An adjustment device for transporting heavy cargo stackers and positioning tooling

Abstract

The present invention discloses an adjustment device for transporting heavy-duty cargo stackers and positioning tooling. The heavy-duty cargo is provided with guide holes and zero-point positioning rivets, and the adjustment device includes a cargo placement plate, a universal ball, a guide pin, a zero-point positioning chuck, a lifting guide rail, a lifting hydraulic cylinder, and a bottom mounting plate; the lifting hydraulic cylinder is provided on the bottom mounting plate, and the piston rod of the hydraulic cylinder passes through the through hole on the bottom mounting plate and is connected to the lower surface of the cargo placement plate, and the lifting and lowering of the cargo placement plate is achieved by the hydraulic cylinder; the guide pin is provided on the bottom mounting plate, passes through the through hole on the cargo placement plate and matches the guide hole on the heavy-duty cargo; the zero-point positioning chuck is provided on the bottom mounting plate and matches the zero-point positioning rivet on the cargo; a plurality of universal balls are evenly distributed on the upper surface of the cargo placement plate, and the lifting guide rail is used to guide the cargo placement plate when it is lifted or lowered. The present invention can complete high-precision positioning and adjustment of heavy-duty cargo, and realize full-process automated operation of heavy-duty cargo.

Description

Technical Field

[0001] The present invention belongs to the field of automated industrial production, and in particular relates to an adjustment device for transporting heavy-duty cargo stackers and positioning tooling. Background Art

[0002] With the development of science and technology, automated production lines are increasingly valued in the industrial field. In the actual production of welding medium and large parts, the use of stereoscopic warehouses, stackers and robotic intelligent welding equipment to realize the storage, transportation and automated welding of parts and semi-finished products can not only increase factory production capacity and reduce labor costs, but also improve the quality of production products and reduce production risks.

[0003] However, welding quality is closely linked to workpiece positioning accuracy, typically requiring ±0.1mm to ensure high weld quality. Therefore, robotic intelligent welding equipment requires high workpiece positioning accuracy. Currently, commonly used stackers achieve only ±3mm positioning accuracy for both travel and lift functions. This accuracy is also affected by factors such as cargo weight. Heavier cargo can significantly impact the stacker's travel and lift functions, leading to even lower positioning accuracy. In automated welding lines, the need for stackers to extend their forks when retrieving and delivering cargo from warehouses or welding stations can cause downward deflection, making it difficult to control the stacker's vertical positioning accuracy. Consequently, in automated welding lines handling large cargo, the significant difference in positioning accuracy between stackers and welding equipment makes fully automated delivery of cargo to welding stations impossible using stackers. Manual lifting and transfer stations are often required for positioning, preventing full automation. Summary of the Invention

[0004] The object of the present invention is to provide an adjustment device for transporting heavy goods stackers and positioning tooling.

[0005] The technical solution to achieve the purpose of the present invention is: an adjustment device for transporting heavy cargo stackers and positioning tooling, wherein the heavy cargo is provided with guide holes and zero-point positioning pins, and the adjustment device includes a cargo placement plate, a universal ball, a guide pin, a zero-point positioning chuck, a lifting guide rail, a lifting hydraulic cylinder, and a bottom mounting plate;

[0006] The lifting hydraulic cylinder is arranged on the bottom mounting plate, and the piston rod of the hydraulic cylinder passes through the through hole on the bottom mounting plate and is connected to the lower surface of the cargo placement plate, and the lifting and lowering of the cargo placement plate is realized by the hydraulic cylinder; the guide pin is arranged on the bottom mounting plate, passes through the through hole on the cargo placement plate and matches the guide hole on the heavy cargo; the zero-point positioning chuck is arranged on the bottom mounting plate and cooperates with the zero-point positioning rivet on the cargo; a plurality of universal balls are evenly distributed on the upper surface of the cargo placement plate, and the lifting guide rail is used to guide the cargo placement plate when it is raised or lowered.

[0007] Furthermore, the lifting guide rail is a cylindrical linear guide rail, the bottom mounting plate is provided with a through hole, a cylindrical shell is provided at a position matching each through hole on the lower surface of the bottom mounting plate to form a cylindrical guide sleeve, and a cylindrical guide column matching the guide sleeve is provided on the lower surface of the cargo placement plate. When the cargo placement plate is raised or lowered, guidance is achieved through the guide column and guide sleeve.

[0008] Furthermore, the upper portion of the guide pin is a cone, the main body is cylindrical, and the upper portion of the cone and the upper flat top of the guide pin are connected by an arc surface transition.

[0009] Furthermore, the diameter of the cylindrical part of the guide pin is 40-50 mm, the guide angle of the guide cone part is 30°-60°, the diameter of the upper part of the cone is 15-25 mm, and the diameter of the flat top of the guide pin is 6-10 mm.

[0010] Furthermore, the positioning accuracy of the zero-point positioning chuck is higher than 0.005 mm.

[0011] A method for transporting using the above-mentioned device comprises the following steps:

[0012] Step (1): When placing goods from the stacker onto the tooling, the goods placement plate is lifted up by the lifting hydraulic cylinder until the lifting height reaches a height where the universal spherical surface exceeds the height of the top of the guide pin; the stacker forks the goods and places them on the goods placement plate; the lifting hydraulic cylinder descends, so that the top of the guide pin is inserted into the guide hole of the goods; the lifting hydraulic cylinder continues to descend, and under the action of the guide pin, the goods are adjusted in position by rolling over the universal ball until the zero-point positioning pin installed on the goods enters the zero-point positioning chuck; the zero-point positioning pin is locked by the zero-point positioning chuck, so that the goods are positioned and fixed on the adjustment device;

[0013] Step (2): When the stacker forks the goods from the tooling, the zero-point positioning chuck is controlled to loosen the zero-point positioning pin to separate the goods from the tooling; the lifting hydraulic cylinder rises to lift the goods to the set height; the stacker fork extends to the bottom of the goods and lifts the fork to take the goods; the lifting hydraulic cylinder descends and waits for the next task.

[0014] Further, it is used for automated welding.

[0015] Furthermore, after step (1), a positioner is used to position the positioned and fixed workpiece to be welded to a position preset by the automatic welding system instruction, and the welding robot is started to perform automatic welding;

[0016] After welding is completed, the welded workpiece is removed from the positioner using the method of step (2).

[0017] Furthermore, the number of adjustment devices used is determined according to the size and weight of the workpiece to be welded, and the number of adjustment devices during use is greater than or equal to 1.

[0018] Compared with the prior art, the present invention has the following significant advantages:

[0019] (1) Through the present invention, the fully automated docking of the stereoscopic warehouse, stacker and tooling can be realized, and the fully automated intelligent workshop operation of the goods from the stereoscopic warehouse to the production system can be realized, avoiding the assistance of manual lifting and transfer stations, greatly improving the work efficiency of the automated production line and avoiding the dangers of auxiliary work such as manual lifting.

[0020] (2) The present invention can realize the automated transportation of heavy goods. At the same time, there is no need for a stacker to perform high-precision positioning of the parts, and there is no need to consider the impact of the weight on the positioning accuracy of the stacker and the shortcomings of insufficient positioning accuracy of the stacker itself.

[0021] (3) The present invention can achieve high-precision positioning and adjustment of goods on tooling, with a positioning accuracy better than 0.005 mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of the adjustment device of the present invention.

[0023] Figure 2 It is a schematic diagram of the C-type positioner of the present invention.

[0024] Figure 3 This is a schematic diagram of a fully automatic robot welding production line.

[0025] Figure 4 This is a schematic diagram of the locomotive welding assembly.

[0026] Description of reference numerals:

[0027] 1-Cargo placement plate, 2-Universal ball, 3-Guide pin, 4-Zero point positioning chuck, 5-Jack guide rail, 6-Jack hydraulic cylinder, 7-Bottom mounting plate. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings.

[0029] like Figure 1As shown, the present invention proposes an adjustment device for heavy-duty cargo stacker transportation and tooling positioning, which consists of a bottom mounting plate 7, a lifting hydraulic cylinder 6, a lifting guide rail 5, a zero-point positioning chuck 4, a guide pin 3, a cargo placement plate 1, a universal ball 2, etc., and is used to achieve high-precision positioning of heavy-duty cargo stacker and tooling.

[0030] The lifting hydraulic cylinder body 6 is fixed to the lower part of the bottom mounting plate 7, and the hydraulic cylinder piston rod passes through the through hole on the bottom mounting plate and is connected to the lower part of the cargo placement plate 1, which is used to lift and lower the cargo placement plate 1 and the cargo placed thereon; the lifting guide rail 5 is a cylindrical linear guide rail, which plays a linear guide role when the lifting hydraulic cylinder 6 lifts and lowers the cargo placement plate;

[0031] The zero-point positioning chuck 4 is fixed to the upper part of the bottom mounting plate 7 and can lock the zero-point positioning pin installed on the heavy goods through the pneumatic components, thereby achieving the functions of fixing, tightening and positioning the goods;

[0032] The guide pin 3 is fixed on the bottom mounting plate 7 and can be matched with the guide hole on the cargo through the through hole of the cargo placement plate to guide the cargo during its falling process;

[0033] The universal ball 2 is fixed to the upper part of the cargo placement plate 7 and can contact the universal ball surface when the cargo is placed, so that the cargo can slide on the universal ball during the falling process, and the positioning of the cargo is achieved through the guiding effect of the guide pin 3;

[0034] The diameter of the cylindrical part of the guide pin 3 is generally selected between 40 and 50 mm, the guide angle of the guide cone part is generally selected between 30° and 60°, the diameter of the upper part of the cone is 15 to 25 mm, the diameter of the upper flat top of the guide pin is 6 to 10 mm, and the upper part of the cone and the upper flat top of the guide pin are connected by an arc surface transition;

[0035] The positioning accuracy of the zero-point positioning chuck 2 is better than 0.005mm;

[0036] When placing goods from the stacker to the tooling, the main working process of the adjustment device is as follows:

[0037] 1) Lift the cargo placement plate with the hydraulic cylinder until the universal spherical surface exceeds the height of the top of the guide pin;

[0038] 2) The stacker forks the goods and places them on the cargo placement board;

[0039] 3) The lifting hydraulic cylinder descends, so that the top of the guide pin is inserted into the guide hole of the cargo;

[0040] 4) The lifting hydraulic cylinder continues to descend, and under the action of the guide pin, the cargo adjusts its position by rolling on the universal ball until the zero-point positioning pin installed on the cargo enters the zero-point positioning chuck;

[0041] 5) The zero-point positioning chuck is pneumatically controlled to lock the zero-point positioning pin, thereby achieving tightening and precise positioning of the goods on the tooling.

[0042] When the stacker crane takes goods from the tooling, the main working process of the adjustment device is as follows:

[0043] 1) Loosen the zero-point positioning rivet through the pneumatically controlled zero-point positioning chuck to separate the goods from the tooling;

[0044] 2) The lifting hydraulic cylinder rises and, under the action of the guide pin, lifts the cargo to a certain height;

[0045] 3) The stacker fork extends to the bottom of the cargo and lifts up to take the cargo;

[0046] 4) The lifting hydraulic cylinder descends and waits for the next task.

[0047] The adjustment device can be used alone or in combination, and the specific selection can be made according to the size and weight of the goods.

[0048] Example 1

[0049] The present invention is used to take out a locomotive frame from a stereoscopic warehouse for automatic welding

[0050] like Figure 4 As shown in the figure, a schematic diagram of a locomotive frame welding assembly is shown. The original locomotive frame has been spot-welded and assembled and placed in a stereoscopic warehouse. Figure 3 As shown, the locomotive frame welds need to be fully welded using robotic welding. First, a stacker crane is used to remove the locomotive frame from the high-bay warehouse and transport it to the front of the fully automatic welding production line equipped with a heavy-duty stacker crane transport and tooling positioning and adjustment mechanism.

[0051] The stacker crane transport and tooling positioning adjustment mechanism starts to operate, the jacking hydraulic cylinder lifts the cargo placement plate, and the jacking height is up to the universal spherical surface exceeding the height of the top of the guide pin. The stacker crane forks the cargo and places it on the cargo placement plate. The jacking hydraulic cylinder descends, so that the top of the guide pin is inserted into the guide hole of the cargo. The jacking hydraulic cylinder continues to descend. Under the action of the guide pin, the cargo adjusts its position by rolling over the universal ball until the zero-point positioning pin installed on the cargo enters the zero-point positioning chuck. The zero-point positioning chuck is pneumatically controlled to lock the zero-point positioning pin, thereby achieving clamping and precise positioning of the cargo on the tooling.

[0052] The positioner is turned on to move the precisely positioned locomotive frame to the position pre-set by the automated welding system, and the welding robot is started for automated welding.

[0053] The present invention is used to take the completed locomotive frame from the C-type positioner-head and tail frame positioner and place it back into the stereoscopic warehouse.

[0054] Start the automated welding system, the welding robot returns to its original state, and the positioner restores the locomotive frame's spatial position to its initial state.

[0055] Start the stacker and move it to the front of the fully automatic welding production line with heavy-duty cargo stacker transport and tooling positioning adjustment mechanism; loosen the zero-point positioning rivet through the pneumatically controlled zero-point positioning chuck to separate the completed locomotive frame from the heavy-duty cargo stacker transport and tooling positioning adjustment mechanism, and the lifting hydraulic cylinder rises to lift the completed parts to a certain height. The top of the guide pin is separated from the guide hole of the cargo, and the stacker fork extends to the lower part of the completed locomotive frame. The lifting fork takes the completed locomotive frame, and the lifting hydraulic cylinder descends. The stacker transports the completed locomotive frame to the front of the stereoscopic warehouse and places the completed parts in the stereoscopic warehouse.

Claims

1. An adjustment device for transporting heavy cargo stackers and positioning tooling, characterized in that: A guide hole and a zero-point positioning rivet are provided on the heavy cargo, and the adjustment device comprises a cargo placement plate (1), a universal ball (2), a guide pin (3), a zero-point positioning chuck (4), a lifting guide rail (5), a lifting hydraulic cylinder (6) and a bottom mounting plate (7); The lifting hydraulic cylinder (6) is arranged on the bottom mounting plate (7), and the piston rod of the hydraulic cylinder passes through the through hole on the bottom mounting plate (7) and is connected to the lower surface of the cargo placement plate (1), so that the lifting and lowering of the cargo placement plate is realized by the hydraulic cylinder; the guide pin (3) is arranged on the bottom mounting plate (7), passes through the through hole on the cargo placement plate and matches the guide hole on the heavy cargo; the zero point positioning chuck (4) is arranged on the bottom mounting plate (7) and matches the zero point positioning rivet on the cargo; a plurality of universal balls (2) are evenly distributed on the upper surface of the cargo placement plate (1), and the cargo placement plate is guided by the lifting guide rail (5) when it is lifted or lowered.

2. The adjustment device according to claim 1, characterized in that The lifting guide rail is a cylindrical linear guide rail, the bottom mounting plate (7) is provided with a through hole, a cylindrical shell is provided at a position on the lower surface of the bottom mounting plate (7) that matches each through hole to form a cylindrical guide sleeve, and a cylindrical guide column that matches the guide sleeve is provided on the lower surface of the cargo placement plate (1). When the cargo placement plate (1) is raised or lowered, guidance is achieved through the guide column and guide sleeve.

3. The adjustment device according to claim 2, characterized in that The upper part of the guide pin is a cone, the main body is cylindrical, and the upper part of the cone and the upper flat top of the guide pin are connected by an arc surface transition.

4. The adjustment device according to claim 3, characterized in that The diameter of the cylindrical part of the guide pin is 40 to 50 mm, the guide angle of the guide cone part is 30° to 60°, the diameter of the upper part of the cone is 15 to 25 mm, and the diameter of the flat top of the upper part of the guide pin is 6 to 10 mm.

5. The adjustment device according to claim 4, characterized in that The positioning accuracy of the zero-point positioning chuck is higher than 0.005mm.

6. A method for transporting using the device according to any one of claims 1 to 5, characterized in that: The steps include: Step (1): When placing goods from the stacker onto the tooling, the goods placement plate is lifted up by the lifting hydraulic cylinder until the lifting height reaches a height where the universal spherical surface exceeds the height of the top of the guide pin; the stacker forks the goods and places them on the goods placement plate; the lifting hydraulic cylinder descends, so that the top of the guide pin is inserted into the guide hole of the goods; the lifting hydraulic cylinder continues to descend, and under the action of the guide pin, the goods are adjusted in position by rolling over the universal ball until the zero-point positioning pin installed on the goods enters the zero-point positioning chuck; the zero-point positioning pin is locked by the zero-point positioning chuck, so that the goods are positioned and fixed on the adjustment device; Step (2): When the stacker forks the goods from the tooling, the zero-point positioning chuck is controlled to loosen the zero-point positioning pin to separate the goods from the tooling; the lifting hydraulic cylinder rises to lift the goods to the set height; the stacker fork extends to the bottom of the goods and lifts the fork to take the goods; the lifting hydraulic cylinder descends and waits for the next task.

7. The method according to claim 6, characterized in that For automated welding.

8. The method according to claim 7, characterized in that After step (1), a positioner is used to position the positioned and fixed workpiece to be welded to a position pre-set by the automatic welding system instruction, and the welding robot is started to perform automatic welding; After welding is completed, the welded workpiece is removed from the positioner using the method of step (2).

9. The method according to claim 8, characterized in that The number of adjustment devices used is determined according to the size and weight of the workpiece to be welded. The number of adjustment devices used during use is greater than or equal to 1.

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