A flexible reciprocating conveying mechanism

Abstract

The invention discloses a flexible reciprocating conveying mechanism, which relates to the technical field of automobile automated manufacturing, and comprises a vehicle body lifting and conveying unit, a servo motor transmission unit, a vehicle body laser detection unit, an NC fixture unit and a PLC control unit; a transmission gear of the servo motor transmission unit meshes and transmits with a transmission rack of the vehicle body lifting and conveying unit, the transmission rack is connected with a slide, and drives the slide on the vehicle body lifting and conveying unit to slide forward and backward; the vehicle body laser detection unit is used for scanning and detecting the data of an imported whole vehicle body; the PLC control unit retrieves the corresponding operation program according to the imported vehicle model data, controls the vehicle body lifting and conveying unit to lift the whole vehicle body through the lifting components on the slide, and transports the whole vehicle body to a corresponding work station, the NC fixture unit at the work station is used for lifting the whole vehicle body, and cooperates with the operation procedure at the corresponding work station to perform the operation, thereby solving the problems of large accuracy variation, low stability and low vehicle model import compatibility of existing conveying equipment.

Description

Technical Field

[0001] The invention relates to the technical field of automobile automated manufacturing, and in particular to a flexible reciprocating conveying mechanism. Background Art

[0002] In the modern industrial manufacturing industry, the automobile manufacturing industry is one of the highly automated industries, in which the welding process is one of the key links in the frame production process. The automation of the welding station directly affects the production efficiency and product quality.

[0003] In order to improve production efficiency and welding quality, a variety of automation technologies are widely used in the transportation and welding of automobile frames. At present, there are two common methods for conveying and welding automobile frames:

[0004] 1. Roller bed conveying method: The automobile frame needs to be welded on a roller bed in multiple stations and processes. After the frame is positioned and welded at each station, it is transferred to the next welding station. Although this method can achieve continuous production, there is obvious equipment wear in long-term operation. The accuracy of the roller bed decreases after long-term use, and the roller bed conveying equipment is prone to overtravel. It is also necessary to frequently deal with the problem of conveying equipment overtravel, and it is necessary to prepare a temporary storage area on site to stack the skid equipment, which not only affects the welding quality, but may also cause production delays and increase maintenance costs; the fixed design of the roller bed also limits the compatibility with new models and reduces the flexibility of the production line to be compatible with a variety of products, so it has a great impact on the production efficiency of the automobile welding process.

[0005] 2. Robot fixture transfer method: The robot is equipped with special fixtures. The robot can provide better flexibility and adaptability, grab and transfer the car frame to the corresponding welding station, but the high initial investment and high dependence on robots make it difficult for small and medium-sized enterprises to afford it. In addition, when handling heavy frames, the robot system has high requirements for load and precision control, and also has high requirements for maintenance and operating technology. When importing new cars, the robot needs to replace the fixture, and it also takes extra time to adjust the fixture and control program, which will increase the production preparation time and lead to problems such as low compatibility with the introduction of new models, thereby affecting the production efficiency of the automobile welding process.

[0006] Therefore, the shortcomings of the existing conveying equipment in automobile welding stations are: first, the high investment cost and long-term maintenance cost limit the full popularization and comprehensive application of automated transmission technology in automobile manufacturing. Secondly, the existing methods lack flexibility and cost-effectiveness when adapting to new models and changing production line configurations, which is particularly prominent in the rapidly changing environment of the automobile market. Finally, the durability and accuracy of the equipment decrease over time, requiring frequent adjustments and maintenance, which affects the continuity and stability of production.

[0007] In summary, the applicant has found that the prior art has at least the following technical problems:

[0008] The existing conveying equipment for automobile welding stations has problems such as large accuracy variation, low stability, low compatibility with vehicle model imports, and lack of flexibility. Summary of the invention

[0009] The purpose of the present invention is to provide a flexible reciprocating conveying mechanism to solve the problems of large accuracy variation, low stability, low vehicle model import compatibility and lack of flexibility in existing conveying equipment for automobile welding stations.

[0010] The various technical effects that can be produced by the preferred technical solutions among the various technical solutions provided by the present invention are described in detail below.

[0011] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0012] The present invention provides a flexible reciprocating conveying mechanism, comprising a vehicle body lifting and conveying unit, a servo motor transmission unit, a vehicle body laser detection unit, an NC fixture unit and a PLC control unit; the NC fixture unit, the vehicle body lifting and conveying unit and the servo motor transmission unit are all installed and fixed on the ground of the production line; the servo motor transmission unit is arranged under the vehicle body lifting and conveying unit, the servo motor transmission unit is connected to the fixed frame of the vehicle body lifting and conveying unit, and the transmission gear of the servo motor transmission unit is meshed and transmitted with the transmission rack of the vehicle body lifting and conveying unit, driving the slide on the vehicle body lifting and conveying unit to slide back and forth; the transmission gear is connected to the transmission shaft of the servo motor transmission unit; the transmission rack is connected to the slide; the vehicle body laser detection unit is arranged on both sides of the conveying starting point of the vehicle body lifting and conveying unit, and is used for scanning and detecting the introduction The data of the vehicle body is collected and imported into the PLC control unit; the NC fixture unit is arranged in the vehicle body lifting and conveying unit, and a plurality of NC fixture units are provided. The number and position of the lifting components of the vehicle body lifting and conveying unit are also arranged corresponding to the NC fixture unit; wherein at least one is provided at the conveying starting point and the end point of the vehicle body lifting and conveying unit respectively; the PLC control unit is electrically connected to the NC fixture unit, the vehicle body lifting and conveying unit, the servo motor transmission unit and the vehicle body laser detection unit; the PLC control unit retrieves the corresponding operation program according to the imported vehicle model data, controls the vehicle body lifting and conveying unit to lift the vehicle body through the lifting components on the slide, and transports it to the corresponding workstation, where the NC fixture unit at the workstation is used to lift the vehicle body and cooperate with the operation process at the corresponding workstation to perform the operation.

[0013] In one of the embodiments, each workstation is provided with a plurality of the jacking components, and the plurality of the jacking components are installed on both sides of the slide; the jacking components include a mounting seat, a guide column, a jacking cylinder and a jacking block; the mounting seat is connected to the slide, the guide column is slidably installed in the mounting seat, the jacking cylinder is installed in the mounting seat, and the guide column and the jacking cylinder are arranged side by side; the jacking block is installed at the telescopic end of the jacking cylinder and connected to one end of the guide column; the jacking cylinder is arranged vertically, and the telescopic end faces upward.

[0014] In one embodiment, the NC fixture unit includes a plurality of lifting arms with multiple degrees of freedom; the lifting arms have the degrees of freedom of lateral and longitudinal translation, as well as vertical lifting.

[0015] In one of the embodiments, the lifting arm is provided with transverse, longitudinal and vertical linear moving modules, and a lifting finger; the lifting finger is installed on the vertical linear moving module, and the vertical linear moving module is installed on the transverse linear moving module or the longitudinal linear moving module; the translation and lifting actions of the lifting finger are all completed by the linear module.

[0016] In one embodiment, the linear motion modules are all driven by motors.

[0017] In one of the embodiments, the vehicle body laser detection unit is installed and fixed on the ground of the production line; the vehicle body laser detection unit includes a multi-degree-of-freedom base, a scanning arm and a laser scanning sensor; the multi-degree-of-freedom base includes a slide rail group that translates along the length direction of the slide, a slide rail group that translates along the direction of the slide away from or approaching, and a slide rail group that rises and falls in the vertical direction; the scanning arm is installed on the slide rail group that rises and falls in the vertical direction, and the laser scanning sensor is installed on the end of the scanning arm.

[0018] In one embodiment, the slide rail assemblies are driven by air cylinders.

[0019] A method for conveying between workstations is also provided, which is characterized by comprising the following steps: according to the process requirements of the vehicle model, a plurality of workstations are set, and each workstation needs to arrange an NC fixture unit in the vehicle body lifting and conveying unit;

[0020] When importing a vehicle model, the vehicle body is placed on the NC fixture unit located at the starting point of the vehicle body lifting and conveying unit. Then the lifting arm of the NC fixture unit lifts the vehicle body, and the vehicle body laser detection unit moves to scan the vehicle body, and imports the scanned vehicle model data into the PLC control unit.

[0021] During transportation, the PLC control unit controls the lifting components on both sides of the slide to lift the vehicle body, and then the lifting arm of the NC fixture unit is lowered, and the servo motor transmission unit drives the slide to slide to the NC fixture unit of the next station;

[0022] During operation, the slide moves the vehicle body to the corresponding workstation, the lifting arm of the NC fixture unit in the workstation rises and lifts the vehicle body, the lifting parts on both sides of the slide then descend, and the processing operation of the vehicle body is immediately started.

[0023] The beneficial effects of the present invention are as follows:

[0024] (1) The flexible reciprocating conveying mechanism integrates the NC clamp unit, the vehicle body lifting and conveying unit, the servo motor transmission unit and the PLC control unit to improve the transmission efficiency and accuracy of the automobile body.

[0025] The PLC control unit retrieves the corresponding operation program according to the imported vehicle model data, controls the vehicle body lifting and conveying unit to lift the vehicle body through the lifting components on the slide, and transports it to the corresponding workstation. After the vehicle body is transported to the location and clamped by the NC clamp unit, the lifting components on the slide are immediately lowered, and the NC clamp unit at the workstation clamps the vehicle body, and then cooperates with the operation process at the corresponding workstation to complete the process of constructing the vehicle body.

[0026] Among them, the body lifting and conveying unit can control the vehicle body to accurately reach the corresponding workstation under the precise transmission of the servo motor transmission unit, and can avoid the translation of the vehicle body during the conveying process, ensuring the high-speed transmission of the vehicle body during the conveying process, greatly improving the operation efficiency of the production line. The NC fixture unit can flexibly change the body support position by using numerical control technology, realize rapid adaptation to different models, reduce the cost and time of mold replacement, and can cooperate with other construction equipment on the corresponding workstation to perform appropriate displacement, facilitate the rapid construction of the construction equipment, and further speed up the construction efficiency of each workstation on the production line.

[0027] (2) In addition, the vehicle body laser detection unit is arranged on both sides of the conveying starting point of the vehicle body lifting and conveying unit, and is used to scan and detect the data of the imported vehicle body and import it into the PLC control unit; by integrating the vehicle body laser detection unit and the PLC control unit, a laser scanning sensor can be used to scan the data of the vehicle body, identify different vehicle models, and then program different vehicle models through the PLC control unit. When using it, only the corresponding program needs to be called; for new models, only some parts and electrical programs need to be changed to quickly introduce them into the production line, which greatly improves the compatibility of the automobile production line, thereby improving the manufacturing efficiency of the production line.

[0028] Through the application of flexible reciprocating conveying mechanisms, automobile manufacturing production lines can achieve higher efficiency, lower cost and higher compatibility production processes. The improvement not only reduces the initial investment cost, but also enables the adjustment speed of the automobile manufacturing production line to keep up with the replacement speed of new models, further improving the degree of automation and stability of the production line, which is of great significance to the development of the automobile manufacturing industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a partial structural schematic diagram of the vehicle body lifting and conveying unit, the vehicle body laser detection unit and the NC fixture unit combined in the flexible reciprocating conveying mechanism of the present invention;

[0031] Figure 2 It is a partial structural schematic diagram of a vehicle body, a servo motor transmission unit and a vehicle body lifting and conveying unit combined in a flexible reciprocating conveying mechanism of the present invention;

[0032] Figure 3 It is a partial structural schematic diagram of the vehicle body lifting and conveying unit of the present invention;

[0033] Figure 4 It is a partial structural schematic diagram of the NC fixture unit of the present invention;

[0034] Figure 5 It is a partial structural schematic diagram of the servo motor transmission unit in the flexible reciprocating conveying mechanism of the present invention.

[0035] The reference numerals are as follows:

[0036] 1. Car body lifting and conveying unit; 11. Fixed frame; 12. Slide; 121. Transmission rack; 13. Lifting component; 131. Mounting seat; 132. Guide column; 133. Lifting cylinder; 134. Lifting block;

[0037] 2. Servo motor transmission unit; 21. Transmission gear; 22. Servo motor; 23. Gearbox; 24. Coupling;

[0038] 3. Car body laser detection unit; 31. Multi-degree-of-freedom base; 32. Scanning arm; 33. Laser scanning sensor;

[0039] 4. NC fixture unit; 41. lifting arm; 411. linear moving module; 412. lifting finger;

[0040] 5. The whole vehicle body. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0042] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] A flexible reciprocating conveying mechanism is provided in a specific embodiment, which effectively solves the problems of large accuracy variation, low stability, low vehicle model import compatibility and lack of flexibility in existing conveying equipment in automobile welding stations.

[0044] Hereinafter, embodiments will be described with reference to the drawings. Note that all contents of the configurations shown in the following embodiments are not necessarily required as the solution to the invention described in the claims.

[0045] The first embodiment of the flexible reciprocating conveyor mechanism is as follows Figures 1 to 5As shown, it includes a body lifting and conveying unit 1, a servo motor transmission unit 2, a body laser detection unit 3, an NC fixture unit 4 and a PLC control unit; the NC fixture unit 4, the body lifting and conveying unit 1 and the servo motor transmission unit 2 are all installed and fixed on the ground of the production line; the servo motor transmission unit 2 is arranged under the body lifting and conveying unit 1, the servo motor transmission unit 2 is connected to the fixed frame 11 of the body lifting and conveying unit 1, and the transmission gear 21 of the servo motor transmission unit 2 is meshed with the transmission rack 121 of the body lifting and conveying unit 1 to drive the slide 12 on the body lifting and conveying unit 1 to slide back and forth; the transmission gear 21 is connected to the transmission shaft of the servo motor transmission unit 2; the transmission rack 121 is connected to the slide 12; the body laser detection unit 3 is arranged on both sides of the conveying starting point of the body lifting and conveying unit 1, and is used to scan and detect the entire body introduced. The data of the vehicle body 5 is imported into the PLC control unit; the NC clamp unit 4 is arranged in the vehicle body lifting and conveying unit 1, and multiple NC clamp units 4 are provided. The number and position of the lifting components 13 of the vehicle body lifting and conveying unit 1 are also set corresponding to the NC clamp unit 4; wherein at least one is provided at the conveying starting point and the end point of the vehicle body lifting and conveying unit 1 respectively; the PLC control unit is electrically connected to the NC clamp unit 4, the vehicle body lifting and conveying unit 1, the servo motor transmission unit 2 and the vehicle body laser detection unit 3; the PLC control unit retrieves the corresponding operation program according to the imported vehicle model data, controls the vehicle body lifting and conveying unit 1 to lift the vehicle body 5 through the lifting components 13 on the slide 12, and transports it to the corresponding workstation, where the NC clamp unit 4 at the workstation is used to lift the vehicle body 5 and cooperate with the operation process at the corresponding workstation to perform the operation.

[0046] (1) The flexible reciprocating conveying mechanism integrates the NC clamp unit 4, the body lifting and conveying unit 1, the servo motor transmission unit 2 and the PLC control unit to improve the transmission efficiency and accuracy of the automobile body.

[0047] The PLC control unit retrieves the corresponding operation program according to the imported vehicle model data, controls the vehicle body lifting and conveying unit 1 to lift the vehicle body 5 through the lifting component 13 on the slide 12, and transports it to the corresponding workstation. After the vehicle body 5 is transported to the location and clamped by the NC clamp unit 4, the lifting component 13 on the slide 12 is immediately lowered, and the NC clamp unit 4 at the workstation clamps the vehicle body 5, and then the operation process at the corresponding workstation can be coordinated to complete the construction process of the vehicle body 5;

[0048] Among them, the body lifting and conveying unit 1 can control the vehicle body 5 to accurately reach the corresponding workstation under the precise transmission of the servo motor transmission unit 2, and can avoid the translation of the vehicle body 5 during the conveying process, ensure the high-speed transmission of the body during the conveying process, and greatly improve the operation efficiency of the production line. The NC fixture unit 4 can flexibly change the body support position by using numerical control technology, realize rapid adaptation to different models, reduce the cost and time of changing molds, and can cooperate with other construction equipment on the corresponding workstation to perform appropriate displacement, facilitate the rapid construction of the construction equipment, and further speed up the construction efficiency of each workstation on the production line.

[0049] (2) In addition, the vehicle body laser detection unit 3 is arranged on both sides of the conveying starting point of the vehicle body lifting and conveying unit 1, and is used to scan and detect the data of the imported vehicle body 5 and import it into the PLC control unit; by integrating the vehicle body laser detection unit 3 and the PLC control unit, the laser scanning sensor 33 can be used to scan the data of the vehicle body 5, identify different vehicle models, and then program different vehicle models through the PLC control unit. When using it, only the corresponding program needs to be called; for new models, only some parts and electrical programs need to be changed to quickly introduce them into the production line, which greatly improves the compatibility of the automobile production line, thereby improving the manufacturing efficiency of the production line.

[0050] Through the application of flexible reciprocating conveying mechanisms, automobile manufacturing production lines can achieve higher efficiency, lower cost and higher compatibility production processes. The improvement not only reduces the initial investment cost, but also enables the adjustment speed of the automobile manufacturing production line to keep up with the replacement speed of new models, further improving the degree of automation and stability of the production line, which is of great significance to the development of the automobile manufacturing industry.

[0051] As one optional implementation,

[0052] Regarding the specific structure and arrangement of the lifting component 13 of the vehicle body lifting and conveying unit 1, this embodiment is as follows: Figure 2 and Figure 3 As shown, each workstation is provided with a plurality of lifting components 13, and the plurality of lifting components 13 are installed on both sides of the slide 12; the lifting components 13 include a mounting seat 131, a guide column 132, a lifting cylinder 133 and a lifting block 134; the mounting seat 131 is connected to the slide 12, the guide column 132 is slidably installed in the mounting seat 131, the lifting cylinder 133 is installed in the mounting seat 131, and the guide column 132 and the lifting cylinder 133 are arranged side by side; the lifting block 134 is installed at the telescopic end of the lifting cylinder 133 and is connected to one end of the guide column 132; the lifting cylinder 133 is arranged vertically, and the telescopic end faces upward.

[0053] Regarding the specific structure of the servo motor transmission unit 2, this embodiment Figure 5As shown, the servo motor transmission unit 2 includes a large-load servo motor 22, a gearbox 23 and a coupling 24. The servo motor 22 is connected to the gearbox 23 and the coupling 24 in turn. The coupling 24 is connected to the transmission shaft. Two transmission gears 21 are arranged on the transmission shaft. The two transmission gears 21 are respectively meshed with the transmission racks 121 on both sides of the slide 12 for transmission.

[0054] Regarding the specific structure of the NC fixture unit 4, this embodiment Figure 1 , Figure 2 and Figure 4 As shown, the NC fixture unit 4 includes a plurality of lifting arms 41 with multiple degrees of freedom; the lifting arms have the degrees of freedom of lateral and longitudinal translation, as well as vertical lifting.

[0055] Specifically, the lifting arm is provided with transverse, longitudinal and vertical linear moving modules 411, and a lifting finger 412; the lifting finger 412 is installed on the vertical linear moving module 411, and the vertical linear moving module 411 is installed on the transverse linear moving module 411 or the longitudinal linear moving module 411; the translation and lifting actions of the lifting finger 412 are all completed by the linear module.

[0056] The linear motion modules 411 are all driven by motors.

[0057] Regarding the specific structure of the vehicle body laser detection unit 3, this embodiment Figure 1 As shown, the vehicle body laser detection unit 3 is installed and fixed on the ground of the production line; the vehicle body laser detection unit 3 includes a multi-degree-of-freedom base 31, a scanning arm 32 and a laser scanning sensor 33; the multi-degree-of-freedom base 31 includes a slide rail group that translates along the length direction of the slide 12, a slide rail group that translates along the direction away from or close to the slide 12, and a slide rail group that rises and falls in the vertical direction; the scanning arm 32 is installed on the slide rail group that rises and falls in the vertical direction, and the laser scanning sensor 33 is installed on the end of the scanning arm 32.

[0058] Among them, the slide rail groups are all driven by cylinders.

[0059] The second embodiment of the flexible reciprocating conveying mechanism is different from the first embodiment in that the slide rail groups are driven by a servo or stepper motor.

[0060] Based on the above embodiment of the flexible reciprocating conveying mechanism, a method for conveying between workstations is provided, comprising the following steps: according to the process requirements of the vehicle model, a plurality of workstations are set, and each workstation needs to be arranged with an NC fixture unit 4 in the vehicle body lifting and conveying unit 1;

[0061] When importing a vehicle model, the vehicle body 5 is placed on the NC fixture unit 4 located at the conveying starting point of the vehicle body lifting and conveying unit 1, and then the lifting arm 41 of the NC fixture unit 4 lifts the vehicle body 5, and the vehicle body laser detection unit 3 moves to scan the vehicle body 5, and imports the scanned vehicle model data into the PLC control unit;

[0062] During transportation, the PLC control unit controls the lifting components 13 on both sides of the slide 12 to lift the vehicle body 5, and then the lifting arm 41 of the NC fixture unit 4 is lowered, and the servo motor transmission unit 2 drives the slide 12 to slide to the NC fixture unit 4 of the next station;

[0063] During operation, the slide 12 moves the vehicle body 5 to the corresponding workstation, the lifting arm 41 of the NC fixture unit 4 in the workstation rises and lifts the vehicle body 5, and the lifting components 13 on both sides of the slide 12 then descend, and the processing operation of the vehicle body 5 is immediately started.

[0064] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described.

[0065] The above is a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also considered as the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A flexible reciprocating conveying mechanism, characterized in that: It includes a vehicle body lifting and conveying unit, a servo motor transmission unit, a vehicle body laser detection unit, an NC fixture unit and a PLC control unit; the NC fixture unit, the vehicle body lifting and conveying unit and the servo motor transmission unit are all installed and fixed on the ground of the production line; The servo motor transmission unit is arranged under the vehicle body lifting and conveying unit, the servo motor transmission unit is connected to the fixed frame of the vehicle body lifting and conveying unit, and the transmission gear of the servo motor transmission unit is meshed and transmitted with the transmission rack of the vehicle body lifting and conveying unit to drive the slide on the vehicle body lifting and conveying unit to slide forward and backward; the transmission gear is connected to the transmission shaft of the servo motor transmission unit; the transmission rack is connected to the slide; The vehicle body laser detection unit is arranged on both sides of the conveying starting point of the vehicle body lifting and conveying unit, and is used to scan and detect the data of the imported vehicle body and import it into the PLC control unit; The NC clamp unit is arranged in the vehicle body lifting and conveying unit, and a plurality of the NC clamp units are provided. The number and position of the lifting components of the vehicle body lifting and conveying unit are also arranged correspondingly to the NC clamp unit; wherein at least one NC clamp unit is respectively arranged at the conveying starting point and the end point of the vehicle body lifting and conveying unit; The PLC control unit is electrically connected to the NC fixture unit, the vehicle body lifting and conveying unit, the servo motor transmission unit and the vehicle body laser detection unit; The PLC control unit retrieves the corresponding operation program according to the imported vehicle model data, controls the vehicle body lifting and conveying unit to lift the vehicle body through the lifting components on the slide, and transports it to the corresponding workstation, and the NC fixture unit at the workstation is used to lift the vehicle body and cooperate with the operation process at the corresponding workstation to perform the operation; There are multiple jacking components corresponding to each workstation, and multiple jacking components are installed on both sides of the slide; the jacking components include a mounting seat, a guide column, a jacking cylinder and a jacking block; the mounting seat is connected to the slide, the guide column is slidably installed in the mounting seat, the jacking cylinder is installed in the mounting seat, and the guide column and the jacking cylinder are arranged side by side; the jacking block is installed at the telescopic end of the jacking cylinder and connected to one end of the guide column; the jacking cylinder is arranged vertically, and the telescopic end faces upward; The NC fixture unit includes a plurality of lifting arms with multiple degrees of freedom; the lifting arms have the degrees of freedom of lateral and longitudinal translation, as well as vertical lifting; The lifting arm is provided with horizontal, longitudinal and vertical linear moving modules and a lifting finger; the lifting finger is installed on the vertical linear moving module, and the vertical linear moving module is installed on the horizontal linear moving module or the longitudinal linear moving module; the translation and lifting actions of the lifting finger are completed by the linear module; The linear motion modules are all driven by motors.

2. The flexible reciprocating conveying mechanism according to claim 1, characterized in that: The vehicle body laser detection unit is installed and fixed on the floor of the production line; The vehicle body laser detection unit comprises a multi-degree-of-freedom base, a scanning arm and a laser scanning sensor; The multi-degree-of-freedom base includes a slide rail group that translates along the length direction of the slide, a slide rail group that translates along the direction of the slide moving away from or approaching the slide, and a slide rail group that lifts and lowers in the vertical direction; The scanning arm is installed on a slide rail group which is lifted and lowered in a vertical direction, and the laser scanning sensor is installed on the end of the scanning arm.

3. The flexible reciprocating conveying mechanism according to claim 2, characterized in that: The slide rail groups are all driven by cylinders.

4. A method for conveying between workstations using a flexible reciprocating conveying mechanism according to claim 1, characterized in that: The following steps are involved: According to the process requirements of the vehicle model, multiple workstations are set up, and each workstation needs to be equipped with an NC fixture unit in the body lifting and conveying unit; When importing a vehicle model, the vehicle body is placed on the NC fixture unit located at the starting point of the vehicle body lifting and conveying unit. Then the lifting arm of the NC fixture unit lifts the vehicle body, and the vehicle body laser detection unit moves to scan the vehicle body, and imports the scanned vehicle model data into the PLC control unit. During transportation, the PLC control unit controls the lifting components on both sides of the slide to lift the vehicle body, and then the lifting arm of the NC fixture unit is lowered, and the servo motor transmission unit drives the slide to slide to the NC fixture unit of the next station; During operation, the slide moves the vehicle body to the corresponding workstation, the lifting arm of the NC fixture unit in the workstation rises and lifts the vehicle body, the lifting parts on both sides of the slide then descend, and the processing operation of the vehicle body is immediately started.

Images