 axle sprocket 403;

a chain 404;

a link pin 405;

a mandrel 40501;

a bearing 40502;

screws 40503;

a driven pulley 406;

a steel rail 407;

a tray 408;

first trench structure 4081;

second trench structure 4082;

initial position 4083;

first position 4084;

second position 4085;

a tension roller 411;

a ground rail 5;

a processing machine 601;

a loading and unloading station 602;

a buffer station 603;

an RGV carriage 604.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Example 1:

in order to improve the efficiency of the flexible processing production line and the precision of the material conveying system, the invention provides a conveying system of an automatic flexible production line, as shown in fig. 1, which comprises a vehicle body 1, a sliding table 305 and a tray 408, wherein the vehicle body 1 can move on a ground rail 5 along the X-axis direction under the driving of a trolley driving device 2, the sliding table 305 is installed on the vehicle body 1 and can move along the Y1-axis direction relative to the vehicle body 1 under the driving of a lower sliding table driving device 3, and the tray 408 is installed on the sliding table 305 and can move along the Y2-axis direction under the driving of an upper tray driving device 4, specifically, can move along the positive direction or the negative direction of the Y2-axis direction.

Further, the X-axis direction is perpendicular to the Y1 axis direction and the Y2 axis direction, the Y1 axis direction is parallel to the Y2 axis direction, in practical settings, the tray 408 is preferably arranged above the sliding table 305, and when the ground rail 5 is arranged along a straight line, the X-axis direction can be understood as the direction in which the ground rail 5 extends in the length direction.

Target position can be detected and then give the control mechanism that transport system had with detected signal transmission through position sensor and/or image acquisition mechanism, position sensor can adopt laser sensor, infrared sensor etc. and image acquisition mechanism can adopt camera etc., control mechanism sends control command according to receiving detected signal and guides dolly drive arrangement 2, lower floor's slip table drive arrangement 3 and/or upper tray drive arrangement 4's action to accomplish and transport the task.

According to the invention, a software program can be input into the control mechanism to realize the control of the control mechanism on each power mechanism, and the detection information acquired by the position sensor and the image acquisition mechanism is supplemented to realize the automatic conveying of the whole conveying system, so that the conveying efficiency is greatly improved.

The tray 408 has an initial position 4083, a first position 4084 and a second position 4085, and the first position 4084 and the second position 4085 are respectively located on both sides of the initial position 4083;

the tray 408 is driven by two sets of power mechanisms respectively so that:

one set of power mechanisms can move the tray 408 between the initial position 4083 and the first position 4084, and the other set of power mechanisms can move the tray 408 between the initial position 4083 and the second position 4085.

Example 2:

this embodiment is a preferred embodiment of embodiment 1.

In the present embodiment, as shown in fig. 2 to 8, the moving direction of the vehicle body 1 on the ground rail 5 is the X axis, the moving direction of the lower stage slide table 305 on the vehicle body 1 is the Y1 axis direction, and the moving direction of the tray 408 on the slide table 305 is the Y2 axis direction.

The trolley driving device 2 comprises an X-axis rack 201, an X-axis motor 202, an X-axis speed reducer 203 and an X-axis gear 204, the X-axis motor 202 preferably adopts a servo motor, the X-axis rack 201 is installed on the ground rail 5, the X-axis motor 202 is connected with the X-axis gear 204 through the X-axis speed reducer 203, the X-axis speed reducer 203 is installed on the trolley body 1, the X-axis gear 204 is meshed with the X-axis rack 201 in a matching mode, and the X-axis motor 202 drives the X-axis gear 204 to rotate through the X-axis speed reducer 203 so as to drive the trolley body 1 to move in the X-axis direction.

Specifically, when the X-axis motor 202 drives the X-axis gear 204 to rotate through the X-axis reducer 203, the vehicle body 1 can be driven to move on the ground rail 5 under the meshing resistance of the X-axis rack 201.

In this embodiment, the lower stage driving device 3 includes a Y1 shaft rack 301, a Y1 shaft motor 302, a Y1 shaft speed reducer 303, a Y1 shaft gear 304, and a slide rail 306, and the Y1 shaft motor 302 is preferably a servo motor.

The Y1 shaft rack 301 is installed on the sliding table 305, the Y1 shaft speed reducer 303 is installed on the vehicle body 1, the Y1 shaft motor 302 is connected with the Y1 shaft gear 304 through the Y1 shaft speed reducer 303, the sliding table 305 is arranged on the vehicle body 1 through the sliding rail 306, and the Y1 shaft gear 304 is meshed with the Y1 shaft rack 301; when the Y1 shaft motor 302 operates, the Y1 shaft speed reducer 303 can drive the Y1 shaft gear 304 to rotate so as to drive the Y1 shaft gear 301 to move, so that the sliding table 305 is driven to move on the sliding rail 306, and the position of the sliding table 305 is adjusted.

The upper tray driving device 4 includes a first power mechanism, a second power mechanism, a first chain mechanism, a second chain mechanism, a steel guide rail 407, a guide wheel mechanism, and two chain pins 405, one end of the tray 408 in the positive direction of the Y2 axis direction is provided with a first groove structure 4081, one end of the tray 408 in the negative direction of the Y2 axis direction is provided with a second groove structure 4082, the tray 408 is rollably installed on the steel guide rail 407 through the guide wheel mechanism, and the two chain pins 405 are respectively installed on the first chain mechanism and the second chain mechanism.

As shown in fig. 7, the first power mechanism can drive the first chain mechanism to rotate and can drive the tray 408 to move from the initial position 4083 to the first position 4084 in the positive direction in the Y2 axial direction when one of the chain pins 405 is snapped into the second groove structure 4082, or drive the tray 408 to move from the first position 4084 to the initial position 4083 in the negative direction in the Y2 axial direction.

The second power mechanism can drive the second chain mechanism to rotate and can drive the tray 408 to move from the initial position 4083 to the second position 4085 in the negative direction of the Y2 axis direction when the other chain pin 405 is snapped into the first groove structure 4081, or drive the tray 408 to move from the second position 4085 to the initial position 4083 in the positive direction of the Y2 axis direction.

The first power mechanism and the second power mechanism respectively comprise a Y2 shaft motor 401, a Y2 shaft speed reducer 402 and a Y2 shaft chain wheel 403, the Y2 shaft motor 401 and the Y2 shaft chain wheel 403 are respectively installed at two ends of the Y2 shaft speed reducer 402, and the Y2 shaft motor 401 is preferably a servo motor.

First chain mechanism, second chain mechanism all includes chain 404 and follows driving wheel 406, guide wheel mechanism includes bottom gyro wheel and side direction gyro wheel, Y2 axle speed reducer 402, follow driving wheel 406, steel guide rail 407 is all installed on slip table 305, the one end suit of chain 404 is on Y2 axle sprocket 403, the other end suit of chain 404 is on following driving wheel 406, tray 408 passes through bottom gyro wheel and side direction gyro wheel setting on steel guide rail 407, chain pin 405 installs on chain 404, Y2 axle motor 401 can drive Y2 axle sprocket 403 through Y2 axle speed reducer 402 and rotate thereby make chain 404 drive chain pin 405 motion.

The guide wheel mechanism further comprises a tension wheel 411, and the tension wheel 411 is installed on the sliding table 305 and connected with the chain 404 for adjusting the tension degree of the chain 404.

The chain pin 405 includes a mandrel 40501, a bearing 40502, and a screw 40503, the bearing 40502 is disposed on the mandrel 40501, the mandrel 40501 is disposed on the chain 404 through the screw 40503, the first groove structure 4081 and the second groove structure 4082 each have an arc-shaped groove matching with the bearing 40502, as shown in fig. 7 and 8, when the tray 408 is at the initial position 4083, the chain pin 405 on the right side chain 404 is snapped into the second groove structure 4082 when the right side chain 404 rotates, so that the tray 408 follows the chain 404, at this time, the chain pin 405 on the left side chain 404 is in a disengaged state with the first groove structure 4081, and therefore, the forward movement of the tray 408 from the initial position 4083 to the Y2 axial direction is not interfered to the first position 4084. Similarly, when the chain pin 405 of the left chain 404 engages with the first groove structure 4081 and the tray 408 moves in the negative direction from the initial position 4083 toward the Y2 axis direction, the chain pin 405 of the right chain 404 is disengaged from the second groove structure 4082.

Specifically, the tray 408 completes the engagement and disengagement actions with the chain pins 405 by the groove structure at the bottom thereof, as shown in fig. 6, 7 and 8, and the following actions are carried out:

action 1: the pallet 408 is transported from the RGV cart 604 to the processing machine 601, the right chain 404 drives the chain pins 405 along the path of the right chain pins in fig. 7 into the second groove structures 4082 on the right side of the pallet 408 so that the chain pins 405 engage the pallet 408, and then the chain pins 405 from position b1 along the path of the right chain pins in fig. 7 to position b2, at which time the pallet 408 moves from the home position 4083 to the first position 4084, at which time the pallet 408 reaches the position of the pallet 408 desired by the processing machine 601, at which time the chain pins 405 leave the second groove structures 4082 of the pallet 408 from the position b2, i.e., the disengagement of the chain pins 405 and the pallet 408 is completed.

And action 2: the pallet 408 is transported from the RGV cart 604 to the buffer station 603. The left chain 404 drives the pin 405 along the path of the left pin in fig. 7 into the first groove structure 4081 on the left side of the tray 408, so that the pin 405 engages the tray 408, and then the pin 405 moves from the position c1 to the position c2 along the path of the left pin in fig. 7, at which time the tray 408 moves from the initial position 4083 to the second position 4085, i.e., the tray 408 reaches the position of the tray 408 required by the buffer station 603, at which time the pin 405 moves from the position c2 away from the first groove structure 4081 on the left side of the tray 408, i.e., the disengagement of the pin 405 and the tray 408 is completed.

As shown in fig. 6, 8, the slot both sides of the entrance of groove structure about chain pin 405 gets into all have the arc surface tangent with the bearing surface of chain pin 405, be convenient for chain pin 405 get into the slot structure, first groove structure 4081, second groove structure 4082 all have two curb plates and the space that two curb plates enclose, bearing 40502 gets into the space that two curb plates enclose when chain pin 405 moves to the extreme along with chain 404 in, the curb plate blocks bearing 40502 and moves and then realizes the motion that promotes tray 408 when chain pin 405 turns this moment.

The tray 408 slides on the steel guide rail 407 on the surface of the slide table 305 by its own bottom three-way roller (see fig. 6), and is positioned by the chain pins 405, and it is the gravity of the tray 408 that makes the tray 408 fall on the steel guide rail 407 and positioned by the chain pins 405 and not move any more.

The working principle of the invention is as follows:

when the processing machine 601 has a blanking requirement, a part to be fed is prepared on a sliding table 305 of the RGV trolley 604, and the RGV trolley 604 acts as follows:

the carriage drive device 2 drives the vehicle body 1 on the ground rail 5 to a first target position, i.e. a position where the material-free slide table 305 of the RGV carriage 604 and the processing machine 601 are butted.

The lower stage slide table driving device 3 drives the slide table 305 without the material to reach the first target position in the Y1 direction, and places the parts processed on the processing machine 601 onto the slide table 305 without the material.

The upper tray driving device 4 drives the tray 408 and the blanking parts to the first target position in the Y2 direction by the link pin 405, and the lower slide table driving device 3 drives the slide table 305 without the material to return to the home position, which is the intermediate position that the slide table 305 needs to maintain when the carriage moves along the X axis.

The trolley driving device 2 drives the trolley to reach a second target position on the ground rail 5, wherein the second target position is a position where the sliding table 305 with the material on the RGV trolley 604 is in butt joint with the processing machine 601.

The lower stage slide table driving device 3 drives the slide table 305 requiring the feeding to the second target position in the Y1 axis direction.

The upper tray driving device 4 of the material sliding table 305 pushes the tray 408 on this sliding table 305 in the Y2 axis direction to a second target position inside the processing machine 601 by the link pins 405 of the chain 404 close to the processing machine 601.

The lower stage slide driving device 3 drives the slide 305 back to the home position, which is an intermediate position that the slide 305 needs to maintain when the carriage moves along the X axis.

Meanwhile, the double-station RGV trolley 604 of the present invention can transport the trays 408 and the processed parts from the buffer station 603 and the loading and unloading station 602 in the same manner as the chain 404 near the buffer station 603 is used.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A transportation system of an automated flexible production line, comprising:

the trolley body (1) can move on the ground rail (5) along the X-axis direction under the driving of the trolley driving device (2);

the sliding table (305) is arranged on the vehicle body (1) and can move along the Y1 axis direction relative to the vehicle body (1) under the driving of a lower sliding table driving device (3);

and the tray (408) is installed on the sliding table (305) and can move along the Y2 axis direction under the driving of an upper tray driving device (4), wherein the X axis direction is perpendicular to the Y1 axis direction and the Y2 axis direction, and the Y1 axis direction is parallel to the Y2 axis direction.

2. The automated flexible production line transportation system according to claim 1, wherein the trolley driving device (2) comprises an X-axis rack (201), an X-axis motor (202), an X-axis reducer (203) and an X-axis gear (204);

the X-axis rack (201) is mounted on the ground rail (5), the X-axis motor (202) is connected with the X-axis gear (204) through an X-axis speed reducer (203), and the X-axis speed reducer (203) is mounted on the vehicle body (1);

the X-axis gear (204) is meshed with the X-axis rack (201) in a matching mode, and when the X-axis motor (202) drives the X-axis gear (204) to rotate through the X-axis speed reducer (203), the vehicle body (1) can be driven to move on the ground rail (5) under the meshing resistance of the X-axis rack (201).

3. The transportation system of the automated flexible production line according to claim 1, wherein the lower sliding table driving device (3) comprises a Y1 shaft rack (301), a Y1 shaft motor (302), a Y1 shaft speed reducer (303), a Y1 shaft gear (304) and a slide rail (306);

the Y1 shaft rack (301) is installed on the sliding table (305), the Y1 shaft speed reducer (303) is installed on the vehicle body (1), the Y1 shaft motor (302) is connected with the Y1 shaft gear (304) through the Y1 shaft speed reducer (303), the sliding table (305) is arranged on the vehicle body (1) through the sliding rail (306), and the Y1 shaft gear (304) is meshed with the Y1 shaft rack (301);

when a Y1 shaft motor (302) runs, a Y1 shaft speed reducer (303) can drive a Y1 shaft gear (304) to rotate so as to drive a Y1 shaft rack (301) to move, and therefore the sliding table (305) is driven to move on the sliding rail (306).

4. The transportation system of an automated flexible production line according to claim 1, characterized in that the tray (408) has an initial position (4083), a first position (4084) and a second position (4085), the first position (4084) and the second position (4085) being located on either side of the initial position (4083);

the tray (408) is driven by two sets of power mechanisms respectively so that:

one set of power mechanisms can drive the tray (408) to move between the initial position (4083) and the first position (4084), and the other set of power mechanisms can drive the tray (408) to move between the initial position (4083) and the second position (4085).

5. The transportation system of an automated flexible production line according to claim 4, characterized in that the upper tray drive (4) comprises a first power mechanism, a second power mechanism, a first chain mechanism, a second chain mechanism, a steel guide rail (407), a guide wheel mechanism and two chain pins (405);

a first groove structure (4081) is arranged at one positive end of the tray (408) along the Y2 axis direction, a second groove structure (4082) is arranged at one negative end of the tray (408) along the Y2 axis direction, the tray (408) is arranged on the steel guide rail (407) in a rolling manner through a guide wheel mechanism, and the two chain pins (405) are respectively arranged on the first chain mechanism and the second chain mechanism;

the first power mechanism can drive the first chain mechanism to rotate and can drive the tray (408) to move from the initial position (4083) to the first position (4084) in a positive direction in the Y2 axial direction when one chain pin (405) is clamped into the second groove structure (4082), or drive the tray (408) to move from the first position (4084) to the initial position (4083) in a negative direction in the Y2 axial direction;

the second power mechanism can drive the second chain mechanism to rotate and can drive the tray (408) to move from the initial position (4083) to the second position (4085) towards the negative direction of the Y2 axial direction when the other chain pin (405) is clamped into the first groove structure (4081), or drive the tray (408) to move from the second position (4085) to the initial position (4083) towards the positive direction of the Y2 axial direction.

6. The transportation system of the automated flexible production line of claim 5, wherein the first power mechanism and the second power mechanism each comprise a Y2 shaft motor (401), a Y2 shaft speed reducer (402) and a Y2 shaft chain wheel (403), and the Y2 shaft motor (401) and the Y2 shaft chain wheel (403) are respectively installed at two ends of the Y2 shaft speed reducer (402);

the first chain mechanism and the second chain mechanism respectively comprise a chain (404) and a driven wheel (406), the guide wheel mechanism comprises a bottom roller and a lateral roller, the Y2 shaft speed reducer (402), the driven wheel (406) and a steel guide rail (407) are respectively arranged on the sliding table (305), one end of the chain (404) is sleeved on a Y2 shaft chain wheel (403), the other end of the chain (404) is sleeved on the driven wheel (406), the tray (408) is arranged on the steel guide rail (407) through the bottom roller and the lateral roller, and the chain pin (405) is arranged on the chain (404);

the Y2 axle motor (401) can drive the Y2 axle sprocket (403) to rotate through the Y2 axle speed reducer (402) so that the chain (404) drives the chain pin (405) to move.

7. The transportation system of the automated flexible production line of claim 6, characterized in that the guide wheel mechanism further comprises a tension wheel (411), and the tension wheel (411) is mounted on the sliding table (305) and connected with the chain (404) for adjusting the tension degree of the chain (404).

8. The automated flexible production line transportation system of claim 5, wherein the chain pin (405) comprises a spindle (40501), a bearing (40502), and a screw (40503);

the bearing (40502) is arranged on the mandrel (40501), and the mandrel (40501) is arranged on the chain (404) through the screw (40503);

the first and second channel structures (4081, 4082) each have an arcuate recess that matches the bearing (40502).

9. The transportation system of the automated flexible production line according to claim 1, characterized in that the number of the slipways (305) and the pallets (408) can be set to respond to different numbers of target positions, the target positions can be detected by a position sensor and/or an image acquisition mechanism and then the detection signals are transmitted to a control mechanism of the transportation system, and the control mechanism sends out control commands to guide the actions of the trolley driving device (2), the lower slipway driving device (3) and/or the upper pallet driving device (4) according to the received detection signals.

10. The transportation system of the automated flexible production line according to claim 1, wherein the trolley driving device (2), the lower sliding table driving device (3) and the upper tray driving device (4) are driven by servo motors.