Automatic loading method for cabin section

Abstract

The invention discloses an automatic loading method for a cabin section, and belongs to the technical field of aircraft section assembly. The method comprises the following steps: firstly, designing a tray for supporting a cabin section, an unwheeling system and a cabin section loading station; before cabin section assembling, a cabin section racking station receives task information and monitors whether a car lifting system enters or not; after the car lifting system enters, the car lifting system is positioned and fixed; the AGV bears a tray loaded with a cabin section to be assembled and conveys the tray to a cabin section racking station, then the tray is lifted to the position above the vehicle lifting system, the tray is vertically put down, the tray downwards penetrates to the position below the vehicle lifting system, the cabin section falls on the vehicle lifting system in the falling process along with the tray, and bearing conversion and automatic racking of the cabin section are achieved.

Description

Technical Field

[0001] The invention relates to a method for automatically loading cabin sections onto a vehicle, and belongs to the technical field of aircraft section assembly. Background Art

[0002] At present, the aerospace manufacturing and assembly field is vigorously developing the construction of pulsating production lines to improve the digital level of aerospace product manufacturing. In the operation process of the pulsating production line, the cabin section racking link is necessary and important. In the traditional production mode, the cabin section racking method is the hoisting method, the hoist is fixed on the product, and the product is placed on the bracket by the overhead crane. Each operation takes about 1.5 man-hours, the working time is too long, it cannot meet the balance design requirements of the production line, and information cannot be transmitted. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, propose a method for automatically loading cabin sections onto shelves, achieve efficient and stable completion of cabin section loading work, and promote the informatization management and control of the operation process of the pulsating production line.

[0004] The technical solution of the present invention is:

[0005] A method for automatically loading a vehicle onto a compartment comprises:

[0006] Pallet and trolley systems designed to support the compartment;

[0007] Design cabin loading station to receive mission information and fix the loading system;

[0008] Before cabin assembly, the cabin loading station receives task information and monitors whether the loading system has entered; when the loading system has entered, it locates and fixes the loading system;

[0009] The AGV vehicle carries the pallet with the cabin section to be assembled and transports it to the cabin section loading station, then lifts the pallet to the top of the rack system, lowers the pallet vertically, and passes the pallet under the rack system. The cabin section falls on the rack system as the pallet falls, realizing the load conversion and automatic loading of the cabin section.

[0010] Furthermore, the cabin loading station includes a mechanical body, a positioning device, and an information interaction module;

[0011] The mechanical body is two frame structures placed symmetrically on the left and right, and the minimum spacing in the horizontal direction is greater than the horizontal length of the outer envelope of the cabin section to be assembled; when the cabin section to be assembled is put on the rack, the rack system is located between the two frame structures;

[0012] The positioning device includes a rack positioning device, a pallet positioning device and a controller; the controller receives instructions to control the rack positioning device and the pallet positioning device to work; the pallet positioning device is used to guide the pallet when the cabin section is racked, so that the pallet is drawn into the racking station; the rack positioning device performs three-dimensional positioning of the rack system, so that the rack system is stably fixed in the racking station;

[0013] The information interaction module receives task information sent by the external system, and parses the task information into instruction requirements and sends them to the controller;

[0014] The safety grating is installed on the frame structure to monitor whether the trolley system is between the two frame structures.

[0015] Furthermore, the carriage positioning device comprises a limit block assembly, a clamping block assembly, and a follower device;

[0016] The limit block assembly is used to limit the forward and backward movement of the trolley system, and includes two limit blocks and a pneumatic device; the front ends of the two frame structures are provided with limit block placement grooves, and the two limit blocks are placed in the two grooves; after receiving the command, the pneumatic device pushes the limit blocks to extend;

[0017] The clamping block assembly is used to limit the left and right movement of the vehicle racking system and fix the vehicle racking system in the cabin section mounting station; the clamping block assembly includes a clamping block and a pneumatic device, which are located on a frame structure; a notch that matches the clamping block is provided on the side of the vehicle racking system; after receiving an instruction, the pneumatic device pushes the clamping block out and snaps into the corresponding notch to achieve position limiting;

[0018] The follower device is installed below the ground between the two frame structures, with its upper surface coplanar with the ground, and is used to drive the frame system to translate and approach the frame structure equipped with the clamping block when the clamping block clamps the frame system.

[0019] Furthermore, the pallet positioning device is installed on opposite sides of the two frame structures, and a guide block is provided at the bottom of the pallet; when the cabin section is put on the shelf, the guide block interacts with the pallet positioning device, so that the pallet is guided into the interior of the workstation.

[0020] Furthermore, the cabin loading station is equipped with a coding identification device, which is placed on the frame structure; after the trolley system is fixed in the station, the coding number of the trolley system is scanned and the information is transmitted back to the information interaction module to complete the binding of the task and the trolley system.

[0021] Furthermore, the cabin loading station is equipped with a safety scanner to detect whether there are people or foreign objects inside the loading station.

[0022] Furthermore, the pallet includes a pallet body and a plurality of positioning blocks;

[0023] The tray body includes a load-bearing surface and a plurality of legs; the load-bearing surface is a steel plate, including a rectangular body and two triangular structures fixed on one side of the rectangle; the two triangular structures are symmetrical along the central axis of the rectangular body; all the legs are symmetrically distributed on both sides of the rectangular body, and the legs at the outermost ends are flush with one side of the load-bearing rectangular body;

[0024] The positioning block is fixed on the pallet body and is used to limit the position of the cabin section on the pallet body; the center of gravity position of the pallet body is obtained to meet the requirement that the center of gravity of the cabin section and the center of gravity of the entire pallet are collinear in the vertical direction, and the force simulation of the cabin section and pallet combination is performed to set the position of each positioning block.

[0025] Furthermore, the carriage system includes a load-bearing mechanism, a bearing pad, and a moving mechanism; the upper surface of the load-bearing mechanism cooperates with the pallet to synchronously complete the cabin section on the upper surface of the load-bearing mechanism and the pallet passing downward through the upper surface of the load-bearing mechanism; the bearing pad is installed on the load-bearing mechanism to support the cabin section; and the moving mechanism is used to move the load-bearing mechanism in the horizontal direction.

[0026] Furthermore, the load-bearing mechanism of the vehicle frame system includes an upper load-bearing bracket, a lower load-bearing bracket, a left load-bearing bracket and a right load-bearing bracket, and the above four brackets are connected to form a three-dimensional frame structure with one side open;

[0027] The upper load-bearing bracket is a load-bearing bracket that is directly contacted after the cabin section is put on the rack, and includes a rectangular frame with an open side and a plurality of vertical load-bearing surfaces fixed on the inner side of the frame and extending in the horizontal direction; the load-bearing surfaces located on opposite sides of the frame are symmetrically distributed along the central axis of the frame, the length of the load-bearing surface is greater than the length of the legs on the pallet, the spacing between adjacent load-bearing surfaces on the same side of the frame is greater than the width of the legs, and the spacing between symmetrical load-bearing surfaces on opposite sides of the frame is greater than the width of the rectangular body of the pallet, so that when the pallet carrying the cabin section contacts the upper load-bearing bracket vertically downward, each leg passes through the gap between each adjacent vertical load-bearing surface, the pallet is separated from the cabin section, and the cabin section is supported on the upper load-bearing bracket, thereby realizing the cabin section load transfer;

[0028] The lower load-bearing support structure is a frame structure, which is integrally welded with the left load-bearing support and the right load-bearing support to form a high-rigidity frame to provide load-bearing support.

[0029] Furthermore, the motion mechanism includes a floor brake and casters to control the movement and stop of the entire trolley system.

[0030] The advantages of the present invention compared with the prior art are:

[0031] (1) The present invention realizes the automatic shelving function of "cabin drop and tray move" in a vertical state through the strong coupling design of the shelving vehicle, pallet and shelving station, which has significant improvements in shelving efficiency, cost, quality stability, etc., and can meet the automatic shelving needs of various cabin products.

[0032] (2) The present invention realizes digital shelving under human-computer interaction through the design of the shelving station. By mutual transmission of information among the positioning device, the human-computer interaction terminal, the coding identification device, the safety device, and the controller, the information interaction during the execution of the cabin shelving task is completed, thereby ensuring the safety and efficiency of the shelving work.

[0033] (3) The present invention realizes the mechanized clamping of the racking vehicle through the design of the positioning device of the racking station, which is a safety guarantee for the smooth progress of the racking work.

[0034] (4) The present invention realizes real-time monitoring of the workstation operation area through the integrated design of safety equipment, which greatly improves the operational safety and significantly reduces the risk of misoperation.

[0035] (5) The present invention realizes the automatic control and real-time monitoring functions of assembly tasks through the integrated design of production operating system, controller and electrical equipment, which significantly improves the assembly efficiency and operational safety, greatly reduces manual intervention, and improves the stability and intelligence level of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0037] Figure 1 This is a schematic diagram of the structure of a tray according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a vehicle rack system according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the cooperation between the pallet and the upper load-bearing bracket according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of the cabin loading station structure designed for an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of a mechanical body of a cabin loading station according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the installation position of the clamping block of the cabin section mounting station according to an embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the installation position of the cabin racking station coding identification equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0045] The present invention proposes a method for automatically loading cabin sections onto shelves, and completes the automatic loading of cabin sections onto shelves in a pulsating production mode by designing an adaptive assembly shelf system and a cabin loading station and constructing a transfer and loading process.

[0046] The method specifically includes:

[0047] S1: Designing an Adaptive Assembly Rack Cart System

[0048] The system consists of two parts: a pallet and a trolley. The pallet meets the load-bearing requirements of the cabin and is used in conjunction with the trolley to meet the design input of rapid placement. The trolley has strong rigidity and has the functions of being movable and stoppable, liftable, and carrying and positioning the cabin vertically or horizontally.

[0049] (1) Pallet

[0050] The pallet has a load-bearing function and can support and carry the target cabin, meeting the placement requirements of the cabin in a vertical state, providing reliable load-bearing capacity, and ensuring the stability of the cabin during the shelving process; it has a positioning function, and the pallet uses positioning blocks and a six-leg guide design to ensure the accurate positioning of the cabin during transportation and shelving; it has the execution conditions of "cabin drops and tray moves", and can cooperate with the rack vehicle to complete the rapid load-bearing conversion of the target cabin, making the shelving work efficient and reliable; it has a protective function, and through the anti-slip and shock-absorbing effects of the rubber gasket, it can effectively prevent the cabin from slipping during transportation and assembly, and prevent the cabin surface from being damaged due to contact.

[0051] The pallet material is Q235 steel, and the surface is treated with anti-corrosion to ensure durability and strength for long-term use. Its load capacity is 2T. The pallet is mainly composed of the pallet body, positioning blocks 3, and rubber gaskets 4. Figure 1 shown.

[0052] 1) Pallet body

[0053] The load-bearing capacity of the target cabin can be realized, and the mechanical structure cooperates with the corresponding position of the rack to realize the load transfer of the cabin. The pallet body includes a load-bearing surface 1 and six legs 2. According to the size envelope of the target cabin, the design principle of "the outer size of the load-bearing surface is larger than the target cabin size, and the outer size of the six legs 2 is smaller than the target cabin size" is clarified.

[0054] The load-bearing surface 1 is composed of the main load-bearing surface and the auxiliary load-bearing surface. The main load-bearing surface is realized by a rectangular load-bearing steel plate plus a transverse and longitudinal beam to prevent bending and deformation. According to the envelope of the outer dimensions of the target cabin, the main load-bearing surface is designed as a rectangle of 1000mm×620mm, and the load-bearing steel plate is 40mm thick; the transverse beam runs through the head and tail of the pallet, with a width of 60mm and symmetry along the central axis, and a thickness of 120mm; the longitudinal beam is 440mm away from the tail of the pallet, with a width of 40mm and symmetry along the transverse axis. The auxiliary load-bearing surface is composed of two triangular load-bearing steel plates, both of which are 300mm×370mm in size and symmetrically distributed along the central axis 100mm away from the central axis. The outer side of the triangle hypotenuse prevents possible interference with the racking vehicle, and the inner 200mm×300mm gap is used to avoid the front side load-bearing surface of the load-bearing bracket on the racking vehicle, which is a sufficient condition for realizing "cabin drop tray walk".

[0055] The six legs 2 are symmetrically distributed on both sides of the load-bearing surface, three on each side, with guide blocks at the bottom and a guide angle of 30°, which can be used in conjunction with the counterpart to achieve a correction effect when performing the loading work. According to the design principle that "the outer dimensions of the six legs are smaller than the target cabin dimensions", it is clear that the length of the six legs is 370mm and the width is 60mm. The outer side of the first leg is coplanar with the main load-bearing surface, and the second and third legs are 240mm and 490mm away from the first leg respectively, dispersing the load-bearing capacity and accurately matching the load-bearing result of the racking vehicle.

[0056] After calculation, the center of gravity of the pallet body is located 420mm along the axis starting from the main load-bearing surface. In order to ensure that the center of gravity of the target cabin is collinear with the center of gravity of the pallet in the plumb direction, the positioning block is designed with the center of gravity of the pallet as the coordinate point.

[0057] 2) Positioning block

[0058] Positioning block 3 is used to limit the position of the target cabin on the pallet to avoid sliding or offset during transportation and shelving. According to the condition of "taking the main load-bearing surface as the starting point and the target cabin at 420mm along the axis in the vertical direction being collinear", the distributable position of the positioning block is clarified through model fitting technology. Through anti-overturning design and force analysis, the relevant risks are integrated and the plan of deploying 4 positioning blocks is clarified. The starting point is 190mm symmetrical along the central axis, the length is 100mm, the thickness is 3mm, and there are threaded holes at the bottom. It is connected to the pallet body by bolts to effectively resist the risk of overturning.

[0059] 3) Rubber gasket

[0060] The rubber gasket 4 is used to isolate the target cabin from the main body of the pallet to prevent the cabin from being damaged due to direct contact with the load-bearing surface; increase the friction between the cabin and the load-bearing surface to prevent sliding during transportation and assembly. The rubber gasket is a rectangular sheet, laid on the surface of the pallet load-bearing surface and inside the positioning block. Its size is 100mm×30mm, with a total of 4 pieces, to ensure that the key positions where the cabin is placed are protected. The rubber gasket material is industrial-grade wear-resistant rubber with high elasticity and pressure resistance. It is fixed with high-strength adhesive, and the rubber gasket is tightly combined with the main body of the pallet, resistant to high temperatures and prevented from falling off.

[0061] (2) Carriage system

[0062] The pallet trolley meets the requirements of high-strength load-bearing, precise docking, flexible movement and assembly in vertical and horizontal states. The pallet trolley is composed of a load-bearing mechanism, a load-bearing pad, a lifting mechanism and a motion mechanism. Among them, the load-bearing mechanism ensures the precise coordination between the pallet and the pallet trolley, which is the key to achieving "pallet drop and move".

[0063] The rack is made of Q235 steel, and the surface is treated with anti-corrosion to ensure durability and long-term strength. The rack adopts a frame structure, which mainly consists of a load-bearing mechanism 5, a bearing pad 6, a lifting mechanism 7, and a moving mechanism 8. Figure 2 shown.

[0064] 1) Load-bearing structure

[0065] The load-bearing mechanism 5 achieves comprehensive support for the pallet and the target cabin through the upper / lower load-bearing brackets and the left / right load-bearing brackets. The upper load-bearing bracket is strongly coupled with the notch and six-leg design of the pallet. In order to achieve "cabin falls and the tray moves away", it is clarified that the position and size of the bearing surface on the upper load-bearing bracket should be within the envelope range of the target cabin, and the strength should ensure that the load transfer process is safe and accurate, and ensure safe operation.

[0066] a) Upper bearing support

[0067] Taking the center of gravity of the pallet as input, in order to ensure that the center of gravity of the target cabin, the center of gravity of the pallet and the center of the trolley are in the same line along the vertical direction, the design direction of the frame structure of the upper / lower load-bearing bracket is clarified. And through model fitting and force analysis calculation, it is clear that the center of gravity of the upper / lower load-bearing bracket is located 1520mm from the front end surface along the axisymmetric center line to the handle direction.

[0068] Considering the weight of the target cabin before and after assembly and the characteristics of Q235 steel, it is determined that the thickness of the upper support is 90mm and the width is 100mm. Through further force analysis, it is determined that the upper support has 5 vertical bearing surfaces.

[0069] Taking into account the design requirements of the pallet "the outer dimension of the load-bearing surface is larger than the target cabin size, and the outer dimensions of the six legs are smaller than the target cabin size", the truck "the position dimension of the load-bearing surface on the upper load-bearing bracket should be within the envelope of the target cabin", and the design ideas of the coordination between the upper load-bearing bracket and the pallet, the six legs of the pallet can simultaneously pass through the five vertical load-bearing surfaces of the upper load-bearing bracket in the vertical direction.

[0070] The structure of the interface between the vehicle body and the pallet is designed according to the outline size of the target cabin. The pallet and the five vertical bearing surfaces of the upper bearing bracket are matched in mechanical design. The outer envelope size of the target cabin product is between the bearing surface of the pallet body and the six legs. Therefore, when the pallet carrying the target cabin falls from top to bottom on the upper bearing bracket of the basic bearing mechanism of the trolley, the bearing transfer phenomenon between the pallet and the trolley gradually appears, such as Figure 3 As shown, when the pallet moves below the load-bearing bracket on the trolley, the load transfer is completed and the target cabin is located on the load-bearing bracket on the trolley, achieving “cabin falls and pallet moves”, ensuring the stability and safety of the cabin on the pallet and trolley.

[0071] The front vertical bearing surface is rectangular, with a size of 290mm×150mm, connected to the base support, and symmetrical along the horizontal axis; the left front / left rear vertical bearing surface of the vehicle is symmetrical with the right front / right rear vertical bearing surface of the vehicle along the horizontal axis, the left front / right front vertical bearing surface of the vehicle is 530mm away from the horizontal axis, the left rear / right rear vertical bearing surface of the vehicle is 610mm away from the horizontal axis, and the left front / left rear vertical bearing surface of the vehicle is 500mm and 810mm away from the front outer surface of the vehicle respectively. The vertical bearing surface and the tray adopt a coupling design to ensure safe and efficient load transfer of the cabin.

[0072] Through force analysis and the principle of interference avoidance, four horizontal bearing surfaces are set on the upper load-bearing bracket. The left front / right front horizontal bearing surface is symmetrical along the horizontal axis of 370mm, with a length of 213mm, and the length is consistent with the basic bracket of the vehicle body, both 100mm; the left rear / right rear horizontal bearing surface is symmetrical along the horizontal axis of 370mm, with a length of 213mm, and the length is consistent with the basic bracket of the vehicle body, both 100mm. In terms of height, the four horizontal bearing surfaces are set to 150mm to avoid the vertical bearing surface, which can effectively avoid interference and collision.

[0073] b) Lower bearing support

[0074] The lower load-bearing bracket structure is also a frame type, which is integrally welded with the left / right load-bearing bracket to form a high-rigidity frame to provide basic bearing support; the positioning rod is used to prevent the lower load-bearing bracket and the upper load-bearing bracket from moving radially, and the lifting mechanism of the lifting mechanism controls the overall movement of the upper load-bearing bracket in the vertical direction. The frame is 90mm thick and 100mm wide, and multi-point support is set at the part connected to the lifting mechanism to prevent deformation caused by load transfer.

[0075] c) Left and right load-bearing brackets

[0076] The left and right load-bearing brackets are the main load-bearing components, equipped with legs and load-bearing rods. A single load-bearing bracket has two legs, deployed on both sides of the bracket, with a size of 80mm×80mm×400mm. A single load-bearing bracket has two load-bearing rods, arranged up and down, with a size of 60mm×60mm×835mm. The load-bearing rods and legs are welded to ensure load safety.

[0077] 2) Loading pad

[0078] The bearing pad 6 is divided into a vertical bearing pad and a horizontal bearing pad, which are respectively fixed to the vertical bearing surface and the horizontal bearing surface of the upper load-bearing bracket. The two bearing pads are respectively used for bearing the target cabin in the vertical state and the horizontal state.

[0079] The vertical bearing pads are fixed to the edge of the vertical bearing surface by screw connection. The vertical bearing pads have a size of 150mm×100mm×18mm. The 5 vertical bearing pads are coplanar to ensure that the cabin is placed stably in the vertical state. The vertical bearing pads are made of polyurethane to prevent the cabin from sliding.

[0080] The horizontal bearing pad is fixed to the horizontal bearing surface by screw connection. The size of the horizontal bearing pad is 80mm×215mm×42mm. The four vertical bearing pads are coplanar to ensure that the cabin is placed stably in the horizontal state and the placement process does not interfere with the vertical bearing pads, which is easy to operate and adjust. The horizontal bearing pad material is polyoxymethylene to prevent possible bumps and damage to the cabin.

[0081] 3) Lifting mechanism

[0082] The lifting mechanism 7 includes six components: an oil tank, a pedal mechanism, a hydraulic oil cylinder, a lifting mechanism, an oil pipe, and a pressure relief valve, which can realize the lifting and lowering of the frame vehicle. The pedal mechanism is deployed at the front side of the lower load-bearing mechanism of the frame vehicle. As the main power element, the hydraulic oil in the oil tank is pressed into the oil pipe by stepping on the foot, and finally reaches the oil cylinder; the oil cylinder is deployed at the four corners between the load-bearing mechanisms of the frame vehicle and is connected to the lifting mechanism. The oil cylinder continuously extends the piston rod due to the pressure. The latter is mechanically connected to the lifting mechanism, so the lifting mechanism is extended. Because the lifting mechanism is rigidly connected to the upper load-bearing surface of the frame vehicle, the lifting of the frame vehicle is realized; the pressure relief valve is turned to release the pressure of the piston rod of the oil cylinder, and the upper load-bearing surface of the frame vehicle descends under the action of gravity, compressing the lifting mechanism, and the hydraulic oil flows back to the oil tank through the oil pipe, and the frame vehicle completes the descending action.

[0083] The lifting mechanism 7 can complete the adjustment of the carriage within a range of 300mm, and realize the height adjustment of the carriage from 750mm to 1050mm, ensuring the assembly operation of the cabin sections at different heights.

[0084] 4) Movement mechanism

[0085] The motion mechanism 8 adopts the design of floor brake and caster to control the movement and stop of the trolley. There are 4 casters in total, and the material is selected to be wear-resistant and pressure-resistant large-diameter silent lock wheels. While supporting the weight of the trolley and the product, it can roll smoothly on the ground and take into account the steering function, so that the trolley can move flexibly in the assembly area. There are 4 floor brakes in total, installed next to the casters, used to stop and fix the trolley, ensure the stability and safety of the trolley during operation, and prevent sliding and accidental movement.

[0086] S2: Design cabin loading station

[0087] The cabin loading station is mainly used to realize the rapid loading of the target cabin through the rapid positioning of the racking vehicle and the pallet, and the effective interaction of task information and operation information. The system functions include positioning, task interaction, safety assurance, code identification and information control. Through the coordinated work of mechanical, electrical and production operation systems, it includes the mechanical body 9, positioning device, human-machine interaction terminal, code identification equipment 12, safety equipment, controller, etc. Figure 4 The cabin loading station is used in conjunction with the adaptive assembly rack system and the automatic transfer system to achieve the goal.

[0088] (1) Mechanical body

[0089] The cabin loading station mechanical body 9 is used to carry the positioning device, coding identification device, safety equipment and controller. It is the main mechanical structure of the station and has the characteristics of high strength, high rigidity and durability. It can provide a stable frame structure, such as Figure 5 As shown, it can bear the weight of each device and external operating force; it can be used for a long time in an industrial environment, is dust-proof and corrosion-resistant; it is convenient for the installation and removal of the devices thereon, and meets the requirements of ergonomics.

[0090] The machine body 9 is composed of a rectangular frame, consisting of a main beam, a cross beam and a support column. The material is cast iron and the surface is sprayed with anti-corrosion paint. The length, width and height of the workstation are 3430mm, 1765mm and 1132mm respectively. The upper gap in the middle is 1360mm and the middle gap is 1570mm, which are used for positioning the pallet and the rack respectively. Support feet are installed at the bottom of the frame to adapt to the ground.

[0091] (2) Positioning device

[0092] The positioning device has a hardware positioning function and acts on the trolley or pallet. It can comprehensively use the limit block to limit the front and rear directions, the clamping block to limit the left and right directions, and the follower device to protect the wheels and the ground to position the trolley; it can use the limit device and the guide mechanism to control the left and right position of the pallet and realize the positioning work, ensuring the seamless connection between the pallet and the trolley.

[0093] 1) Carriage positioning device

[0094] The trolley positioning device 10 realizes three-dimensional positioning of the trolley through limit blocks and clamping blocks, including front and rear directions, left and right directions and clamping fixation, to ensure the stability of the trolley at the loading station; and follows the movement of the trolley through the follow-up device when the trolley is translated to protect the wheels and the ground.

[0095] a) Limit block

[0096] It is used to limit the forward and backward movement of the racking vehicle. It is placed in the limit block placement slots on both sides of the front end of the machine body in the form of a stainless steel rectangular block with a size of 150mm×80mm×50mm. The placement slot is 390mm from the ground. The limit block is connected to the pneumatic device. When the production operating system issues a shelf task, the controller receives the signal and drives the pneumatic device to push the limit block out.

[0097] b) Clamping block

[0098] It is used to limit the left and right movement of the rack and is used in conjunction with the side plane of the rack and its triangular notch design to fasten the rack clamp in the work station, such as Figure 6 As shown. The clamping block is divided into a rectangular clamping block and a triangular clamping block, both of which are located on the left side of the machine body. The rectangular clamping block has a shape and size of 80mm×40mm×100mm, and the triangular clamping block has a shape and size of 80mm×40mm×100mm, but the tip is a 90° right angle. The position and size of the two clamping blocks are both 920mm from the ground, and 270mm and 920mm from the front outer side of the workstation respectively. The clamping block is connected to the pneumatic device and used in conjunction with the corresponding position of the racking vehicle. When the production operating system issues a racking task, the grating receives the signal of the racking vehicle entering and transmits it to the controller, which receives the signal to drive the pneumatic device to push the clamping block out.

[0099] c) Follow-up device

[0100] It is used to drive the trolley to move horizontally when the clamping block exerts a lateral force on the trolley, protecting the trolley's movement mechanism and the ground. It is a protective device. The follower device is installed 105mm below the ground and symmetrically arranged at 2 locations 572.5mm away from the workstation axis. The upper surface of the device is coplanar with the ground, making it easy for the trolley to be pushed onto it. The shape and size of the follower device are 1600mm×295mm×105mm, and the material is 45# steel. The mechanical structure on the bottom is connected to the pneumatic device and used in conjunction with the clamping block. When the clamping block is extended, the follower device moves horizontally at the same time.

[0101] 2) Pallet positioning device

[0102] Used to guide the pallet when the product is put on the shelf. The pallet positioning device 11 is located on the inner side of the main beam of the machine body, symmetrically arranged at 2 locations 680mm away from the workstation axis, and the lowest point is 815mm from the ground. The device is 291mm high, 935mm long, and 124mm thick. The upper edge is designed with a 25° angle, and the maximum opening size is 1486mm. It interacts with the guide blocks at the bottom of the six legs of the pallet, so that the pallet can be guided into the interior of the workstation when performing the task of putting on the shelf.

[0103] (3) Human-computer interaction terminal

[0104] It is placed next to the workstation and is equipped with a production operating system. It can receive the workstation tasks issued by the production control system, parse them into instructions and send them to the controller to drive the electrical components to work. The work results are uploaded by the controller to the production operating system to form a completion information package.

[0105] (4) Coding and recognition equipment

[0106] The code recognition device 12 is located on the inner side of the upper crossbeam of the machine body, on the left side of the machine body, such as Figure 7 As shown. 435mm from the ground. 582mm from the front outer side of the workstation. When performing a shelf task, scan the shelf code and fill it in the information column to complete the binding of the task and the shelf.

[0107] (5) Safety equipment

[0108] Safety equipment is used to detect the presence of a racking vehicle before the loading operation, and whether there are people or foreign objects inside the workstation during the operation. Safety equipment includes safety gratings and safety scanners, which can prevent collisions when the AGV performs the loading operation, and prevent personal injury and possible product safety hazards.

[0109] (6) Controller

[0110] The controller is used for task information reception, equipment drive and signal feedback. It receives task instructions from the production operating system, drives the cylinder to complete the positioning of the frame, receives safety equipment signals, controls the workstation action in real time, and feeds back the workstation status and equipment operation status to the production operating system.

[0111] S3: The cabin loading station receives the unit task issued by the production control system in the production operating system interface of the human-computer interaction terminal. The unit task contains the unit material supporting information and each process task. The material calling process is executed in the production operating system. The production operating system drives the limit block to extend through the controller. The safety grating and the safety scanner, a total of two safety devices, monitor the entry of the rack trolley in real time. When the rack trolley is pushed in, the safety grating transmits the signal to the production operating system through the controller, which drives the coding recognition device to scan the rack trolley code and bind it to the task; the controller drives the clamping block and the follower device to move, clamping the rack trolley from left to right inside the station.

[0112] S4: The production operating system calls the material supporting information of the unit, which is the target cabin. Extract the cabin number and other target cabin related information and pass it to the WMS warehouse management and control system. The latter matches the cabin number information with the storage location information and passes the storage location information to the AGV system. The AGV system integrates the storage location information and clarifies the pickup location, delivery location, and AGV transportation route according to the system design logic, and then drives the AGV trolley to perform the pickup and shelving tasks. The AGV trolley takes the pallet carrying the target cabin from the physical warehouse according to the specified route and action sequence to complete the pickup task, and then goes to the shelving station to put the target cabin on the shelf and return the pallet to complete the shelving task. The AGV trolley adopts a forklift AGV, and the fork can move in four degrees of freedom to realize the lifting / lowering, extension / retraction of goods.

[0113] When the AGV performs the task of picking up goods, two safety devices monitor the entry of foreign objects into the workstation in real time, and provide feedback at any time to suspend the AGV to ensure safety. Before the AGV delivers the target cabin to the loading station, the safety device stops working, the AGV fork extends and lifts the pallet and the target cabin. During the loading task, the pallet falls due to gravity, passing through the gaps of the pallet positioning device and the upper load-bearing bracket of the rack. Since the outer envelope size of the target cabin is outside the main load-bearing surface of the pallet and inside the upper load-bearing bracket of the rack, it falls on the upper load-bearing bracket of the rack as the pallet falls.

[0114] S5: After the loading work is completed, the production operating system carries out subsequent installation and inspection work according to the steps, and the AGV car leaves with the pallet, realizing the efficient and high-quality loading method of "cabin drop pallet and leave".

[0115] The present invention aims at the cabin loading vehicle link, integrates the hardware such as the adaptive assembly rack vehicle system, AGV system, and cabin loading station, uses the software such as the production control system, production operation system, AGV navigation and scheduling system, WMS warehouse management system, and realizes the automatic loading vehicle of the cabin through the built-in logic, and has been applied to the production of 3 batches of products, so that the informationization rate of the cabin loading station reaches 100%, the automation rate reaches 100%, and the loading work time is shortened to 1 / 3 of the original. The present invention can also be promoted and applied to the production and transportation of other models of products.

[0116] The above-described embodiments are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically loading a compartment onto a vehicle, characterized in that: include: Pallet and trolley systems designed to support the compartment; Design cabin loading station to receive mission information and fix the loading system; Before cabin assembly, the cabin loading station receives task information and monitors whether the loading system has entered; when the loading system has entered, it locates and fixes the loading system; The AGV vehicle carries the pallet with the cabin section to be assembled and transports it to the cabin section loading station, then lifts the pallet to the top of the rack system, lowers the pallet vertically, and passes the pallet under the rack system. The cabin section falls on the rack system as the pallet falls, realizing the load conversion and automatic loading of the cabin section.

2. The method for automatically loading a compartment onto a vehicle according to claim 1, characterized in that: The cabin loading station includes a mechanical body, a positioning device, an information interaction module, and a safety grating; The mechanical body is two frame structures placed symmetrically on the left and right, and the minimum spacing in the horizontal direction is greater than the horizontal length of the outer envelope of the cabin section to be assembled; when the cabin section to be assembled is put on the rack, the rack system is located between the two frame structures; The positioning device includes a rack positioning device, a pallet positioning device and a controller; the controller receives instructions to control the rack positioning device and the pallet positioning device to work; the pallet positioning device is used to guide the pallet when the cabin section is racked, so that the pallet is drawn into the racking station; the rack positioning device performs three-dimensional positioning of the rack system, so that the rack system is stably fixed in the racking station; The information interaction module receives task information sent by the external system, parses the task information into instruction requirements and sends them to the controller; The safety grating is installed on the frame structure to monitor whether the trolley system is between the two frame structures.

3. The method for automatically loading a cabin section onto a vehicle according to claim 2, characterized in that: The vehicle positioning device comprises a limit block assembly, a clamping block assembly, and a follower device; The limit block assembly is used to limit the forward and backward movement of the trolley system, and includes two limit blocks and a pneumatic device; the front ends of the two frame structures are provided with limit block placement grooves, and the two limit blocks are placed in the two grooves; after receiving the command, the pneumatic device pushes the limit blocks to extend; The clamping block assembly is used to limit the left and right movement of the vehicle racking system and fix the vehicle racking system in the cabin section mounting station; the clamping block assembly includes a clamping block and a pneumatic device, which are located on a frame structure; a notch that matches the clamping block is provided on the side of the vehicle racking system; after receiving an instruction, the pneumatic device pushes the clamping block out and snaps into the corresponding notch to achieve position limiting; The follower device is installed below the ground between the two frame structures, with its upper surface coplanar with the ground, and is used to drive the frame system to translate and approach the frame structure equipped with the clamping block when the clamping block clamps the frame system.

4. The method for automatically loading a cabin section onto a vehicle according to claim 2, characterized in that: The pallet positioning device is installed on the opposite sides of the two frame structures, and a guide block is provided at the bottom of the pallet; when the cabin section is put on the shelf, the guide block interacts with the pallet positioning device, so that the pallet is guided into the interior of the workstation.

5. The method for automatically loading a cabin section onto a vehicle according to claim 2, characterized in that: The cabin loading station is equipped with a coding identification device placed on the frame structure; after the vehicle loading system is fixed in the station, the coding number of the vehicle loading system is scanned and the information is transmitted back to the information interaction module to complete the binding of the task and the vehicle loading system.

6. The method for automatically loading a cabin section onto a vehicle according to claim 2, characterized in that: The loading station in the cabin section is equipped with a security scanner to detect whether there are people or foreign objects inside the loading station.

7. The method for automatically loading a cabin section onto a vehicle according to claim 1, characterized in that: The pallet comprises a pallet body and a plurality of positioning blocks; The tray body includes a load-bearing surface and a plurality of legs; the load-bearing surface is a steel plate, including a rectangular body and two triangular structures fixed on one side of the rectangle; the two triangular structures are symmetrical along the central axis of the rectangular body; all the legs are symmetrically distributed on both sides of the rectangular body, and the legs at the outermost ends are flush with one side of the load-bearing rectangular body; The positioning block is fixed on the pallet body and is used to limit the position of the cabin section on the pallet body; the center of gravity position of the pallet body is obtained to meet the requirement that the center of gravity of the cabin section and the center of gravity of the entire pallet are collinear in the vertical direction, and the force simulation of the cabin section and pallet combination is performed to set the position of each positioning block.

8. The method for automatically loading a cabin section onto a vehicle according to claim 7, characterized in that: The carriage system includes a load-bearing mechanism, a bearing pad, and a motion mechanism; the upper surface of the load-bearing mechanism cooperates with the pallet to synchronously complete the cabin section on the upper surface of the load-bearing mechanism and the pallet passing downward through the upper surface of the load-bearing mechanism; the bearing pad is installed on the load-bearing mechanism to support the cabin section; the motion mechanism is used to move the load-bearing mechanism in the horizontal direction.

9. The method for automatically loading a cabin section onto a vehicle according to claim 8, characterized in that: The load-bearing mechanism of the vehicle frame system includes an upper load-bearing bracket, a lower load-bearing bracket, a left load-bearing bracket and a right load-bearing bracket, and the above four brackets are connected to form a three-dimensional frame structure with one side open; The upper load-bearing bracket is a load-bearing bracket that is directly contacted after the cabin section is put on the rack, and includes a rectangular frame with an open side and a plurality of vertical load-bearing surfaces fixed on the inner side of the frame and extending in the horizontal direction; the load-bearing surfaces located on opposite sides of the frame are symmetrically distributed along the central axis of the frame, the length of the load-bearing surface is greater than the length of the legs on the pallet, the spacing between adjacent load-bearing surfaces on the same side of the frame is greater than the width of the legs, and the spacing between symmetrical load-bearing surfaces on opposite sides of the frame is greater than the width of the rectangular body of the pallet, so that when the pallet carrying the cabin section contacts the upper load-bearing bracket vertically downward, each leg passes through the gap between each adjacent vertical load-bearing surface, the pallet is separated from the cabin section, and the cabin section is supported on the upper load-bearing bracket, thereby realizing the cabin section load transfer; The lower load-bearing support structure is a frame structure, which is integrally welded with the left load-bearing support and the right load-bearing support to form a high-rigidity frame to provide load-bearing support.

10. The method for automatically loading a cabin section onto a vehicle according to claim 8, characterized in that: The motion mechanism includes a floor brake and casters to control the movement and stop of the entire trolley system.

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