Long-distance high-speed intelligent truss with high-precision positioning function and positioning method

Abstract

The invention discloses a long-distance high-speed intelligent truss with a high-precision positioning function. The long-distance high-speed intelligent truss comprises a guide rail, walking mechanisms and grippers connected with the walking mechanisms. A zero benchmark for setting the initial positions of the walking mechanisms is arranged on the guide rail, a positioning point is arranged at the position, corresponding to each machining station, of the guide rail, and when the walking mechanisms are located at the positioning points, workpiece exchange is carried out on the positioning points and the corresponding machining stations. An off-position benchmark is further arranged at the position, near each positioning point, of the guide rail, wherein the off-position benchmark is located on the side, close to the zero benchmark, in the positioning point. Zero detection modules and off-position benchmark point detection modules are arranged between the walking mechanisms and the guide rail. According to the long-distance high-speed intelligent truss, no matter how long the distances between all the machining stations and the zero benchmark are, as the machining stations have therespective off-position benchmarks, off-position positions are controlled with the respective off-position benchmarks as reference points, accumulated errors generated during long-distance route walking in the prior art are avoided, and high-precision positioning can be kept on all the stations.

Description

technical field [0001] The invention relates to an intelligent truss, in particular to a long-distance high-speed intelligent truss with high precision positioning and a positioning method. Background technique [0002] In the field of automobile engine production, the production of engine components (such as cylinder block, cylinder head, crankshaft, etc.) needs to be processed through multiple processes, and the production and processing of these components are usually carried out by automated assembly lines. During the production process, engine components need to be transferred between various stations. In the prior art, trusses are generally used to realize the transportation of engine components between various stations. In the existing truss, in order to realize the accurate positioning of workpieces, a reference zero point is set on the truss guide rail. The moving distance of the hand, this positioning method has the following problems in actual production: [000...

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Problems solved by technology

[0003] 1. Affected by factors such as truss manufacturing accuracy, wear during use, and thermal expansion and contraction caused by temperature changes, when the gripper carries the workpiece according to the set distance, positioning errors are prone to occur between the gripper and each processing station. As a result, accurate workpiece exchange between the gripper and the processing station cannot be achieved, which in turn affects the machining accuracy of the workpiece

[0004] 2. Since a gripper is often responsible for handling workpieces between multiple processing stations, the distance between each processing station and the reference zero point is different. The farther the distance, the greater the cumulative error when the gripper moves. Therefore, for The farther the processing station is from the reference zero point, the harder it is to ensure the handling accuracy of the workpiece

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