CN114988044A - Automatic positioning method based on transportation system - Google Patents
Automatic positioning method based on transportation system Download PDFInfo
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- CN114988044A CN114988044A CN202210713910.9A CN202210713910A CN114988044A CN 114988044 A CN114988044 A CN 114988044A CN 202210713910 A CN202210713910 A CN 202210713910A CN 114988044 A CN114988044 A CN 114988044A
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- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 210000001503 joint Anatomy 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims description 16
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000010923 batch production Methods 0.000 description 1
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- 230000002457 bidirectional effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses an automatic positioning method based on a transportation system, which comprises the following steps: under the condition that the guiding and transporting tool reaches the butt joint position with the tooling trolley, controlling a lifting pin on the guiding and transporting tool to rise to a first gear, and inserting the lifting pin into a first positioning hole at the first gear so that the guiding and transporting tool pulls the tooling trolley through the lifting pin; under the condition that the tool trolley is pulled to a specified position by the guiding and transporting tool, the guiding and transporting tool is positioned to a vehicle receiving point, the lifting pin on the guiding and transporting tool is controlled to lift to a second gear, and the tool trolley is lifted to be separated from the ground through the lifting pin; and controlling the positioning pin to rise and be inserted into the second positioning hole so as to position the tooling trolley in the first direction, controlling the telescopic mechanism of the guide transport tool to stretch out and synchronously press the supporting surface on the inner side of the tooling trolley, and positioning the tooling trolley in the second direction perpendicular to the first direction. Can realize automatic accurate positioning, need not increase fixed equipment on ground, can improve and produce the line flexibility.
Description
Technical Field
The invention relates to the technical field of automatic guided vehicles, in particular to an automatic positioning method based on a transportation system.
Background
In order to realize the automatic butt joint assembly of large parts, the high-precision positioning of the products after reaching the stations is of great importance. The product transfer is usually realized by adopting a guiding transport tool, so that the logistics system of the production line has higher flexibility. The guided vehicle is generally a transport vehicle equipped with an automatic guide device such as an electromagnetic or optical device, and having an automatic navigation recognition and transport capability, so that it can travel along a predetermined guide route, and has safety protection and various transfer functions.
More and more working conditions for small-batch production exist in the modern automobile production industry, and when automobiles are produced in small batches, the tooling trolley is used as a necessary tool. At present, in the prior art, an electric lifting pin is inserted into a tool hole or a tool gripper of a tool trolley through a hidden type guiding and transporting tool, so that the tool trolley is pulled to move. Specifically, an empty tooling trolley is aligned in advance before a guide transportation tool is accessed by using a positioning device; after the transportation tool is guided to reach the designated position of the butt joint tool trolley, the lifting pin is lifted through the electric push rod and inserted into a tool hole of the tool trolley above the lifting pin; after the guiding and transporting tool is started, the guiding and transporting tool pulls the tooling trolley to run to a vehicle receiving position through the matching of the lifting pin of the guiding and transporting tool and the tooling hole of the tooling trolley; the vehicle body descends and is manually adjusted through the manual lifting device and then falls onto the support frame of the tooling trolley, and the vehicle body is pulled and conveyed to an appointed position by the guide transportation tool after being picked up.
In order to realize automatic functions such as automatic vehicle receiving of a guide transport tool and automatic transfer of a logistics trolley, a fixed alignment device and a rail for a tooling trolley are additionally arranged on the ground in the related art, so that the working efficiency can be reduced, and flexible production is not facilitated.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic positioning method based on a transportation system, which can realize automatic and accurate positioning, does not need to add fixed equipment on the ground, effectively improves the efficiency, and can improve the flexibility of a production line and reduce the transformation difficulty.
In order to solve the technical problems, the invention provides an automatic positioning method based on a transportation system, wherein the transportation system comprises a guiding transportation tool and a tooling trolley, the guiding transportation tool comprises a trolley body, a lifting pin, a positioning pin and a telescopic mechanism, the lifting pin and the positioning pin are movably connected with the trolley body, and the telescopic mechanism is arranged on the trolley body; the tooling trolley is provided with a first positioning hole and a second positioning hole; the automatic positioning method comprises the following steps:
under the condition that the guiding and transporting tool reaches the butt joint position with the tooling trolley, controlling a lifting pin on the guiding and transporting tool to ascend to a first gear, and inserting the lifting pin into the first positioning hole at the first gear so that the guiding and transporting tool pulls the tooling trolley through the lifting pin;
under the condition that the tool trolley is pulled to a specified position by the guiding and transporting tool, the guiding and transporting tool is positioned to a vehicle receiving point, a lifting pin on the guiding and transporting tool is controlled to be lifted to a second gear, and the tool trolley is supported by the lifting pin and separated from the ground; and controlling the positioning pin to rise and be inserted into the second positioning hole so as to position the tool trolley in a first direction, controlling the telescopic mechanism of the guide transport tool to extend out and synchronously press the inner side supporting surface of the tool trolley, and positioning the tool trolley in a second direction perpendicular to the first direction.
Optionally, after the positioning adjustment of the tooling trolley is completed, the telescopic mechanism is controlled to retract, and the lifting pin is lowered, so that the tooling trolley falls to the ground, and a workpiece is lowered onto the supporting block of the tooling trolley.
Optionally, the inner surfaces of the supporting side plates on the two sides of the tooling trolley are provided with anti-swing guide blocks which are arranged oppositely, and the guiding and transporting tool is guided by the anti-swing guide blocks in the process of dragging the tooling trolley by the lifting pin.
Optionally, the guiding transportation tool further includes a sliding bottom plate, when the lifting pin rises to the second gear, the lifting pin drives the sliding bottom plate to lift the tooling trolley and separate from the ground, and the sliding bottom plate is in contact with the lower surface of the positioning plate of the tooling trolley.
Optionally, in the process that the telescopic mechanism of the guided transport tool extends out and synchronously presses the inner side supporting surface of the tooling trolley, the balls of the sliding bottom plate are in contact with the lower surface of the positioning plate of the tooling trolley, so that the tooling trolley slides on the guided transport tool along a plane.
Optionally, the guiding vehicle may shuttle from the tooling trolley bottom when the lift pin is in an initial gear.
Specifically, the second positioning hole is an oblong hole or an elongated hole.
Optionally, the lifting pin includes a first pin segment and a second pin segment located below the first pin segment, a cross-sectional area of the first pin segment is smaller than a cross-sectional area of the second pin segment, and when the guiding transportation tool lifts the lifting pin to a second gear, the lifting pin pre-positions the tooling trolley.
Specifically, one end of the telescopic mechanism is connected with the vehicle body, and one end of the telescopic mechanism, which is far away from the vehicle body, is provided with a centering adjusting block.
Specifically, the telescopic mechanism is at least one of a telescopic electric push rod and a scissor fork mechanism.
Specifically, the guided vehicle is controlled to be positioned to the pick-up point by an own positioning system.
Through the technical scheme, the invention has the following beneficial effects:
the lifting pin of the guide transportation tool is fully utilized, the lifting pin is divided into three steps to lift, the functions of hiding, traction, pre-positioning and lifting the tooling trolley are realized, and the tooling trolley can be positioned along the front-back direction under the combined action of the lifting pin and the positioning pin; the combined action of the locating pin and the telescopic mechanisms on the two sides of the guide transport tool can realize the locating of the tooling trolley along the left and right directions, so that the automatic accurate locating is realized, fixed equipment does not need to be added on the ground, the efficiency is effectively improved, the flexibility of a production line can be improved, and the difficulty in the transformation of the production line is reduced.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is one of schematic perspective views of a transportation system according to a first embodiment of the present invention;
FIG. 2 is a second schematic perspective view of a transportation system according to a first embodiment of the present invention;
FIG. 3 is one of the schematic structural views of a transportation system in a first embodiment of the present invention;
FIG. 4 is a second schematic structural view of a transportation system according to the first embodiment of the present invention;
FIG. 5 is a third perspective view of the transportation system of the first embodiment of the present invention;
FIG. 6 is a third schematic structural view of a transportation system according to the first embodiment of the present invention;
FIG. 7 is a fourth perspective view of the transportation system of the first embodiment of the present invention;
FIG. 8 is a fourth schematic view of the structure of a transportation system in accordance with the first embodiment of the present invention;
FIG. 9 is a schematic perspective view of a guided vehicle according to a first embodiment of the present invention;
FIG. 10 is a schematic structural view of an electric putter in accordance with a first embodiment of the present invention;
FIG. 11 is a schematic view of the lift pin in an initial state according to the first embodiment of the present invention;
FIG. 12 is a schematic illustration of the lift pin in the first gear position in the first embodiment of the present invention;
FIG. 13 is a schematic illustration of the lift pin in the second gear position in the first embodiment of the present invention;
FIG. 14 is a schematic structural view of a bi-directional synchronous telescopic electric putter according to a first embodiment of the present invention;
FIG. 15 is a perspective view of a guided vehicle according to a second embodiment of the present invention;
FIG. 16 is one of the schematic views of the electric push rod pushing the hinge of the scissors mechanism according to the second embodiment of the present invention;
fig. 17 is a second schematic view of a hinge of a scissors mechanism driven by an electric push rod according to a second embodiment of the present invention;
FIG. 18 is a third schematic view of the electric push rod pushing the hinge of the scissors mechanism according to the second embodiment of the present invention;
fig. 19 is a flow chart diagram of an automatic positioning method in an embodiment of the invention.
Description of the reference numerals
1 guide 11 lifting pin of transport means
12 positioning pin 2 tooling trolley
21 first positioning hole 22 second positioning hole
23 support side plate 24 positioning plate
25 logistics trolley carrier 26 running mechanism
3 sliding bottom plate 41 telescopic electric push rod
Anti-swing guide block of 51 scissor mechanism 6
71 linear bearing 72 mounting plate
73 screw 74 connecting plate
75 push rod seat 76 push rod
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, and it is to be understood that the detailed description is provided for purposes of illustration and explanation and is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any combination thereof. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In describing the present invention, it is to be understood that the orientations and positional relationships shown in the drawings are for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.
In order to facilitate understanding of the technical solution of the present invention, a rectangular coordinate system is established to assist in explaining the motion relationship between the guiding vehicle 1 and the tooling pallet 2 of the transportation system of the present invention and the functional mechanisms thereon. Wherein the X-coordinate represents the front-rear direction of the guided vehicle 1, the Y-coordinate represents the left-right direction of the guided vehicle 1, and the Z-coordinate represents the up-down moving direction of the lift pin 11 on the guided vehicle 1.
As for the specific form of the Guided Vehicle 1, the Guided Vehicle 1 has various specific forms, and for better understanding of the technical solution of the present invention, the following description will be mainly given by taking the Guided Vehicle 1 as an AGV (Automated Guided Vehicle) as an example; of course, the Guided Vehicle 1 may also be another type of Guided Vehicle, such as IGV (Intelligent Guided Vehicle), RGV (Rail Guided Vehicle), etc.
Referring to fig. 1 to 19, the invention provides an automatic positioning method based on a transportation system, wherein the transportation system comprises a guiding transportation tool 1 and a tooling trolley 2, the guiding transportation tool 1 comprises a vehicle body, a lifting pin 11, a positioning pin 12 and a telescopic mechanism, the lifting pin 11 and the positioning pin 12 are both movably connected with the vehicle body, and the telescopic mechanism is arranged on the vehicle body; the tooling trolley 2 is provided with a first positioning hole 21 and a second positioning hole 22; the automatic positioning method comprises the following steps:
under the condition that the guiding and transporting tool 1 reaches the butt joint position with the tooling trolley 2, controlling the lifting pin 11 on the guiding and transporting tool 1 to lift to a first gear, and at the first gear, inserting the lifting pin 11 into the first positioning hole 21 of the tooling trolley 2 so that the guiding and transporting tool 1 pulls the tooling trolley 2 through the lifting pin 11;
under the condition that the tooling trolley 2 is drawn to a specified position by the guiding and transporting tool 1, the guiding and transporting tool 1 is positioned to a receiving point, the lifting pin 11 on the guiding and transporting tool 1 is controlled to be lifted to a second gear, and the tooling trolley 2 is lifted and separated from the ground through the lifting pin 11; and controlling the positioning pin 12 on the guide and transport tool 1 to rise and be inserted into the second positioning hole 22 so as to position the tooling trolley 2 in a first direction, controlling the telescopic mechanism of the guide and transport tool 1 to extend out and synchronously press the supporting surface on the inner side of the tooling trolley 2, and positioning the tooling trolley 2 in a second direction perpendicular to the first direction.
In the automatic positioning method according to the above-described basic embodiment of the present invention, the tooling pallet 2 is positioned in the first direction and the second direction, that is, a positioning state in which the tooling pallet 2 is centered in the front-rear direction is achieved.
On the basis of the basic embodiment described above, preferably, in terms of a concrete form in which the guide vehicle 1 reaches the docking position with the tooling pallet 2, the guide vehicle 1 may be moved under the tooling pallet 2 in a latent manner, and the lift pin 11 is substantially aligned with the first positioning hole 21, that is, the guide vehicle 1 can shuttle at the bottom of the tooling pallet 2 without interfering with each other when the lift pin 11 is in the initial position.
Preferably, after the positioning adjustment of the tooling trolley 2 is completed, the telescoping mechanism needs to be controlled to retract, the lifting pin 11 is lowered, and the tooling trolley 2 falls to the ground, so that the workpiece is conveniently lowered onto the supporting block of the tooling trolley 2. In the specific embodiment of the invention, the body shell of the vehicle is mainly used as a workpiece, and the positioning precision of the body shell is ensured by accurately positioning the tooling trolley 2. It should be noted here that after the positioning adjustment of the tooling trolley 2 is completed, the lifting pin 11 can be retracted to the first gear or directly retracted to the initial state, which can both realize that the tooling trolley 2 falls to the ground for subsequent operations.
Referring to fig. 2 and 8, as a preferred specific structure, the tooling pallet 2 may include two side support plates 23, the anti-swing guide blocks 6 may be symmetrically disposed on inner side surfaces of the two side support plates 23, and in a process of the guided vehicle 1 pulling the tooling pallet 2, the anti-swing guide blocks 6 on both sides limit displacement of the guided vehicle 1 in the left-right direction, so as to control a heading angle of the tooling pallet 2, and in a process of the guided vehicle 1 pulling the tooling pallet 2 through the lifting pin 11, the anti-swing guide blocks 6 may guide to keep the guided vehicle 1 and the tooling pallet 2 traveling in the same direction.
As a more preferable configuration, in order to facilitate the left-right adjustment of the positioning of the tooling pallet 2 in the Y direction, the slide base plate 3 may be provided on the guiding and transporting means 1, and referring to fig. 13, when the lift pin 11 is raised to the second position, the lift pin 11 drives the slide base plate 3 to lift the tooling pallet 2 up and separate from the ground, and at this time, the slide base plate 3 is attached to the lower surface of the positioning plate 24 of the tooling pallet 2, and both are in contact with each other. Like this, guide transport means 1 with the jacking of frock platform truck 2 to break away from ground to with the contact of sliding bottom plate 3, can reduce the frictional force of frock platform truck 2 adjustment in-process, in order to avoid causing guide transport means 1 self to produce the displacement in the adjustment process.
Further, referring to fig. 9, the slide base plate 3 may include balls, and the tool carriage 2 may be more easily slid along a plane on an upper edge plane (i.e., a support plane) of the guided vehicle 1 due to the presence of the balls by the balls of the slide base plate 3 contacting with a lower surface of the positioning plate 24 of the tool carriage 2.
For installation and adjustment, the second positioning hole 22 may be an oblong hole or a long-strip-shaped hole, and of course, may also be a circular waist hole or a rectangular hole, and these modifications all fall within the protection scope of the present invention.
Particularly preferably, in order to position and lift the tooling trolley 2 when the lifting pin 11 is in the second gear, referring to fig. 11 to 13, the lifting pin 11 may be designed in a form that the cross-sectional areas of the upper and lower two-part structures are not uniform. In particular, the lift pin 11 may include a first pin segment and a second pin segment, the second pin segment being located below the first pin segment, the cross-sectional area of the first pin segment being smaller than the cross-sectional area of the second pin segment. Thus, when the lifting pin 11 is in the first gear, the first pin segment is inserted into the first positioning hole 21 and is in large clearance fit with the first positioning hole 21, so that the tooling trolley 2 is pulled by the lifting pin 11 to run; when the lifting pin 11 is lifted to the second gear, the second pin segment is inserted into the first positioning hole 21 and is in small clearance fit with the first positioning hole 21, so that the tool trolley 2 is prepositioned and lifted.
As a preferred structural style, one end of the telescopic mechanism is connected with the vehicle body, and one end of the telescopic mechanism, which is far away from the vehicle body, can be provided with a centering adjusting block, so that the positioning adjustment can be carried out more accurately and conveniently. The telescopic mechanism can be a variety of commonly used telescopic devices, such as a telescopic electric push rod 41 and a scissors mechanism 51.
In addition, as for the specific implementation manner of positioning the guided vehicle 1 to the pickup point, the guided vehicle 1 may be controlled to be positioned to the pickup point by a self-positioning system, or may be positioned by a remote controller, and these implementation forms all belong to the technical concept scope of the present invention.
In order to help those skilled in the art to more deeply understand the technical idea of the present invention, the technical solution of the present invention is fully described below in more detail with reference to the accompanying drawings.
The invention is primarily directed to a traction-type guided vehicle, making full use of the lift pins 11 of the guided vehicle 1. Fig. 10 provides a push rod structure for controlling the elevation of the elevation pin 11 in the up-down direction, which is installed at the guide transportation means 1 for driving the elevation pin 11 to ascend and descend in the up-down direction; specifically, the electric push rod mechanism may include a linear bearing 71, an installation plate 72, a screw 73, a n-shaped connection plate 74, a push rod base 75, and a push rod 76, wherein the push rod 76 is installed on the push rod base 75, the installation plate 72 is installed on the push rod base 75 through the n-shaped connection plate 74, the push rod 76 is connected to the lift pin 11 through the screw 73, and the linear bearing 71 is fitted over the lift pin 11 and is fitted on the installation plate 72. In this way, the push rod 76 can drive the up-and-down movement of the lift pin 11 via the screw 73.
The lifting pin 11 has three working states, namely when the lifting pin 11 is not lifted, the lifting pin 11 is in an initial state, and the guide transport tool 1 can pass through the bottom of the tooling trolley 2 in a hidden manner; when the lifting pin 11 is lifted to a certain height and inserted into the first positioning hole 21, the lifting pin 11 is in large clearance fit with the first positioning hole 21, the lifting pin 11 is in a first gear at the moment, and the guide transportation tool 1 can realize traction on the tooling trolley 2 through the lifting pin 11; when the lifting pin 11 is further lifted to a certain height and is in clearance fit with the small first positioning hole 21, the lifting pin 11 is at a second gear, so that the tooling trolley 2 can be pre-positioned, and meanwhile, the tooling trolley 2 can be lifted off the ground; at this time, the positioning pin 12 is controlled to rise and be inserted into the second positioning hole 22 and to be matched with the second positioning hole 22, so that the tooling trolley 2 is positioned in the X direction. Then, the telescopic mechanism can be controlled to synchronously extend out for the same stroke to the left and the right and tightly press the inner side supporting surface of the tooling trolley 2, so that the tooling trolley 2 is positioned in the Y direction. Compared with the prior art, the guide transportation tool 1 and the tooling trolley 2 do not need manual adjustment in the moving and positioning processes, can realize automatic alignment, and can improve the production rhythm and efficiency; meanwhile, fixed equipment for positioning does not need to be additionally arranged on the ground, the flexibility of a production line can be improved, the existing guide transportation tool 1 and the existing tooling trolley 2 can be directly transformed, and the transformation difficulty of the production line is lower.
Generally, after the positioning adjustment of the tooling trolley 2 is completed, the retraction mechanism needs to be controlled to retract, the lifting pin 11 is lowered to the first gear, so that the tooling trolley 2 falls to the ground, and the workpiece is conveniently lowered onto the supporting block of the tooling trolley 2. In the specific embodiment of the invention, the body shell of the vehicle is mainly used as a workpiece, and the positioning precision of the body shell is ensured by accurately positioning the tooling trolley 2.
Referring to fig. 5 and 7, as a specific structural form of the tooling trolley 2, the tooling trolley 2 includes two supporting side plates 23, two positioning plates 24 and a logistics trolley carrier 25, the two supporting side plates 23 are respectively located at two sides, the positioning plates 24 and the logistics trolley carrier 25 are installed above the supporting side plates 23 to form a frame structure, the positioning plates 24 are provided with first positioning holes 21 and second positioning holes 22, and the logistics trolley carrier 25 is used for storing materials.
Further, a support plate is further mounted on the support side plate 23, and vehicle body support blocks are respectively mounted on the support side plate 23 and the support plate and used for positioning and supporting the vehicle body. The travelling mechanisms 26 are respectively arranged below the logistics trolley carrier 25 and the supporting plate, each travelling mechanism 26 comprises a supporting rod and a roller arranged at the bottom of each supporting rod, the logistics trolley carrier 25 and the supporting plate are respectively connected with the tops of the corresponding supporting rods, and the movement of the tooling trolley 2 is assisted in the process of guiding the transportation tool 1 to pull the tooling trolley 2.
In addition, referring to fig. 2 and 8, the anti-swing guide blocks 6 may be symmetrically disposed on the inner side surfaces of the two support side plates 23, and during the process that the guiding transportation tool 1 pulls the tooling pallet 2, the anti-swing guide blocks 6 on both sides limit the displacement of the guiding transportation tool 1 in the left-right direction, thereby controlling the heading angle of the tooling pallet 2 to keep the guiding transportation tool 1 and the tooling pallet 2 running in the same direction.
Specifically, the anti-swing guide block 6 is a rectangular block structure as a whole, and an inclined plane inclined to the outside is provided on a side surface of the anti-swing guide block 6 close to the direction in which the guiding transportation tool 1 drives into the bottom of the tooling trolley 2, so as to facilitate the guiding transportation tool 1 to drive into the bottom of the tooling trolley 2.
In order to position and lift the tooling trolley 2 when the lifting pin 11 is in the second gear, referring to fig. 11 to 13, the lifting pin 11 may be designed in a form that the cross-sectional areas of the upper and lower two-part structures are not the same. Specifically, the lift pin 11 includes a first pin segment and a second pin segment, the second pin segment being located below the first pin segment, the cross-sectional area of the first pin segment being smaller than the cross-sectional area of the second pin segment. Thus, when the lifting pin 11 is in the first gear, the first pin segment is inserted into the first positioning hole 21 and is in large clearance fit with the first positioning hole 21, so that the tooling trolley 2 is pulled by the lifting pin 11 to run; when the lifting pin 11 is in the second gear, the second pin segment is inserted into the first positioning hole 21 and is in small clearance fit with the first positioning hole 21, so that pre-positioning and lifting of the tooling trolley 2 are realized.
In order to facilitate the left-right adjustment of the positioning of the tooling pallet 2 in the Y direction, a sliding bottom plate 3 may be provided on the guiding and transporting tool 1, specifically, the sliding bottom plate 3 is fixedly installed at a position of the second pin section away from the first pin section, referring to fig. 13, when the lifting pin 11 is at the second gear, the sliding bottom plate 3 is attached to the lower surface of the positioning plate 24 of the tooling pallet 2. Further, referring to fig. 9, the sliding bottom plate 3 includes a bottom plate and balls, the balls are disposed on the bottom plate, and the existence of the balls enables the tooling trolley 2 to relatively slide around the lifting pin 11 and the sliding bottom plate 3, that is, enables the tooling trolley 2 to more conveniently slide along a plane on the supporting surface of the guiding transportation tool 1. Also, the second positioning hole 22 may be an oblong hole. Guide transport means 1 with 2 jacking of frock platform truck to break away from ground to with the contact of sliding bottom plate 3, can reduce the frictional force of 2 adjustment in-process of frock platform truck, in order to avoid causing guide transport means 1 self to produce the displacement in the adjustment process.
In the embodiment of fig. 6 and 7, the lift pin 11 and the positioning pin 12 are cylindrical, and it should be noted that the lift pin 11 and the positioning pin 12 are not limited to be cylindrical, but may also be rectangular columns, and accordingly, the first positioning hole 21 may be a rectangular hole, and the second positioning hole 22 may be an elongated hole.
As a specific configuration of the telescopic mechanism, referring to fig. 9, the telescopic mechanism may be a telescopic electric push rod 41, which can extend outward along the Y direction, and a centering adjustment block is provided at an end of the telescopic electric push rod 41. Can set up telescopic machanism respectively in both sides around guide transport means 1 to, at the in-process to the location of frock platform truck 2 along the Y direction, can make the same stroke of each flexible electric putter 41 of both sides around guide transport means 1 synchronous stretch out, thereby realize the location to frock platform truck 2 in the Y direction. Further, referring to fig. 14, the telescoping mechanism may be a bidirectional synchronous telescoping electric push rod, and two sides of the telescoping mechanism are respectively provided with a telescoping electric push rod 41.
As another specific structural form of the telescopic mechanism of the left and right positioning devices, referring to fig. 15, the telescopic mechanism may be a scissors mechanism 51, which may extend outward along the Y direction, and a centering adjustment block is disposed at an end of the scissors mechanism 51. Therefore, in the process of positioning the tooling trolley 2 along the Y direction, the scissor mechanisms 51 on the two sides of the guide transport tool 1 can synchronously extend for the same stroke, so that the positioning of the tooling trolley 2 in the Y direction is realized. Fig. 16 to 18 show three different driving modes of the scissors mechanism 51, in which a hinge point a and a hinge point B are connected to the guiding transportation tool 1, a centering adjustment block is disposed at the hinge point C and the hinge point D, a hinge point E is disposed in the middle of a connecting rod or a hinge of the scissors mechanism, the scissors mechanism extends and retracts under the action of a push rod, and the centering adjustment block at the hinge point C and the hinge point D is pushed to form a pressing force with the surface of the tooling trolley 2, so as to adjust and center the tooling trolley 2 in the Y direction.
In order to better illustrate the technical idea of the present invention, the following technical description is combined with the relatively comprehensive technical features.
Referring to fig. 1 to 18, a transportation system according to a preferred embodiment of the present invention includes a guiding transportation tool 1 and a tooling pallet 2, a first positioning hole 21 and a second positioning hole 22 are formed in the top of the tooling pallet 2, a lift pin 11, a positioning pin 12, and left and right positioning devices are disposed on the guiding transportation tool 1, the lift pin 11 is divided into a first pin segment and a second pin segment, the second pin segment is located below the first pin segment, the cross-sectional area of the first pin segment is smaller than that of the second pin segment, and the lift pin 11 has three working states, namely, an initial state, a first gear and a second gear; the second pin section of the lifting pin 11 is sleeved with a sliding bottom plate 3, and the sliding bottom plate 3 consists of a bottom plate and balls on the bottom plate; the first positioning hole 21 is a round hole, and the second positioning hole 22 can be a long round hole, so that the installation and adjustment are convenient; the left and right positioning devices comprise telescopic mechanisms, the telescopic mechanisms can be telescopic electric push rods 41, the end parts of the telescopic electric push rods 41 are provided with centering adjusting blocks, and the telescopic mechanisms can be respectively arranged at the front side and the rear side of the guide transportation tool 1; alternatively, the telescopic mechanism may be a scissors mechanism 51, which may extend outward along the Y direction, and the end of the scissors mechanism 51 is provided with a centering adjustment block, and the telescopic mechanisms may be respectively disposed on both sides of the guiding transportation tool 1. The tooling trolley 2 comprises supporting side plates 23, a positioning plate 24, a logistics trolley carrier 25 and a supporting plate, wherein the two supporting side plates 23 are respectively positioned at two sides, the positioning plate 24 is arranged above the supporting side plates 23, the logistics trolley carrier 25 and the supporting plate form a frame structure, a first positioning hole 21 and a second positioning hole 22 are formed in the positioning plate 24, the logistics trolley carrier 25 is used for storing materials, running mechanisms 26 are respectively arranged below the logistics trolley carrier 25 and the supporting plate, each running mechanism 26 comprises a supporting rod and a roller arranged at the bottom of the supporting rod, and vehicle body supporting blocks are respectively arranged on the supporting side plates 23 and the supporting plate and used for positioning and supporting a vehicle body.
The automatic positioning method based on the transportation system of the preferred embodiment of the invention comprises the following steps:
the empty tooling trolley 2 is called out from the warehouse (called out through the roller bed), performs information interaction with a feeding point of the roller bed after guiding the transport tool 1 to reach a feeding station, and is automatically butted with the roller bed (through a photoelectric sensing device);
after the guiding and transporting tool 1 reaches the butting position, the lifting pin 11 is lifted up and pushed into the first positioning hole 21 of the tooling trolley 2 through the electric push rod, and after the lifting pin 11 is lifted up to the position (at the moment, the lifting pin 11 is in the first gear), the guiding and transporting tool 1 pulls the tooling trolley 2 through the lifting pin 11 and is guided by the left and right anti-swing structure 6 at the rear part of the tooling trolley 2, so that the tooling trolley 2 is transported to the designated position;
after the tool trolley 2 is pulled to the position of the trolley body by the guiding and transporting tool 1, the guiding and transporting tool 1 is accurately positioned to a trolley receiving point through a self positioning system (certainly, the positioning can be carried out through other commonly used positioning modes, such as remote control positioning through a remote controller), then the guiding and transporting tool 1 raises the lifting pin 11 to a second gear (the pin diameter is increased, and the fit clearance with the hole is reduced), at the moment, the lifting pin 11 and the first positioning hole 21 of the tool trolley 2 play a role in pre-positioning, and meanwhile, the lifting pin 11 can drive the sliding bottom plate 3 to support the tool trolley 2 for a certain distance, so that the tool trolley 2 is separated from the ground;
the positioning pin 12 of the guiding transportation tool 1 is pushed by the electric push rod to ascend and is inserted into a second positioning hole 22 (the second positioning hole 22 is a long round hole) of the tooling trolley 2, and at the moment, the positioning pin 12 is matched with the long round hole to play a role in fine positioning in the X direction; then, the front telescopic mechanism and the rear telescopic mechanism extend out simultaneously, and the supporting side plates 23 of the tooling trolley 2 are pressed leftwards and rightwards synchronously, so that the tooling trolley 2 is adjusted to be centered in the Y direction of the guide transport tool 1; meanwhile, the tool trolley 2 is supported by the guiding and transporting tool 1 and is in contact with the tool trolley 2 through the sliding bottom plate 3, so that the tool trolley 2 can slide on the supporting surface of the guiding and transporting tool 1 along a plane, and the centering of the tool trolley 2 is adjusted;
after the positioning adjustment of the tooling trolley 2 is finished, the centering adjusting blocks at the two sides are retracted by a telescopic mechanism of the guiding and transporting tool 1, and the lifting pin 11 is lowered to a first gear, so that the tooling trolley 2 is separated from the sliding bottom plate 3 of the guiding and transporting tool 1 and falls onto the ground; the automobile body workpiece is lowered to the automobile body supporting block of the tooling trolley 2 through the lifter, so that the automatic receiving process of guiding the transportation tool 1 to carry the tooling trolley 2 is completed.
The above description mainly describes the automatic vehicle receiving process of guiding the transportation vehicle 1 to carry the tooling trolley 2, and the automatic transfer of the logistics trolley (automatic movement of the logistics trolley in place) can also be realized by adapting the automatic positioning method of the present invention, which is not described herein again.
Compared with the prior art, the technical scheme of the invention adds the designs of pre-positioning, fine positioning, sliding adjustment and the like between the guide transportation tool 1 and the tooling trolley 2, does not need manual adjustment in the processes of moving, centering, positioning and the like, and can realize automatic alignment. The positioning of the tooling trolley 2 is ensured by establishing accurate positioning between the guiding and transporting tool 1 and the tooling trolley 2 by utilizing a positioning system of the guiding and transporting tool 1, the guiding and transporting tool 1 does not need to be separated and then returns to the repeated action of receiving the trolley in the process, and the production beat and the efficiency can be improved; meanwhile, fixed equipment for positioning does not need to be additionally arranged on the ground, so that the flexibility of a production line can be improved, and the transformation difficulty of the production line can be reduced. Meanwhile, compared with the prior art, the automatic receiving or automatic transferring functions of the logistics trolley and the like are added.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (11)
1. The automatic positioning method based on the transportation system is characterized in that the transportation system comprises a guiding transportation tool (1) and a tooling trolley (2), the guiding transportation tool (1) comprises a trolley body, a lifting pin (11), a positioning pin (12) and a telescopic mechanism, the lifting pin (11) and the positioning pin (12) are movably connected with the trolley body, and the telescopic mechanism is arranged on the trolley body; a first positioning hole (21) and a second positioning hole (22) are formed in the tooling trolley (2); the automatic positioning method comprises the following steps:
under the condition that the guiding and transporting tool (1) reaches the butt joint position with the tooling trolley (2), controlling a lifting pin (11) on the guiding and transporting tool (1) to be lifted to a first gear, and inserting the lifting pin (11) into the first positioning hole (21) at the first gear so that the guiding and transporting tool (1) pulls the tooling trolley (2) through the lifting pin (11);
under the condition that the tooling trolley (2) is pulled to a specified position by the guiding and transporting tool (1), the guiding and transporting tool (1) is positioned to a vehicle receiving point, a lifting pin (11) on the guiding and transporting tool (1) is controlled to be lifted to a second gear, and the tooling trolley (2) is lifted and separated from the ground through the lifting pin (11); and controlling the positioning pin (12) to rise and be inserted into the second positioning hole (22) so as to position the tooling trolley (2) in a first direction, controlling a telescopic mechanism of the guide transport tool (1) to extend out and synchronously press a supporting surface on the inner side of the tooling trolley (2), and positioning the tooling trolley (2) in a second direction perpendicular to the first direction.
2. The automatic positioning method based on the transportation system according to claim 1, wherein after the positioning adjustment of the tooling trolley (2) is completed, the telescoping mechanism is controlled to retract, the lifting pin (11) is lowered, so that the tooling trolley (2) falls to the ground, and the workpiece is lowered onto the supporting block of the tooling trolley (2).
3. The automatic positioning method based on the transportation system according to claim 1, wherein the inner surfaces of the supporting side plates (23) at both sides of the tooling trolley (2) are provided with anti-swing guide blocks (6) which are oppositely arranged, and the guiding transportation tool (1) is guided by the anti-swing guide blocks (6) in the process of pulling the tooling trolley (2) through the lifting pin (11).
4. The automatic positioning method based on the transportation system is characterized in that the guiding transportation tool (1) further comprises a sliding bottom plate (3), when the lifting pin (11) is lifted to the second gear, the lifting pin (11) drives the sliding bottom plate (3) to lift the tooling trolley (2) and separate from the ground, and the sliding bottom plate (3) is in contact with the lower surface of a positioning plate (24) of the tooling trolley (2).
5. The automatic positioning method based on the transportation system of claim 4, wherein during the process that the telescopic mechanism of the guiding transportation tool (1) extends out and synchronously presses the inner side supporting surface of the tooling trolley (2), the tool trolley (2) slides along the plane on the guiding transportation tool (1) through the contact of the balls of the sliding bottom plate (3) and the lower surface of the positioning plate (24) of the tooling trolley (2).
6. The transport system based automatic positioning method according to claim 1, characterized in that the guiding vehicle (1) can shuttle from the bottom of the tooling trolley (2) when the lifting pin (11) is in the initial gear.
7. The transportation system based automatic positioning method according to any of claims 1 to 5, characterized in that the second positioning hole (22) is an oblong hole or a long-strip-shaped hole.
8. The transport system based automatic positioning method according to any of claims 1 to 5, characterized in that the lift pin (11) comprises a first pin segment and a second pin segment located below the first pin segment, the cross-sectional area of the first pin segment is smaller than the cross-sectional area of the second pin segment, and the lift pin (11) pre-positions the tooling trolley (2) when the guiding transport (1) raises the lift pin (11) to a second gear position.
9. The automatic positioning method based on the transportation system of any one of claims 1 to 5, wherein one end of the telescopic mechanism is connected with the vehicle body, and one end of the telescopic mechanism far away from the vehicle body is provided with a centering adjusting block.
10. The transportation system based automatic positioning method of any of claims 1 to 5, wherein the telescoping mechanism is at least one of a telescoping electric ram (41) and a scissor mechanism (51).
11. The transport system based automatic positioning method according to any of claims 1 to 5, characterized in that the guiding transport (1) is controlled to be positioned to the pick-up point by means of an own positioning system.
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