System and method for positioning a workpiece holder frame in the proper location in a machining or assembly station of a production plant
The system, consisting of a bracket, vertically movable ball bearing support, and auxiliary centering components, solves the problems of inaccurate workpiece positioning and insufficient adaptability, achieving precise workpiece positioning and flexible adaptability while reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- COMAU SPA
- Filing Date
- 2022-03-30
- Publication Date
- 2026-07-10
Smart Images
Figure CN117136117B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a system and method for positioning a workpiece retainer frame at a suitable location in a processing or assembly station in a production workshop.
[0002] In the specification and appended claims of this invention, the term "workpiece" is used in a general sense to refer to any part, structure, sub-component of a structure, component, or group of components that must undergo processing and / or assembly operations at a station in a production workshop. For example, the invention can be applied to stations for assembling battery packs that power electric traction motors for electric vehicles. However, the invention is equally applicable to other fields, such as assembly stations for vehicle bodies or their sub-components in motor vehicles. Background Technology
[0003] In machining or assembly stations of the types described above, it is typically necessary to operate in both automatic and manual modes, requiring operator intervention to ensure complete safety while maintaining ergonomics. This requirement often makes it difficult to use the system to move and position the workpiece appropriately within the machining station, reducing or even hindering accessibility from all sides of the workpiece being processed. Conversely, in applications of this type, it is important to minimize the distance between the necessary parts and the area accessible to the operator. It is also essential that the equipment used to support and position the workpiece does not obstruct the operator's movement. Furthermore, when the machining station must operate in fully automatic mode, the step of positioning the workpiece appropriately within the machining station must, in any case, be performed with great precision and, despite this, within a relatively short timeframe.
[0004] Another requirement arising from the above types of applications is that, due to the use of flexible handling systems, processing stations can easily and quickly adapt to each new application or product model.
[0005] As mentioned above, traditional material handling systems, such as ground conveyors, "lift and move" systems, or motorized roller conveyors, involve the use of fixed base plate structures, which can hinder operators from reaching the parts to be processed from all directions. Other systems (such as overhead conveyors) can save base plate space, but in any case, they require support frames, which can hinder access to the workpiece and are also very expensive.
[0006] Finally, the drawback of all known traditional solutions is their inability to flexibly adapt to the introduction of new models in production, or to changes in shop floor layout and production line paths.
[0007] Production systems are also known in which manual and automatic operations are performed in separate stations. The disadvantage of this is that a transport system must be provided to move workpieces from the automatic station to the manual station, or vice versa. This involves introducing activities that do not add value and the use of additional equipment with relative costs.
[0008] Purpose of the invention
[0009] The purpose of this invention is to overcome the above-mentioned shortcomings.
[0010] In particular, an object of the present invention is to provide a system and method for positioning a workpiece retainer frame in a machining or assembly station, which can be used in a station that can be operated in a fully automatic or manual mode, thereby ensuring that the operator can access the workpiece from all sides.
[0011] Another object of the present invention is to provide a system and method of the type described above, which allows for the positioning of a workpiece in the appropriate location in a processing station in an extremely precise manner and with an extremely short time.
[0012] Another object of the present invention is to provide a system and method of the type described above, which is highly flexible in easily adapting to new applications and / or introducing new products into production and / or changing the layout of the production workshop and / or the production line path.
[0013] Another object of the present invention is to provide a system and method of the above type that can be implemented in a simple and low-cost manner. Summary of the Invention
[0014] To achieve one or more of the above objectives, the object of the present invention is to provide a system for positioning a workpiece retainer frame in a suitable location in a machining or assembly station in a production workshop, comprising:
[0015] - A processing or assembly station, which has a working area and fixed support structures on both sides of the working area.
[0016] - A bracket, configured to carry the workpiece retainer frame along a line within the working area.
[0017] - A workpiece retainer frame supported on a bracket, configured to carry the workpiece at a predetermined position relative to the workpiece retainer frame.
[0018] -The fixed support structures arranged on both sides of the working area carry vertically movable support members, which are positioned and configured to engage and lift the workpiece retainer frame carried by the bracket fixed in the working area, so as to move the workpiece retainer frame away from the bracket and vertically position the workpiece retainer frame at a predetermined vertical height (Z).
[0019] -The vertically movable support member comprises at least three ball bearings spaced apart from each other, wherein two ball bearings are arranged on opposite sides of the working area, and each ball bearing includes a ball that can rotate freely about its center in any direction.
[0020] -The workpiece retainer frame has multiple flat lower engagement surfaces, which are positioned and configured to engage with the ball supports respectively, in such a way that when the workpiece retainer frame is raised to the vertical height (Z), the workpiece retainer frame can float in any horizontal direction above the freely rotatable balls of the ball supports, and
[0021] -In this configuration, corresponding auxiliary centering members are also associated with at least two of the fixed support structures. These auxiliary centering members are vertically movable and spaced apart from each other. They are configured to engage with engaging elements projecting downward from the workpiece retainer frame, thereby positioning the workpiece retainer frame along two mutually orthogonal horizontal directions (X, Y).
[0022] The system also includes:
[0023] -Actuator devices that independently control the movement of the ball bearing support and the auxiliary centering member, and
[0024] - An electronic controller, programmed to control the aforementioned actuator device, such that when the carrier has brought the workpiece retainer frame into the working area, the ball support is raised, thereby engaging the workpiece support and raising it to the desired vertical height (Z), while an auxiliary centering member is simultaneously raised, such that when the workpiece retainer frame reaches the desired vertical height (Z), only the engaging engagement elements are partially engaged, the auxiliary centering member then continues to move upward until the corresponding engagement elements of the workpiece retainer frame are fully engaged, so as to center the workpiece retainer frame in the two aforementioned horizontal directions (X, Y) and have a predetermined orientation in terms of rotation in the horizontal plane, taking advantage of the possibility that the workpiece retainer frame floats in any horizontal direction above the freely rotatable balls of the ball support, until the auxiliary centering member has reached the vertical position of full engagement of its corresponding engagement elements.
[0025] The present invention also relates to a method implemented by means of the above-described system.
[0026] The present invention also points out further features and advantages of the invention. Attached Figure Description
[0027] Embodiments of the invention will now be described with reference to the accompanying drawings, which are provided by way of non-limiting example only, in which:
[0028] Figure 1 This is a perspective view of a processing station using the system according to the present invention.
[0029] Figure 2 yes Figure 1 A magnified side view showing the details.
[0030] Figure 3 yes Figure 1 A magnified plan view of the details.
[0031] Figure 4 This is a perspective view of a bracket used in the system according to the invention, wherein the workpiece retainer frame is supported above the bracket.
[0032] Figure 5 This is a perspective view of an embodiment of the workpiece retainer frame used in the system according to the present invention.
[0033] Figure 6 From Figure 5 A perspective view taken from below the workpiece retainer frame.
[0034] Figure 7 It is arranged in Figure 1 A perspective view of a fixed support unit on one side of the station's working area. This fixed support unit is equipped with ball bearing support members and auxiliary centering members that can move vertically independently of each other.
[0035] Figure 8 yes Figure 7 A partial plan view of the unit.
[0036] Figure 9 It is arranged in Figure 1 A perspective view of another fixed unit on one side of the station's working area, equipped with a vertically movable ball bearing support member.
[0037] Figure 10 , Figure 11 This is a front view showing the ball bearing support members arranged on both sides of the work area of the station, which are engaged on the lower engagement surface of the workpiece retainer frame.
[0038] Figure 12 , Figure 13 This is a front view showing a fixing structure arranged on the side of the working area, wherein the corresponding auxiliary centering member is engaged with the corresponding engaging element carried by the workpiece retainer frame, and
[0039] Figure 14 It is arranged in Figure 1A perspective view of an additional fixing unit on one side of the work area of the station, the additional fixing unit carrying a stop device for stopping the bracket at a predetermined position in the work area of the processing station. Detailed Implementation
[0040] exist Figure 1 In the figure, reference numeral 1 (overall) refers to the system used to move and position the workpiece retainer frame 2 in the work area A of the processing or assembly station.
[0041] As described above, in this specification and the appended claims, the term "workpiece" is used broadly to refer to any part, structure, sub-component of a structure, part, or group of parts that will undergo processing and / or assembly operations in a station of a machining workshop. The accompanying drawings do not show a workpiece or part carried by the workpiece holder frame 2, nor do they show automatic or manual equipment for operating on the workpiece. These aspects fall outside the scope of the invention; instead, the invention specifically relates to a system for moving the workpiece holder frame and positioning it in a suitable location within the work area. In the specific case of the illustrated example, the system according to the invention is designed for application to a machining station for powering a battery pack assembled into an electric traction motor for an electric vehicle. However, the system is equally applicable to any other type of product and operation, including assembly operations of motor vehicle structures or their sub-components.
[0042] As previously stated, the system according to the invention itself is particularly advantageous for use in machining or assembly stations capable of operating in fully automatic and (at least partially) manual modes, and is characterized in that, for operators who must intervene in the work area, the system makes it easy to approach the workpiece located in the work area from all sides.
[0043] In the attached diagram Figure 5 and Figure 6 Two perspective views are shown of an example of a workpiece retainer frame 2 used in a system according to the invention. In this example, the workpiece retainer frame 2 has a structure composed of metal elements joined together, for example by welding and / or bolting, and includes a plurality of upper support surfaces 3, locating pins 4, and locating brackets 5 to support and position a workpiece, component, or assembly in a precise location relative to the workpiece retainer frame 2. The workpiece retainer frame 2 further includes two engaging elements 6 in the form of pins having tapered tips projecting downward from side supports 60 of the workpiece retainer frame 2. These engaging elements are spaced apart in the longitudinal direction of the frame and are respectively adjacent to the front and rear ends of the workpiece retainer frame 2 on the same side of the frame. The function of the engaging pins will become clear below.
[0044] Referring again to the example shown, the workpiece retainer frame 2 also has four supports 70, which protrude downward from the workpiece retainer frame 2 and define the lower engagement surface 7. Figure 6 Its function will become clear below. In the example shown, two supports 70 are provided on both sides of one end of the workpiece holder frame 2, and two supports 70 are provided on both sides of the opposite end of the workpiece holder frame 2.
[0045] In the illustrated embodiments ( Figure 1 and Figure 3 The workpiece retainer frame 2 is conveyed along line L through the working area A by means of bracket 8, such as... Figure 4 As shown, the workpiece retainer frame 2 is supported on the bracket. The bracket 8 and the workpiece retainer frame 2 are constructed in such a way that the engaging pin and the flat engaging surface 7 of the workpiece retainer frame 2 ( Figure 6 It can be accessed from below (in any case), even when the workpiece retainer frame 2 is arranged above the bracket 8. The bracket 8 can be moved along line L in one direction or the other as needed for each specific application.
[0046] In the illustrated example, the carriage 8 is a simple, manually operated carriage comprising a frame 80 mounted on wheels W (the front wheels are pivoted in the example, and the rear wheels have a fixed axle). Again, in the illustrated example, the carriage 8 is intended to be moved by means of a small, manually or electrically assisted trolley T, driven by an operator pulling or pushing the carriage along line L. The operator moves the carriage 8 until it is brought into work area A, where the system according to the invention lifts (as described below) the workpiece retainer frame 2 away from the carriage 8 and positions it precisely in the vertical direction Z and along two mutually orthogonal horizontal directions X and Y, as well as in terms of rotation in the horizontal plane. Once the workpiece has been operated on (manually and / or automatically) and thus positioned in place in the work area, the system according to the invention lowers the workpiece retainer frame 2, along with the workpiece it carries, above the carriage 8, after which the operator moves the carriage out of the work area along line L toward a subsequent station in the workshop.
[0047] Of course, the manually operated carriage shown in the accompanying drawings can be replaced by any other type of manually operated or motorized carriage, and in particular by AGV (Automated Guided Vehicle) or AMR (Automated Mobile Robot).
[0048] When the bracket 8 is located in the working area A, in order to lift the workpiece retainer frame 2, the system according to the invention includes a plurality of (four in this example) fixed support structures 9 arranged on both sides of the working area A. Figure 1 , Figure 3Fixed support structure 9 (in the case of the example described herein) is Figure 7 The type shown, or Figure 9 The types shown. In both cases, each fixed support structure 9 is equipped with a vertically movable support member positioned and configured to engage and lift the workpiece retainer frame 2 carried by the bracket 8 fixed in the working area. Each support member consists of a ball bearing of any known type, comprising a housing 11 from which metal balls 12 protrude and are supported within the housing 11 in a manner that allows them to rotate freely about the center of the balls in any direction.
[0049] The construction details of the ball support 10 are not described or shown herein, because the ball support can be manufactured in any known manner, and because the ball support alone does not fall within the scope of this invention. Figure 7 The fixed support structure 9 of the type shown and in Figure 9 In the fixed support structure 9 of the type shown, a ball bearing support 10 is mounted above a bracket 13, which is rigidly connected to and protrudes from a slider 14, which is vertically movable on one or more guide rails 15. The vertical movement of the slider 14 is controlled by a servo-controlled motor 28 using any known type of mechanical transmission. In the application example shown (see...), Figure 12 and Figure 13 The transmission device includes a belt drive 281 and a worm gear mechanism 282. (See reference...) Figure 7 and Figure 9 The pneumatic brake 16 is also associated with the servo control motor 28, which is actuated when the motor is stationary in its operating position.
[0050] In the illustrated example, the guide rail 15 for the vertical movement of the slider 14 is supported by a support 17, which is slidably mounted on a horizontal guide rail 18. This horizontal guide rail is mounted on a base plate 19 orthogonal to the longitudinal direction of line L. The base plate is intended to be rigidly connected to the workshop floor by means of chemical or mechanical anchors 20. The movement of the support 17 along the horizontal guide rail 18 is driven by a pneumatic cylinder 21.
[0051] Figure 7 , Figure 8 The fixed support structure 9 of the type shown is also provided with an auxiliary centering member 22, which is vertically movable and used to engage with a corresponding engagement pin protruding from the bottom of the workpiece holder frame 2. Figure 6 (to be combined)
[0052] In the example shown, the auxiliary centering member 22 is of a known type, comprising a housing 23 in which freely rotatable rollers 24 are mounted radially about the vertical central axis of the auxiliary centering member 22 and are mounted to be freely rotatable about their respective axes. All rollers are arranged in the same horizontal plane orthogonal to the aforementioned central vertical axis. In a manner known per se, the rollers 24 define a central space V between them, which is configured and sized to receive the corresponding engaging pin after the auxiliary centering member 22 is raised relative to the corresponding pin. Each pin has a tapered tip that facilitates engagement of the auxiliary centering member 22 around the pin, even when the central vertical axis of the auxiliary centering member 22 is not initially perfectly aligned with the corresponding vertical axis of the pin.
[0053] Refer again Figure 7 , Figure 8 In the illustrated example, the auxiliary centering member 22 is supported by a bracket 25 that protrudes from a slider 26 slidably mounted on a guide rail 27. Again, in the illustrated example, this guide rail is supported by the aforementioned slider 14 that carries the ball bearing member 10. Therefore, in this embodiment, activating the servo control motor 28 causes synchronized vertical movement of the ball bearing member 10 and the auxiliary centering member 22. When the servo control motor 28 is deactivated, the vertical movement of the ball bearing member 10 is interrupted, but the vertical movement of the slider 26 carrying the auxiliary centering member 22 can be controlled by an actuator assembly 100, which includes a pneumatic actuator with a rod locking device.
[0054] Refer again to the specific example shown, especially Figure 1 , Figure 3 Two [items] are set up on one side of work area A. Figure 7 , Figure 8 The fixed support structure 9 of the type shown is equipped with ball bearing support 10 and auxiliary centering member 22 on the other side of the working area A. Figure 3 The lower part (shown on one side) has two Figure 9 The fixed support structure 9 shown has only one ball bearing support 10 in each fixed structure. Therefore, in this example, a total of four ball bearing supports are provided, two on each side. Theoretically, if the actual weight of the workpiece retainer frame, the workpiece, and the machining force falls within a virtual triangle (the three vertices of which are the contact points between the ball bearing supports 10 and the support 70), then only three spaced-apart ball bearing supports 10 (two of which are arranged on opposite sides of the working area A) are sufficient to support the workpiece retainer frame 2 at the required vertical height Z.
[0055] Similarly, in the example shown, two auxiliary centering members 22 are provided instead, arranged on the same side of the working area A and longitudinally spaced apart from each other.
[0056] Reference Figure 6 One of the engaging pins protruding from the bottom of the workpiece retainer frame 2 has a relatively flat side surface 6A, which is symmetrical with respect to the axis of the pin itself. Thus, when the pin engages the corresponding centering member, it positions the workpiece retainer frame 2 in place relative to the horizontal direction Y, which is transverse to the longitudinal direction of the frame, acting as an anti-rotation function relative to the other pin. The other pin protruding from the bottom of the workpiece retainer frame 2 (i.e., in...) Figure 6 The pin closest to the observer in the view has a perfectly circular cross-section, so that when the pin engages the corresponding centering member, it positions the workpiece retainer frame 2 in the appropriate positions in two mutually orthogonal horizontal directions X and Y. The simultaneous engagement of the two pins within the corresponding centering members positions the workpiece retainer frame 2 in the appropriate positions along the two mutually orthogonal horizontal directions X and Y and with respect to the rotation of the workpiece retainer frame 2 in the horizontal plane. The servo control motor 28 and actuator assembly 100 (which in the illustrated example constitutes an actuator device for the vertical movement of the ball support 10 and the auxiliary centering member 22) are controlled by an electronic and electro-hydraulic control unit E (in Figure 7 (Illustrated in the image) It is controlled according to a predetermined program to perform the functions described below.
[0057] When the bracket 8 is stationary in the working area A, the workpiece retainer frame 2 is lifted and moved away from the bracket 8 by the ball bearing support 10, which engages with the corresponding lower flat surface 7 of the workpiece retainer frame 2. Figure 6 The vertical movement of the slider 14 is controlled by activating the servo control motor 28 associated with the fixed support structure 9 via the electronic control unit E, thereby achieving lifting. Figure 10 , Figure 11 The state of the ball bearing support 10 engaged with the corresponding lower flat surface 7 of the workpiece retainer frame 2 is shown.
[0058] When the control unit detects that the workpiece retainer frame 2 has reached the predetermined vertical height Z, the upward movement of the slider 14 is automatically stopped by the control unit E. It should be noted that in this state, due to the free rotation of the balls 12, the workpiece retainer frame 2 is completely released from the bracket 8 and can float in the horizontal plane above the ball support 10. In this state, the workpiece retainer frame 2 is safely held above the ball support 10 under any circumstances because, simultaneously with the lifting movement of the ball support 10, the electric unit E also commands the vertical lifting movement of the two auxiliary centering members 22. In this way, when the workpiece retainer frame 2 reaches the predetermined height Z, the auxiliary centering members 22 begin to engage with the tapered tips of the corresponding engagement pins. From this state, as the ball support 10 remains at the reached vertical height, the auxiliary centering members 22 continue to move upward until they are fully engaged with the corresponding engagement pins. The additional upward travel of the auxiliary centering member 22 on the engagement pin allows the workpiece retainer frame 2 to be positioned in the appropriate position along two mutually orthogonal horizontal directions X and Y, and in terms of rotation in the horizontal plane. This centering movement occurs due to the possibility of floating in the horizontal plane provided by the ball bearing support 10. Once the auxiliary centering member 22 has reached the vertical position of full engagement on the pin, the movement of the centering member naturally stops. In this state, the workpiece retainer frame is precisely positioned in the work area, and a cycle of machining and / or assembly operations on the workpiece carried by the workpiece retainer frame 2 can begin, whether these operations are performed by fully automated equipment or partially by manual operation by the operator.
[0059] Due to the above-described configuration of the system according to the invention, the operator can access work area A. During the cycle of automatic operation, the bracket 8 can be maintained in a suitable position within the work area, or, for the purpose of performing manual operation, the bracket can be moved to make the work area more easily accessible.
[0060] It can be seen that another advantage of the system according to the invention is that it can be easily adapted to new applications, or to situations where new products are introduced into production, or to situations where the path of the production line is changed, and it is also suitable for situations where automatic or semi-automatic stations need to be replaced (requiring...). Figure 3The entire system (including the process of a purely manual station) requires only the bracket 8, the workpiece retainer frame 2, and the traction trolley T. The possibility of the support member 17 of the fixed support structure 9 translating in the lateral direction allows these structures to easily adapt to different configurations of the workpiece retainer frame. Furthermore, the fixed support structure 9 can be easily disassembled and reassembled at different positions along the longitudinal direction of the production line, again adapting to different configurations of the workpiece retainer frame 2. Of course, the possibility of each fixed support structure 9 being mounted on a sliding member that can move in the longitudinal direction of the production line is not excluded, thus making the adjustment of the position of the fixed support structure 9 in the longitudinal direction of the production line automatic.
[0061] Once the operation cycle on the workpiece carried by the workpiece holder frame 2 has ended, the workpiece holder frame 2 can be lowered back onto the bracket 8 by controlling the descent movement of the ball bearing support 10 and the auxiliary centering member 22. Once the workpiece holder frame 2 has been placed on top of the bracket 8, the bracket can be moved to transport the workpiece holder frame 2 together with the workpiece carried above it out of the work area A, thereby being conveyed to subsequent operations in the production process.
[0062] Preferably, a stop device 29 is also provided in the working area A, which includes a buffer stop member 30. This buffer stop member is designed to cooperate with the bracket 8 or the workpiece retainer frame 2 supported on the bracket 8 to provide a reference for the correct position in the longitudinal direction within the working area A. In particular, the stop block or pad 101 ( Figure 14 The bracket or workpiece retainer frame is positioned at a fixed stop. To prevent any backward movement of the bracket, an anti-reverse mechanism consisting of an inclined movable rod 102, which is freely rotatable about axis 103. The movable rod 102 can be pulled down from the bracket only in the forward direction of the bracket itself, but backward movement of the bracket can be prevented by returning the rod to its rest position due to the weight of the rod or a return spring.
[0063] The movable rod 102 interacts with the bracket, thereby engaging the lower portion 81 of the bracket. Figure 4 ).
[0064] The anti-return device, the stop pad 101, and the buffer stop member 30 are all mounted on the slider 104, which slides on the guide rail 106 and is operated by the pneumatic actuator 105.
[0065] Before the bracket reaches the stop position, the stop device 29 advances toward the center of the bracket's translation axis into the working area to intercept the bracket during transport. After the bracket stops, in order to allow the bracket to leave the working area, the stop device 29 moves backward from the center away from the bracket's translation axis, thereby allowing the bracket to leave the working area freely.
[0066] Of course, without prejudice to the principles of the invention, the details of the structure and embodiments may vary widely with respect to what has been described and shown without departing from the scope of the invention. In particular, the invention includes the system described above, wherein any other known type of conveying device is provided instead of the carriage.
Claims
1. A system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, comprising: - A processing or assembly station having a working area (A) and fixed support structures (9) on both sides of the working area (A). - A bracket (8) is configured to carry the workpiece retainer frame (2) along the line (L) within the working area (A). - A workpiece retainer frame (2), which is supported on a bracket (8), the workpiece retainer frame being configured to support the workpiece relative to the workpiece retainer frame (2) in a predetermined position. -The fixed support structure (9) arranged on both sides of the working area (A) carries vertically movable support members, which are positioned and configured to engage and lift the workpiece retainer frame (2) carried by the bracket (8) when the bracket is stationary in the working area (A), so as to move the workpiece retainer frame (2) away from the bracket (8) and position the workpiece retainer frame (2) at a predetermined vertical height (Z). -The vertically movable support member comprises at least three ball bearings (10) spaced apart from each other, wherein two ball bearings are arranged on opposite sides of the working area (A), and each ball bearing includes a ball (12) that is free to rotate about its center in any direction. -The workpiece retainer frame (2) has a plurality of flat lower engagement surfaces (7), which are positioned and configured to engage with the ball bearings (10) respectively, such that when the workpiece retainer frame (2) is raised to the aforementioned vertical height (Z), the workpiece retainer frame (2) can float in any horizontal direction above the freely rotatable balls (12) of the ball bearings (10), and -In this context, corresponding auxiliary centering members (22) are also associated with at least two of the fixed support structures (9), the auxiliary centering members being vertically movable and spaced apart from each other, the auxiliary centering members being configured to engage with engaging elements (6) projecting downward from the workpiece holder frame (2) in such a way that the workpiece holder frame (2) is positioned in place along two mutually orthogonal horizontal directions (X, Y) and in terms of rotation in the horizontal plane. The system also includes: -Actuator devices that independently control the movement of the ball support (10) and the auxiliary centering member (22), and - An electronic controller (E) is programmed to control the actuator device in such a way that when the carrier (8) has brought the workpiece retainer frame (2) into the working area (A), the ball support (10) is raised to engage the workpiece retainer frame (2) and raise the workpiece retainer frame to a predetermined vertical height (Z), while the auxiliary centering member (22) is raised simultaneously to partially engage the mating engagement element (6) when the workpiece retainer frame (2) reaches the predetermined vertical height (Z), the auxiliary centering member (22) then continues to move upward until the corresponding engagement element (6) of the workpiece retainer frame (2) is fully engaged, thereby positioning the workpiece retainer frame (2) in the appropriate position in the two horizontal directions (X, Y) that are orthogonal to each other and in terms of rotation in the horizontal plane, since the workpiece retainer frame (2) is able to float in any horizontal direction above the freely rotatable balls (12) of the ball support (10).
2. The system for positioning a workpiece retainer frame (2) at an appropriate location in a processing or assembly station in a production workshop, as described in claim 1, is characterized in that... The engaging element (6) of the workpiece retainer frame (2) protrudes downward from the side support (60) of the workpiece retainer frame (2) in the form of a pin with a circular cross-section and a tapered tip. The engaging element is positioned on the same side of the workpiece retainer frame (2) and adjacent to two opposite ends of the workpiece retainer frame (2), respectively. The two auxiliary centering members (22) that cooperate with the engagement element (6) are supported by two fixed support structures (9) arranged on the same side of the working area, and each fixed support structure is defined to be configured to receive the centering opening (V) of the corresponding engagement element (6).
3. The system for positioning a workpiece retainer frame (2) at an appropriate location in a processing or assembly station in a production workshop, as described in claim 1, is characterized in that... The aforementioned flat lower engagement surface (7) of the workpiece retainer frame (2) lies in a single theoretical horizontal plane, and the freely rotatable balls (12) of the ball support (10) are all tangent to the single theoretical horizontal plane at their tops. In this way, when the workpiece retainer frame (2) is raised, the freely rotatable ball (12) simultaneously engages the flat lower engagement surface (7).
4. The system for positioning a workpiece retainer frame (2) at an appropriate location in a processing or assembly station in a production workshop, as described in claim 3, is characterized in that... The flat lower engagement surface (7) of the workpiece retainer frame (2) lies in horizontal planes spaced apart from each other, and wherein the freely rotatable balls (12) of the ball support (10) are tangent at their tops to a theoretical horizontal plane, which is spaced apart from each other by a distance corresponding to the distance between the planes of the flat lower engagement surface (7) of the workpiece retainer frame (2). In this way, when the workpiece retainer frame (2) is raised, the freely rotatable ball (12) simultaneously engages the corresponding flat lower engagement surface (7).
5. The system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, as described in claim 3 or 4, is characterized in that... The electronic controller (E) simultaneously controls the actuator device associated with the fixed support structure (9) to move the workpiece retainer frame (2) vertically while maintaining the horizontal orientation of the workpiece retainer frame.
6. The system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, as described in claim 2, is characterized in that... One of the engagement elements has a circular cross-section with two opposing flat sides, such that the engagement element (6) engages with a corresponding auxiliary centering member (22) to position the workpiece retainer frame (2) in place relative to the horizontal direction (Y), which is transverse to the longitudinal direction of the workpiece retainer frame (2), while the other engagement element (6) has a circular cross-section and engages with a corresponding auxiliary centering member (22) to position the workpiece retainer frame (2) in place relative to the two aforementioned horizontal directions (X, Y) that are orthogonal to each other and in relation to the rotation of the workpiece retainer frame (2) in the horizontal plane.
7. The system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, as described in claim 2, is characterized in that... Each of the auxiliary centering components (22) includes a set of freely rotatable rollers (24) arranged radially around a central vertical axis, and the axes of the rollers are all located in the same theoretical plane orthogonal to the central vertical axis.
8. The system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, as described in claim 1, is characterized in that... Each of the ball bearings (10) and each of the auxiliary centering members (22) is supported by a bracket (13, 25) protruding from a vertically movable slider (14, 26) driven by a servo-controlled motor. The vertically movable slider (14, 26) is slidably mounted on a guide rail (15, 27) supported by a support (17). The support is further slidably mounted in the form of a slider on a horizontal guide rail (18) of the base plate (19) of the fixed support structure (9) in a horizontal direction transverse to the longitudinal direction of the line (L).
9. The system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, as described in claim 8, is characterized in that... The bracket (25) supporting the auxiliary centering component (22) is slidably mounted in the vertical direction on the vertically movable slider (26) supported by the guide rail (27), which carries the corresponding ball support (10). In this way, the actuation of the actuator device that controls the vertical movement of the vertically movable slider (14) carrying the ball support (10) also causes the auxiliary centering member (22) associated with the actuator device to move simultaneously. When the actuator device that controls the vertically movable slider (14) carrying the ball support (10) stops, the actuator device that controls the vertical movement of the slider (26) carrying the auxiliary centering member (22) can be activated so that the auxiliary centering member (22) can continue to move vertically after the ball support (10) has stopped at the predetermined vertical height (Z).
10. The system for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, as described in claim 1, is characterized in that, The bracket (8) is selected from manual towing brackets, towing brackets with motorized towing devices, motorized brackets, AGVs or AMRs.
11. A method for positioning a workpiece retainer frame (2) at an appropriate location in a machining or assembly station in a production workshop, wherein: - Arrange a processing or assembly station, which has a working area (A) and fixed support structures (9) on both sides of the working area (A). - The workpiece retainer frame (2) is carried along a conveyor line within the working area (A) by conveying the workpiece retainer frame (2) on a carrier (8). The workpiece retainer frame (2) is configured to support the workpiece relative to the workpiece retainer frame (2) in a predetermined position. - The fixed support structure (9) on both sides of the working area (A) is provided with vertically movable support members, which are positioned and configured to engage and lift the workpiece retainer frame (2) carried by the bracket (8) when the bracket is stationary in the working area (A), thereby moving the workpiece retainer frame (2) away from the bracket (8) and positioning the workpiece retainer frame (2) at a predetermined vertical height (Z). -in, The vertically movable support member includes at least three ball bearings (10) spaced apart from each other, wherein two ball bearings are arranged on opposite sides of the working area (A), and each ball bearing includes a ball (12) that is free to rotate about its center in any direction. -The workpiece retainer frame (2) has a plurality of flat lower engagement surfaces (7), which are positioned and configured to engage with the ball bearings (10) respectively, such that when the workpiece retainer frame (2) is raised to the aforementioned vertical height (Z), the workpiece retainer frame (2) can float in any horizontal direction above the freely rotatable balls (12) of the ball bearings (10), and -In this context, at least two of the fixed support structures (9) are also associated with corresponding auxiliary centering members (22), which are vertically movable and spaced apart from each other. These auxiliary centering members are configured to engage with engaging elements (6) projecting downwards from the workpiece retainer frame (2), thereby positioning the workpiece retainer frame (2) in place along two mutually orthogonal horizontal directions (X, Y) and with respect to rotation in the horizontal plane. Furthermore, where: When the bracket (8) has brought the workpiece retainer frame (2) into the working area (A), the ball support (10) is raised to engage the workpiece retainer frame (2) and lift it to a predetermined vertical height (Z), while the auxiliary centering member (22) is raised at the same time so as to partially engage the mating engagement element (6) when the workpiece retainer frame (2) reaches the predetermined vertical height (Z). The auxiliary centering member (22) then continues to move upward until the corresponding engagement element (6) of the workpiece retainer frame (2) is fully engaged, thereby positioning the workpiece retainer frame (2) in the proper position in the two horizontal directions (X, Y) and having a predetermined orientation relative to rotation in the horizontal plane, since the workpiece retainer frame (2) is able to float in any horizontal direction above the freely rotatable balls (12) of the ball support (10) until the auxiliary centering member (22) has reached the vertical position of fully engaging with the mating engagement element (6).