A wire-side moving tooling and positioning mechanism

Abstract

The present invention discloses a line-side mobile tooling and positioning mechanism, including a working fixture, a transition frame, a mobile tooling trolley and a positioning mechanism. The working fixture is arranged on the upper part of the transition frame, the lower part of the transition frame is fixed on the mobile tooling trolley, and the positioning mechanism is arranged at the bottom of the mobile tooling trolley. The present invention cooperates with a ground positioning mechanism and mobile tooling to perform precise positioning so as to meet the accuracy requirements for robot part grasping.

Description

Technical Field

[0001] The present invention relates to the technical field of body flexible production lines, and particularly to a side-line mobile tooling and positioning mechanism. Background Art

[0002] In the loading and welding station of the white body flexible main line, for part loading, the part is first placed on an accurate rack trolley, and then manually pushed by the operator to the ground positioning mechanism beside the main line. The accurate rack trolley is positioned by the ground positioning mechanism, and the robot grabs the part from the accurate rack trolley and loads it onto the line for welding. This loading method requires manual loading. Due to the relatively high production beat of the main line, each employee can only meet the loading of one part, resulting in high labor intensity, low loading efficiency, and high cost for the employees.

[0003] Problems Existing in the Prior Art

[0004] 1) The mobile tooling is transported by an AGV trolley, and the AGV transportation accuracy is relatively low, which does not meet the accuracy requirements for the robot to grab parts.

[0005] 2) During the docking process between the AGV and the mobile tooling, due to the relatively low accuracy of the AGV, there are accuracy problems in the docking between the AGV and the mobile tooling.

[0006] 3) After the mobile tooling moves into place, it requires energy such as water, electricity, and gas to work, and there are problems with the energy docking between the mobile tooling and the ground mechanism. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides a side-line mobile tooling, which is accurately positioned by a ground positioning mechanism to meet the accuracy requirements for the robot to grab parts.

[0008] To achieve the above invention objective, a side-line mobile tooling of the present invention includes a working fixture, a transition frame, a mobile tooling trolley, and a positioning mechanism. The working fixture is arranged on the upper part of the transition frame, the lower part of the transition frame is fixed on the mobile tooling trolley, and the positioning mechanism is arranged at the bottom of the mobile tooling trolley.

[0009] Further, the working fixture is a combination of one or several of a rack fixture, a positioning fixture, and a gripper placement rack.

[0010] Further, the working fixture and the transition frame are fixed by a manual clamp.

[0011] Further, the bottom of the mobile tooling trolley is also provided with casters, a guide plate, guide wheels, a floating mechanism, and a limit block. The guide plate, the positioning mechanism, and the limit block are used to dock with the ground positioning mechanism; the guide wheels and the floating mechanism are used to dock with the AGV.

[0012] Further, the guide wheel includes a mounting seat, an adjustment bolt, a mounting bracket, a roller bearing and a spring. The roller bearings are installed at both ends of one side of the mounting bracket. A vertical rod is provided in the middle of the other side of the mounting bracket. The vertical rod is pivotally connected to the bottom surface of the mounting seat. One side of the mounting seat is connected to one end of the mounting bracket through a spring, and an adjustment bolt is provided on the other side of the mounting seat; the top surface of the mounting seat is mounted on the bottom of the mobile tooling cart.

[0013] Further, the floating mechanism includes a lower mounting plate, a buffer, a middle mounting plate, a pin hole plate and an upper mounting plate. The lower mounting plate, the middle mounting plate and the upper mounting plate are overlapped in sequence from bottom to top and fixed by bolts. The middle mounting plate is a hollow frame structure. The pin hole plate is arranged inside the frame of the middle mounting plate and is elastically connected to the frame of the middle mounting plate through a buffer. A pin hole is provided on the pin hole plate, and the pin hole is in a flared shape with a smaller bottom and a larger top; a corresponding through hole is provided on the upper mounting plate at the position of the pin hole, and the diameter of the through hole is larger than the diameter of the largest cross-section of the pin hole.

[0014] Further, the positioning mechanism includes a mounting plate and a fixed pin hole plate and an adjustable pin hole plate arranged on the mounting plate. The mounting plate is mounted on the bottom of the mobile tooling cart. The fixed pin hole plate is docked with the lifting mechanism of the ground mechanism to lift the mobile tooling cart, and the adjustable pin hole plate is docked with the sliding mechanism of the ground positioning mechanism to position the mobile tooling cart.

[0015] A ground positioning mechanism includes a ground guide, a guide wheel, a lifting and sliding mechanism, a limiting mechanism and an energy docking mechanism arranged on both sides of the ground in sequence; the ground guide and the guide wheel are used to guide the mobile tooling cart into the ground positioning mechanism, the limiting mechanism is used to limit the forward position of the mobile tooling cart, the lifting and sliding mechanism is used to lift and position the mobile tooling cart, and the energy docking mechanism is used to provide energy for the mobile tooling cart.

[0016] Further, the lifting and sliding mechanism includes a lifting mechanism, a frame, a sliding mechanism and a clamping mechanism. The frame is arranged above the lifting mechanism. The sliding mechanism is arranged on the frame. The clamping mechanism is mounted on the sliding mechanism. A positioning pin hole and a positioning surface are also arranged on the sliding mechanism.

[0017] The beneficial effects of the present invention:

[0018] 1), Develop a spring roller guide structure, which can complete the guidance and rough positioning of the cart and the AGV, and the opening of the guide can be adjusted through the adjustment bolt;

[0019] 2), Develop a floating mechanism to realize the docking of the mobile tooling cart and the AGV, and it can automatically return to the original position after docking;

[0020] 3) The mobile tooling cart uses the method of lifting and then positioning, avoiding the influence of the ground on the accuracy of the cart and improving the positioning accuracy.

[0021] 4) The fixture side of the mobile tooling uses manual clamping for fixation, which is convenient for quick disassembly and switching. The fixture side can be made into a fixture module according to requirements for overall switching. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the overall structure of the in-line mobile tooling and the ground positioning mechanism;

[0023] Figure 2 It is a schematic diagram of the structure of the in-line mobile tooling;

[0024] Figure 3 It is a schematic diagram of the structure of the mobile tooling cart;

[0025] Figure 4 It is a schematic diagram of the structure of the guide wheel;

[0026] Figure 5 It is a schematic diagram of the structure of the floating mechanism;

[0027] Figure 6 It is a schematic diagram of the structure of the positioning mechanism;

[0028] Figure 7 It is a schematic diagram of the structure of the ground positioning mechanism;

[0029] Figure 8 It is a schematic diagram of the structure of the lifting and sliding mechanism;

[0030] In the figure, working fixture 1, transition frame 2, mobile tooling cart 3, positioning mechanism 4;

[0031] Caster 301, guide plate 302, guide wheel 303, floating mechanism 304, limit block 305;

[0032] Mounting seat 3031, adjustment bolt 3032, mounting bracket 3033, roller bearing 3034, spring 3035;

[0033] Lower mounting plate 3041, buffer 3042, middle mounting plate 3043, pin hole plate 3044, upper mounting plate 3045;

[0034] Mounting plate 401, fixed pin hole plate 402, adjustable pin hole plate 403;

[0035] Ground positioning mechanism 5, ground guide 501, guide wheel 502, lifting and sliding mechanism 503, limit mechanism 504, energy docking mechanism 505;

[0036] Lifting mechanism 5031, frame 5032, sliding mechanism 5033, clamping mechanism 5034. Detailed implementation mode

[0037] To describe the technical content, achieved objectives and effects of the present invention in detail, the following is described in conjunction with the implementation modes and with reference to the accompanying drawings.

[0038] As Figure 1-8 , a mobile tooling beside the line according to the present invention includes a working fixture 1, a transition frame 2, a mobile tooling cart 3 and a positioning mechanism 4. The working fixture 1 is arranged on the upper part of the transition frame 2, the lower part of the transition frame 2 is fixed on the mobile tooling cart 3, and the positioning mechanism 4 is arranged at the bottom of the mobile tooling cart 3.

[0039] In this implementation mode, the working fixture 1 is a combination of one or several of a rack fixture, a positioning fixture, and a gripper placement rack.

[0040] In this implementation mode, the working fixture 1 and the transition frame 2 are fixed by a manual clamp. It is convenient for quick removal and switching.

[0041] In this implementation mode, the bottom of the mobile tooling cart 3 is further provided with casters 301, a guide plate 302, guide wheels 303, a floating mechanism 304 and a limit block 305. The guide plate 302, the positioning mechanism 4 and the limit block 305 are used to dock with the ground positioning mechanism; the guide wheels 302 and the floating mechanism 304 are used to dock with the AGV.

[0042] In this implementation mode, the guide wheel 303 includes a mounting seat 3031, an adjustment bolt 3032, a mounting bracket 3033, a roller bearing 3034 and a spring 3035. The roller bearing 3034 is installed at both ends on one side of the mounting bracket 3033. A vertical rod is arranged in the middle of the other side of the mounting bracket 3033. The vertical rod is pivotally connected to the bottom surface of the mounting seat 3031. One side of the mounting seat 3031 is connected to one end of the mounting bracket 3033 by a spring 3035, and an adjustment bolt 3032 is arranged on the other side of the mounting seat 3031; the top surface of the mounting seat 3031 is mounted on the bottom of the mobile tooling cart 3.

[0043] In this embodiment, the floating mechanism 304 includes a lower mounting plate 3041, a buffer 3042, a middle mounting plate 3043, a pin hole plate 3044, and an upper mounting plate 3045. The lower mounting plate 3041, the middle mounting plate 3043, and the upper mounting plate 3045 are overlapped in sequence from bottom to top and fixed by bolts. The middle mounting plate 3043 is a hollow frame structure. The pin hole plate 3044 is arranged inside the frame of the middle mounting plate 3043 and is elastically connected to the frame of the middle mounting plate 3043 through the buffer 3042. The pin hole plate 3044 is provided with pin holes, and the pin holes are in a flared shape, smaller at the bottom and larger at the top. A corresponding through hole is provided on the upper mounting plate 3045 at the position of the pin hole, and the diameter of the through hole is larger than the diameter of the maximum cross-section of the pin hole.

[0044] In this embodiment, the positioning mechanism 4 includes a mounting plate 401, a fixed pin hole plate 402, and an adjustable pin hole plate 403 arranged on the mounting plate 401. The mounting plate 401 is mounted on the bottom of the mobile tooling cart 3. The fixed pin hole plate 402 is docked with the lifting mechanism of the ground mechanism to lift the mobile tooling cart, and the adjustable pin hole plate 403 is docked with the sliding mechanism of the ground positioning mechanism to position the mobile tooling cart.

[0045] A ground positioning mechanism includes a ground guide 501, a guide wheel 502, a lifting and sliding mechanism 503, a limiting mechanism 504, and an energy docking mechanism 505 arranged on both sides of the ground in sequence. The ground guide 501 and the guide wheel 502 are used to guide the mobile tooling cart 3 into the ground positioning mechanism 5. The limiting mechanism 504 is used to limit the forward position of the mobile tooling cart 3. The lifting and sliding mechanism 503 is used to lift and position the mobile tooling cart. The energy docking mechanism 505 is used to provide energy for the mobile tooling cart.

[0046] In this embodiment, the lifting and sliding mechanism 503 includes a lifting mechanism 5031, a frame 5032, a sliding mechanism 5033, and a clamping mechanism 5034. The frame 5032 is arranged above the lifting mechanism 5031. The sliding mechanism 5033 is arranged on the frame 5032. The clamping mechanism 5034 is mounted on the sliding mechanism 5033. The sliding mechanism 5033 is also provided with positioning pin holes and positioning surfaces.

[0047] The structures of the in-line mobile tooling and the ground positioning mechanism are as Figure 1 shown. The in-line mobile tooling ensures the positioning accuracy through the ground positioning mechanism.

[0048] The structure of the in-line mobile tooling Figure 2 is shown. The working fixture can be made only into a rack fixture, a positioning fixture, a gripper placement rack, etc. according to requirements. The transition frame is a transition part used to connect the fixture and the cart. The mobile tooling cart is used to dock with the AGV and the ground positioning mechanism.

[0049] The structure of the mobile tooling cart is as follows Figure 3 shown. The guide plate, positioning mechanism, and limit block are used to dock with the ground mechanism for precise positioning of the mobile tooling. The guide wheels and floating mechanism are used to dock with the AGV to ensure docking accuracy and success rate.

[0050] The structure of the guide wheels is as follows Figure 4 shown. The roller bearings will tilt under the action of the spring, and the degree of tilt is adjusted by the adjustment bolt. The guide wheels are installed symmetrically left and right on the cart frame. The tilt of the rollers forms an opening that is larger on the outside and smaller on the inside. When the AGV enters the bottom of the cart, the rollers will guide and roughly position the AGV.

[0051] The structure of the floating mechanism is as follows Figure 5 shown. The lower mounting plate, middle mounting plate, upper mounting plate surround the pinhole plate in the middle, and the pinhole plate is centered by adjusting the buffer. The pinholes of the pinhole plate are in the shape of a flared opening, smaller at the bottom and larger at the top. When the towing bar of the AGV cart rises, since the AGV may be misaligned with the floating mechanism, the towing bar will contact the lower flared opening of the pinhole. As the towing bar rises, the pinhole will be aligned with the towing bar under the action of the towing bar. At this time, since the pinhole plate is positioned by the buffer, the pinhole plate can complete floating positioning. During the movement process and after the towing bar descends, due to the action of the buffer on the pinhole plate, the pinhole plate will automatically adjust its own position to complete the return.

[0052] The structure of the positioning mechanism is as follows Figure 6 shown. The entire set of mechanisms is installed on the cart frame through the mounting plate. The fixed pinhole plate is docked with the lifting mechanism of the ground mechanism to lift the mobile tooling cart, and the adjustable pinhole plate is docked with the sliding mechanism of the ground positioning mechanism to position the mobile tooling cart.

[0053] The structure of the ground positioning mechanism is as follows Figure 7 shown. The ground guide and guide wheels are used to guide the mobile tooling cart into the ground positioning mechanism. The limit mechanism is used to limit the forward position of the mobile tooling cart. The lifting and sliding mechanism is used to lift and position the mobile tooling cart. The energy docking mechanism is used to provide energy for the mobile tooling cart.

[0054] The structure of the lifting and sliding mechanism is as follows Figure 8 shown. The lifting and sliding mechanism and the positioning mechanism on the cart jointly complete the positioning of the mobile tooling cart. When the mobile tooling cart is roughly positioned through guiding, limiting, etc., the AGV and the cart stop on the ground. The lifting mechanism first lifts the cart, then the sliding mechanism extends, and the lifting mechanism lowers the cart onto the sliding mechanism. The cart is positioned by the positioning pins and positioning surfaces on the sliding mechanism with respect to the positioning pinholes and positioning surfaces on the cart. When the positioning is completed, the clamping mechanism acts to clamp the cart to the ground mechanism.

[0055] Although the present invention has been described in detail in the foregoing with specific embodiments, modifications or improvements can be made thereto on the basis of the present invention, which will be obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A tool for moving beside a wire, characterized in that: It includes a working fixture, a transition frame, a mobile tooling cart and a positioning mechanism. The working fixture is arranged on the upper part of the transition frame. The lower part of the transition frame is fixed on the mobile tooling cart. The positioning mechanism is arranged at the bottom of the mobile tooling cart. Casters, guide plates, guide wheels, floating mechanisms and limit blocks are also provided at the bottom of the mobile tooling cart. The guide plates, positioning mechanism and limit blocks are used to dock with the ground positioning mechanism. The guide wheels and floating mechanisms are used to dock with the AGV. The guide wheel includes a mounting seat, an adjustment bolt, a mounting bracket, a roller bearing and a spring. The roller bearings are installed at both ends on one side of the mounting bracket. A vertical rod is arranged in the middle of the other side of the mounting bracket. The vertical rod is pivotally connected to the bottom surface of the mounting seat. One side of the mounting seat is connected to one end of the mounting bracket through a spring. An adjustment bolt is arranged on the other side of the mounting seat. The top surface of the mounting seat is installed at the bottom of the mobile tooling cart. The floating mechanism includes a lower mounting plate, a buffer, a middle mounting plate, a pin hole plate and an upper mounting plate. The lower mounting plate, the middle mounting plate and the upper mounting plate are overlapped in sequence from bottom to top and fixed by bolts. The middle mounting plate is a hollow frame structure. The pin hole plate is arranged inside the frame of the middle mounting plate and is elastically connected to the frame of the middle mounting plate through a buffer. Pin holes are arranged on the pin hole plate. The pin holes are in the shape of a flared opening, smaller at the bottom and larger at the top. Through holes corresponding to the pin hole positions are arranged on the upper mounting plate. The diameter of the through holes is larger than the maximum cross-sectional diameter of the pin holes. The positioning mechanism includes a mounting plate and a fixed pin hole plate and an adjustable pin hole plate arranged on the mounting plate. The mounting plate is installed at the bottom of the mobile tooling cart. The fixed pin hole plate is docked with the lifting mechanism of the ground mechanism to lift the mobile tooling cart. The adjustable pin hole plate is docked with the sliding mechanism of the ground positioning mechanism to position the mobile tooling cart.

2. The side-line moving tooling according to claim 1, wherein: The working fixture is one or a combination of a rack fixture, a positioning fixture, a gripper placement rack, etc.

3. The in-line moving tooling according to claim 1, wherein: The working fixture and the transition frame are fixed by a manual clamp.

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