CN221253599U - EMS double-encoder positioning device capable of self-adapting to vehicle type height - Google Patents
EMS double-encoder positioning device capable of self-adapting to vehicle type height Download PDFInfo
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- CN221253599U CN221253599U CN202323109647.1U CN202323109647U CN221253599U CN 221253599 U CN221253599 U CN 221253599U CN 202323109647 U CN202323109647 U CN 202323109647U CN 221253599 U CN221253599 U CN 221253599U
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Abstract
The utility model discloses an EMS double-encoder positioning device capable of self-adapting to the height of a vehicle type, which comprises: the conveying vehicle group is used for horizontal running of the lifting appliance; the lifting appliance group is used for positioning and fixing a product to be processed; the lifting vehicle group is hoisted on the conveying vehicle group and used for controlling the lifting tool group to vertically lift; the elevator car group includes: the lifting frame is provided with a driving structure, and the driving structure drives the lifting structure to drive the lifting appliance to lift; the lifting structure comprises a lifting belt and a winding and unwinding wheel connected with the output end of the driving structure; one end of the lifting belt is fixed on the winding and unwinding wheel, and the other end is fixed on the lifting frame after passing through the movable pulley arranged on the lifting appliance group; the driving structure drives the retractable wheel to rotate to recycle or release the lifting belt so as to lift or lower the height of the lifting appliance group. The utility model has the advantages of convenient installation, economy, practicability, stable detection and strong redundancy error correction performance, is suitable for mixed line production of various vehicle types, obviously improves the capability and efficiency of chassis assembly, and improves the intelligent level of the production line.
Description
Technical Field
The utility model belongs to the technical field of automatic control of conveying equipment in a final assembly workshop, relates to a control system for automatic detection and automatic lifting of lifting devices at different stations of different vehicle types, and particularly relates to an EMS double-encoder positioning device with self-adaptive vehicle type height.
Background
Chassis assembly line: the assembly of an oil circuit system (a fuel pipe, a brake oil pipe and a fuel tank), a power assembly (a heat insulation plate, a power and front suspension assembly, a rear suspension assembly and an exhaust pipe), a brake system, a bottom wire harness, a mud guard, a tire, a seat and the like is mainly completed.
In the process of chassis assembly operation, the power assembly is assembled at the required assembly height of about 1.7 m-1.9 m, the tire assembly operation height is about 0.8 m-1 m, and the assembly operation of seats, instrument panels and the like is about 0.3 m-0.5 m. The oil passage system and the wire harness need to be operated at the bottom of the vehicle body.
The chassis assembly line needs to meet the production mode of factory product diversity collinear production in mass production, and the operation conditions of chassis operation are adjusted according to different product demands. In the future, intelligent automobile factories develop customer customizing functions, and the flexibility requirement of chassis wires is further improved. Common sensor detection, switch position are fixed, can't realize high electrodeless regulation, can't adapt to the flexible production demand of different station operations of different motorcycle types, therefore it becomes key to develop a flexible, reliable and stable, safe EMS hoist height control system.
Disclosure of utility model
Aiming at the problems existing in the background technology, the utility model aims to provide the EMS double-encoder positioning device which is convenient, practical and high in efficiency and is adaptive to the height of a vehicle type.
In order to achieve the above object, the present utility model provides an EMS double encoder positioning device for adaptive vehicle height, comprising:
the conveying vehicle group is used for horizontal running of the lifting appliance;
The lifting appliance group is used for positioning and fixing a product to be processed;
the lifting vehicle group is hoisted on the conveying vehicle group and used for controlling the lifting tool group to vertically lift;
The elevator car set includes: the lifting frame is provided with a driving structure, and the driving structure drives the lifting structure to drive the lifting appliance to lift;
The lifting structure comprises a lifting belt and a winding and unwinding wheel connected with the output end of the driving structure; one end of the lifting belt is fixed on the retractable wheel, and the other end of the lifting belt is fixed on the lifting frame after passing through a movable pulley arranged on the lifting appliance group; the driving structure drives the retractable wheel to rotate to recycle or release the lifting belt so as to lift or lower the height of the lifting appliance group.
As a preferable scheme, the lifting appliance group comprises a lifting appliance rack, and the movable pulley is arranged on the lifting appliance rack; the lifting appliance frames are symmetrically provided with a group of lifting appliances for positioning and fixing products to be processed; the lifting appliance is movably connected with the lifting appliance rack; the rotating motor drives the lifting appliance to rotate.
Preferably, the lifting appliance frame is provided with bearing rollers for bearing rolling connection between the lifting appliance and the inner wall of the lifting appliance, and limiting rollers for axially limiting the lifting appliance and rolling connection between the lifting appliance and the side wall of the lifting appliance.
Preferably, the lifting appliance is a section of major arc.
Further preferably, a rotating belt is arranged on the outer wall of the lifting appliance, and two ends of the rotating belt are respectively fixed with two ends of the major arc; the output end of the rotating motor is meshed with the rotating belt, and compression wheels for compressing the rotating belt are arranged on two sides of the meshed position.
As another preferable scheme, a shear type balance mechanism for guaranteeing stable lifting of the lifting appliance is arranged between the lifting vehicle group and the lifting appliance group.
Preferably, the scissor balance mechanism is a secondary scissor fork structure.
Preferably, four corners of the lifting frame are provided with one lifting structure.
Preferably, the driving structure comprises two driving motors which are standby mutually and are arranged in the middle of the lifting frame to drive the two lifting mechanisms respectively.
Preferably, the positioning device further comprises an incremental stay rope encoder arranged on the lifting frame and used for feeding back the real-time rotating speed of the terminal of the lifting vehicle group, and the real-time rotating speed is compared with the given speed of the lifting appliance controller, so that speed closed-loop control is realized, and the incremental stay rope encoder is connected to a frequency converter encoder card of the vehicle-mounted controller.
Preferably, the positioning device further comprises an absolute value type pull rope encoder arranged on the lifting frame and used for feeding back the real-time position of the terminal of the lifting vehicle group, and the real-time position of the terminal of the lifting vehicle group is compared with the given target position of the lifting appliance controller in real time, so that closed-loop control of the position is realized, and the absolute value type pull rope encoder is numerically connected to a high-speed counting module of the IO of the vehicle-mounted controller.
The beneficial effects of the utility model are as follows: the double encoders are longitudinally arranged on the lifting frame, the pull ring of the encoder is arranged on the rotating frame, the lifting tool set automatically descends during operation, and the double encoders automatically stop when the pull rope encoder reaches a preset value. The utility model has the advantages of convenient installation, economy, practicability, stable detection and strong redundancy error correction performance, is suitable for mixed line production of various vehicle types, obviously improves the capability and efficiency of chassis assembly, and improves the intelligent level of the production line.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a second schematic diagram of the structure of the present utility model;
FIG. 3 is a schematic perspective view of the present utility model, wherein the conveyor train set is not shown;
fig. 4 is a schematic cross-sectional view of a spreader set according to the utility model.
Detailed Description
The following describes the utility model in further detail, including preferred embodiments, by way of the accompanying drawings and by way of examples of some alternative embodiments of the utility model. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.
As shown in fig. 1 to 4, the EMS dual encoder positioning device for adaptive vehicle height according to the present utility model is characterized by comprising: the device comprises a conveying train unit 1, a lifting train unit 2, a scissor balance mechanism 3, a lifting appliance 4, an incremental type stay cord encoder 5 and an absolute value stay cord encoder 6.
The conveying trolley set 1 is arranged front and back by adopting double driving and is used for horizontal walking of the whole device.
And the lifting car group 2 is hoisted in the conveying car group 1 and used for controlling the lifting tool group 4 to vertically lift.
The scissor balance mechanism 3 is positioned between the lifting car group 2 and the lifting appliance group 4, so that lifting stability of the lifting appliance is ensured; the joint bearing of the scissor balance mechanism has certain aligning capability and can absorb errors generated by processing.
The lifting appliance group 4 is used for positioning and fixing a product to be processed; by adopting a double-suspension arm design, rotation control is realized through synchronous toothed belt driving, a rotary lifting appliance directly carries a vehicle body, and an operator assembles a chassis at the bottom of the rotary lifting appliance.
The elevator car group 2 includes: the lifting device comprises a lifting frame 21, wherein a driving structure 22 is arranged on the lifting frame 21, and the driving structure 22 drives the lifting structure to drive a lifting appliance to lift; the lifting structure comprises a lifting belt 23 and a retractable wheel 24 connected with the output end of the driving structure 22; one end of the lifting belt 23 is fixed on the retractable wheel 24, and the other end is fixed on the lifting frame 21 after passing through the movable pulley 41 arranged on the lifting appliance group 4; the driving structure 22 drives the retraction wheel 24 to rotate to recycle or release the lifting belt 23 so as to lift or lower the height of the lifting appliance set 4.
The four corners of the lifting frame 21 are respectively provided with one lifting structure.
The lifting belt 23 is a horse-type belt-model XHSII; the side of the belt is provided with a guide wheel and a movable pulley structure which are adjustable.
The conveying trolley set 1 is hinged to the equalizing beam through a C-shaped structure, the conveying trolley set 1 is hinged to the equalizing beam through a thrust ball bearing and a deep groove ball bearing, and the equalizing beam is connected with the lifting frame 21 through a universal adjusting seat.
The lifting appliance group 4 comprises a lifting appliance rack 42, and the movable pulley 41 is arranged on the lifting appliance rack 42; the hanger frames 42 are symmetrically provided with a group of hangers 43 for positioning and fixing the product to be processed; the lifting appliance 43 is movably connected with the lifting appliance rack 42; the rotation motor 44 drives the hanger 43 to rotate.
The hanger frame 42 is provided with bearing rollers 45 for bearing the hanger 43 and rolling-connected with the inner wall of the hanger 43, and limit rollers 46 for axially limiting the hanger 43 and rolling-connected with the side wall of the hanger 43.
In this embodiment, the hanger 43 is a major arc. The outer wall of the lifting appliance 43 is provided with a rotary belt 47, and two ends of the rotary belt 47 are respectively fixed with two ends of the major arc; the output end of the rotating motor 44 is meshed with the rotating belt 47, and pressing wheels 48 for pressing the rotating belt 47 are arranged on two sides of the meshed position.
The positioning device further comprises an incremental stay rope encoder 5 arranged on the lifting frame 21 and used for feeding back the real-time rotating speed of the lifting vehicle set terminal, comparing the real-time rotating speed with the given speed of the lifting appliance controller in real time, realizing speed closed-loop control, and enabling the incremental stay rope encoder to be connected with a frequency converter encoder card of the vehicle-mounted controller.
The positioning device further comprises an absolute value type pull rope encoder 6 arranged on the lifting frame 21 and used for feeding back the real-time position of the terminal of the lifting vehicle group, comparing the real-time position with the given target position of the lifting appliance controller, realizing position closed-loop control, and enabling the absolute value type pull rope encoder to be connected with a high-speed counting module of the vehicle-mounted controller IO in value.
The body of the incremental stay cord encoder 5 and the body of the absolute stay cord encoder 6 are arranged on the lifting frame 21 of the lifting car group 2. The pull ring of the incremental pull rope encoder 5 and the pull ring hook of the absolute pull rope encoder 6 are arranged on the hanger frame 42 of the hanger group 4. A shear type balance mechanism 3 is additionally arranged between the lifting unit 2 and the lifting device group 4 to ensure that the main body is stable and free of inclination, the lifting device group 4 serves as a tail end carrier to support the vehicle body, the vehicle body is stably lifted and free of shaking through a locating pin, the height of a chassis is reduced to the lowest position (shown in figure 1) or the position set by other altimeters during assembly operation, and the height returns to the initial position (shown in figure 2) during non-assembly operation.
The incremental stay wire encoder 5 is an HTL incremental stay wire encoder, and the absolute value stay wire encoder 6 is an SSI absolute value stay wire encoder. The SSI absolute value type pull rope encoder is connected into an IO (input/output) of the vehicle-mounted controller, the HTL incremental type pull rope encoder is connected into a frequency converter of the vehicle-mounted controller, a zero position switch is arranged in lifting configuration, zero position correction is conducted on lifting height during debugging, zero position rechecking is conducted on lifting during operation, a lifting appliance drives away from a station after chassis assembly operation is completed, and a lifting device returns to the original position (high position).
The used stay cord encoder has the following characteristics. High-speed, high-integration special photoelectric scanning chip, short signal conduction, low signal crosstalk and high code value conversion rate; accurate micron-level assembly, differential code disc scanning and low-position signal delay; intelligent, LED attenuation and temperature influence self-compensation, excessive voltage drop, overload alarm, fault self-diagnosis and the like; poor environmental tolerance, short circuit reverse polarity protection, high and low temperature, strong impact vibration, and the like. The pull-cord encoder works on an optical principle, with the transmitter and receiver being mounted in two opposing housings. The emitter transmits a beam of light that passes through three gratings with smaller openings to form a light pattern. This light pattern is transmitted to a receiver which determines the position of the object by measuring the change in the light pattern. Therefore, the position and the speed of the lifting device can be detected in real time through the stay cord encoder, and double closed-loop control of the position and the speed is realized.
The working engineering of the utility model is as follows:
Step 1, an EMS lifting appliance walks along a track for 30m/min, 4-pole carbon brushes on a conveying vehicle group are electrified through a sliding contact line on the contact track, and numerical values of a Datamatrix two-dimensional code band on the track are read through a reading terminal and transmitted to a vehicle-mounted controller CPU through a 485 protocol;
Step 2, when the numerical value read by a reading terminal on the conveying trolley set reaches a station deceleration set value, decelerating the lifting appliance to 1.5-6 m/min, and when the numerical value read by the reading terminal reaches a station stop set value, stopping the lifting appliance;
Step 3, the vehicle-mounted controller calls the height meter of the station of the vehicle, the controller controls the lifting vehicle group to work, the lifting vehicle group descends, the absolute value type stay rope encoder detects the real-time position, the control is accessed through the SSI interface, the HTL incremental encoder is accessed to the frequency converter to detect the real-time speed, and at the moment, the lifting vehicle is stable without shaking and abnormal sound;
and 4, the absolute value type stay cord encoder value on the lifting car set reaches a stop set value, and lifting of the lifting appliance is stopped.
And 5, assembling operation is carried out on the bottom of the vehicle body by a chassis assembler, the traveling direction of the lifting appliance is 1.5m/min at the moment, the assembly staff continuously slowly advances, and the assembly staff follows or stands on the following AGV to operate.
And 6, for a special station, when the angle of the vehicle body needs to be adjusted to operate on the base, the lifting tool group carries the vehicle body to rotate, so that the installation convenience is improved.
And 7, finishing the assembly operation, driving the lifting appliance away from the operation station, lifting the lifting appliance group to the initial position by the lifting appliance group, entering a buffer area, and waiting for entering the next cycle.
It will be readily understood by those skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present utility model and that various modifications, combinations, substitutions, improvements, etc. may be made without departing from the spirit and principles of the utility model.
Claims (10)
1. An EMS double encoder positioning device for adapting to a vehicle model height, comprising:
the conveying vehicle group is used for horizontal running of the lifting appliance;
The lifting appliance group is used for positioning and fixing a product to be processed;
the lifting vehicle group is hoisted on the conveying vehicle group and used for controlling the lifting tool group to vertically lift;
The elevator car set includes: the lifting frame is provided with a driving structure, and the driving structure drives the lifting structure to drive the lifting appliance to lift;
The lifting structure comprises a lifting belt and a winding and unwinding wheel connected with the output end of the driving structure; one end of the lifting belt is fixed on the retractable wheel, and the other end of the lifting belt is fixed on the lifting frame after passing through a movable pulley arranged on the lifting appliance group; the driving structure drives the retractable wheel to rotate to recycle or release the lifting belt so as to lift or lower the height of the lifting appliance group.
2. The EMS dual encoder positioning device of adaptive vehicle model height of claim 1, wherein: the lifting appliance group comprises a lifting appliance rack, and the movable pulleys are arranged on the lifting appliance rack; the lifting appliance frames are symmetrically provided with a group of lifting appliances for positioning and fixing products to be processed; the lifting appliance is movably connected with the lifting appliance rack; the rotating motor drives the lifting appliance to rotate.
3. The EMS dual encoder positioning device of adaptive vehicle model height of claim 2, wherein: the lifting appliance is characterized in that a bearing roller for bearing rolling connection between the lifting appliance and the inner wall of the lifting appliance is arranged on the lifting appliance frame, and a limiting roller for limiting the lifting appliance axially and rolling connection with the side wall of the lifting appliance is arranged on the lifting appliance frame.
4. An EMS dual encoder positioning device for adapting vehicle model height according to claim 2 or 3, characterized in that: the lifting appliance is a section of major arc; the outer wall of the lifting appliance is provided with a rotary belt, and two ends of the rotary belt are respectively fixed with two ends of the major arc; the output end of the rotating motor is meshed with the rotating belt, and compression wheels for compressing the rotating belt are arranged on two sides of the meshed position.
5. The EMS dual encoder positioning device of adaptive vehicle model height of claim 1, wherein: and a shear type balance mechanism for guaranteeing stable lifting of the lifting appliance is arranged between the lifting vehicle group and the lifting appliance group.
6. The EMS dual encoder positioning device of adaptive vehicle model height of claim 5, wherein: the shear type balance mechanism is of a secondary shear fork structure.
7. The EMS dual encoder positioning device of adaptive vehicle model height of claim 1, wherein: the four corners of the lifting frame are respectively provided with one lifting structure.
8. The EMS dual encoder positioning device of adaptive vehicle model height of claim 1, wherein: the driving structure comprises two driving motors which are standby mutually and are arranged in the middle of the lifting frame to drive the two lifting mechanisms respectively.
9. The EMS dual encoder positioning device of adaptive vehicle model height of claim 1, wherein: the positioning device further comprises an incremental stay rope encoder arranged on the lifting frame and used for feeding back the real-time rotating speed of the lifting vehicle set terminal, comparing the real-time rotating speed with the given speed of the lifting appliance controller in real time, realizing speed closed-loop control, and enabling the incremental stay rope encoder to be connected with a frequency converter encoder card of the vehicle-mounted controller.
10. The EMS dual encoder positioning device of adaptive vehicle model height of claim 1, wherein: the positioning device further comprises an absolute value type pull rope encoder arranged on the lifting frame and used for feeding back the real-time position of the lifting vehicle group terminal, comparing the real-time position with the given target position of the lifting appliance controller, realizing position closed-loop control, and enabling the absolute value type pull rope encoder to be connected with a high-speed counting module of the vehicle-mounted controller IO in value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323109647.1U CN221253599U (en) | 2023-11-15 | 2023-11-15 | EMS double-encoder positioning device capable of self-adapting to vehicle type height |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323109647.1U CN221253599U (en) | 2023-11-15 | 2023-11-15 | EMS double-encoder positioning device capable of self-adapting to vehicle type height |
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| CN221253599U true CN221253599U (en) | 2024-07-02 |
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| CN202323109647.1U Active CN221253599U (en) | 2023-11-15 | 2023-11-15 | EMS double-encoder positioning device capable of self-adapting to vehicle type height |
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- 2023-11-15 CN CN202323109647.1U patent/CN221253599U/en active Active
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