Automobile welding line clamp switching storage system and switching method

Abstract

The application discloses a kind of automobile welding line clamp switching storage systems and switching method, including conveying slide, it is characterized in that: the conveying slide is movably provided with AGV tray, clamp mounting base is supported on AGV car, with the AGV car enters the AGV tray, the AGV tray is equipped with the positioning support device of positioning support clamp mounting base.The automobile welding line clamp switching storage system and switching method of the application can be used for flexible switching of multiple vehicle models, facilitate clamp conveying, storage and switching, better meet the needs of on-site space arrangement, have strong practicability and good application prospect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automobile technology, more particularly, relates to a kind of automobile welding line clamp switching storage system and switching method. BACKGROUND

[0002] Automobile industry automatic welding production line investment cost is high, and each host factory new production line needs to be compatible with multiple platforms, multiple vehicle types. Limited by site and process requirements, when switching vehicle types, the clamp in the line body needs to be switched. The clamp is mostly heavy, and manual switching is difficult. The space around the welding production line is limited, and multiple vehicle type clamp storage cannot be met.

[0003] Therefore, we need to invent a scheme to solve the problem of limited space around the welding flexible production line and difficult personnel switching of the clamp.

[0004] In recent years, in the manufacture of automobile body-in-white, the application of flexibility is more and more widely used, and the flexible production of the line body is one of the important factors considered by major automobile manufacturers. At present, most domestic automobile manufacturers require to meet the production of 4-6 different vehicle types in the line body at the same time, but the flexible switching mode of tooling equipment is relatively single, and the occupied area is large. Manual switching of the clamp is difficult, and long-distance storage cannot be realized.

[0005] Publication No. CN 102407419A, published on April 11, 2012, patent name: a workpiece conveying system applied to automobile welding line, which includes a clamp trolley matched with the conveyed workpiece, a feeding device and a welding transfer device. The feeding device and the welding transfer device are arranged in a straight line. The workpiece conveying system further includes a clamp trolley storage device and a clamp trolley switching device. The clamp trolley switching device is arranged in the middle area between the feeding device and the welding transfer device. The clamp trolley storage device is arranged on both sides of the clamp trolley switching device. The clamp trolley switching device can transfer the workpiece conveyed from the feeding device and the welding transfer device to the clamp trolley storage device. The workpiece conveying system on the automobile welding line realizes multi-vehicle type switching, occupies a large space around the conveying line, and cannot realize long-distance storage. SUMMARY

[0006] The purpose of the present application is to solve the problems existing in the prior art, and to provide a kind of automobile welding line clamp switching storage system and switching method which can realize multi-vehicle type flexible switching, facilitate clamp conveying storage and switching.

[0007] In order to achieve the above object, the technical scheme adopted by the present application is as follows: the provided automobile welding line clamp switching storage system comprises a conveying slide table, characterized in that: an AGV tray is movably arranged on the conveying slide table, a clamp mounting base is supported on an AGV trolley, the AGV trolley enters the AGV tray, and a positioning and supporting device for positioning and supporting the clamp mounting base is arranged on the AGV tray.

[0008] In order to make the above technical scheme more detailed and specific, the present application further provides the following further preferred technical schemes to obtain satisfactory practical effects:

[0009] The clamp mounting base comprises a base bottom plate for mounting and positioning a clamp, and the clamp for positioning a vehicle body is mounted on the base bottom plate; an AGV traction positioning mechanism and an AGV traction supporting position for positioning and supporting the AGV trolley are arranged below the base bottom plate; a clamp base positioning mechanism and a clamp base supporting block for supporting and positioning the clamp base on the AGV tray are arranged below the base bottom plate.

[0010] The AGV trolley is provided with a lifting positioning pin that can be lifted and positioned in the AGV traction positioning mechanism, and is also provided with a lifting supporting block that is correspondingly supported on the AGV traction supporting position.

[0011] The AGV tray comprises a tray base, side bars are arranged on both sides of the tray base, and precision guide plates are arranged on both sides in the side bars.

[0012] The side bars are provided with clamp positioning pins that are positioned and supported in the clamp base positioning mechanism; the side bars are also provided with clamp supporting grooves that are correspondingly arranged with the clamp base supporting blocks.

[0013] The clamp positioning pins are arranged at the middle part of the length direction of the side bars, and the clamp supporting grooves are arranged at both ends of the side bars.

[0014] A front end of an entrance of the conveying slide table is also fixedly provided with an entrance guide; the entrance guide comprises a trumpet-shaped opening coarse guide plate, and a vehicle type recognition sensor is arranged on one side of the entrance guide.

[0015] The conveying slide table is a T-shaped slide table, comprising a Y-direction conveying slide rail and an X-direction conveying slide rail arranged vertically, a switching slide base is movably arranged on the Y-direction conveying slide rail, and at least two groups of switching slide rails that can be docked with the X-direction conveying slide rail are arranged on the switching slide base.

[0016] The AGV tray is provided with a Y-direction base traction hole, the Y-direction conveying slide rail is provided with a Y-direction traction pin which can be lifted and positioned in the Y-direction base traction hole; the AGV tray is provided with an X-direction base traction hole, the X-direction conveying slide rail is provided with an X-direction traction pin which can be lifted and positioned in the X-direction base traction hole; the conveying slide table is further provided with a Y-direction traction motor and an X-direction traction motor.

[0017] A switching method of a switching storage system of an automobile welding line clamp, characterized in that: step one: the clamp enters the line body, the clamp mounting base is positioned on the AGV trolley and then conveyed, enters along the entrance guide, continues to convey under the action of the precision guide plate in the AGV tray to ensure the precision of the AGV trolley entering the AGV tray; after the AGV trolley is conveyed to the position, the positioning support mechanism of the AGV trolley drives the clamp mounting base to descend, the clamp mounting base is supported and positioned on the AGV tray, and the vehicle type recognition sensor judges the vehicle type corresponding to the clamp; then the AGV trolley exits the AGV tray, the clamp enters the line body is realized; the X-direction traction pin rises, the X-direction traction motor drags the AGV tray to the working position through the X-direction conveying slide rail, the X-direction traction pin descends, and the side to-position plug pin rises to ensure the position precision in the working position; the AGV tray reciprocates from the piece loading position to the working position, and single-vehicle-type production is realized.

[0018] Step two: when the second vehicle type, the to-position plug pin descends, the X-direction traction pin rises, the X-direction traction motor drags the AGV tray from the working position to the piece loading position, the X-direction traction pin descends, the Y-direction traction pin rises, the Y-direction traction motor drags the AGV tray to the warehouse position A or B on the two sides of the Y-direction conveying slide rail, and then step one is repeated, and the AGV conveys the second vehicle type clamp into the line body;

[0019] Step three: subsequent vehicle types are continuously added, the AGV trolley enters the AGV tray, the positioning support mechanism rises and removes a pair of clamps from the line body through the AGV traction positioning mechanism and the AGV traction support position below the base bottom plate, and then step one is repeated to convey the third, fourth and the like vehicle type clamps into the line body working position to perform welding work.

[0020] Compared with the prior art, the automobile welding line clamp switching storage system and the switching method have the following advantages: the automobile welding line clamp switching storage system and the switching method can realize flexible switching of multiple vehicle types, facilitate clamp conveying, storage and switching, better meet the on-site space arrangement requirements, have strong practicability and good application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0021] The content expressed by the drawings of the present specification and the marks in the drawings are briefly described as follows:

[0022] Figure 1 It is a structural schematic diagram of the automobile welding line clamp switching storage system of the present application.

[0023] Figure 2 Structure diagram of the automobile welding line clamp switching storage system of the present application is shown in the figure;

[0024] Figure 3 Structure diagram of the AGV tray on the conveying line of the present application is shown in the figure;

[0025] Figure 4 Structure diagram of the conveying slide base of the present application is shown in the figure;

[0026] Figure 5 Structure diagram of the AGV tray of the present application is shown in the figure;

[0027] Figure 6 Structure diagram of the clamp mounting base of the present application is shown in the figure.

[0028] Marked in the figure: 10, conveying slide base; 20, AGV tray; 30, AGV trolley; 40, clamp mounting base; 50, entrance guide;

[0029] 11, Y-direction conveying slide rail; 12, X-direction conveying slide rail; 13, switching slide base; 14, Y-direction traction motor; 15, Y-direction traction pin; 16, X-direction traction motor; 17, X-direction traction pin; 18, slide base;

[0030] 21, tray base; 22, side rail; 23, fine guide plate; 24, clamp positioning pin; 25, clamp support groove; 26, Y-direction base traction hole; 27, buffer mechanism;

[0031] 41, base bottom plate; 42, AGV traction positioning mechanism; 43, AGV traction support position; 44, clamp base positioning mechanism; 45, clamp base support block;

[0032] 51, coarse guide plate; 52, vehicle type recognition sensor. DETAILED DESCRIPTION

[0033] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0034] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0035] The automobile welding line clamp switching storage system of the present application is like Figure 1 , 2As shown in Figure 3, the system includes a conveyor slide 10, on which an AGV tray 20 is movably mounted. A fixture mounting base 40 is supported on an AGV trolley 30 and enters the AGV tray 20 along with the AGV trolley 30. The AGV tray 20 is equipped with a positioning support device for positioning and supporting the fixture mounting base 40. The AGV trolley 30 conveys the fixture mounting base 40 into the AGV tray 20 and switches its support onto the AGV tray 20. The AGV tray 20 moves along the conveyor slide 10 under the action of a drive motor, conveying the vehicle body to the working position. The vehicle body is positioned on the fixture mounting base, and welding operations are performed at the working position. Using the AGV trolley 30 can better meet the switching needs of multiple vehicle models, save space near the conveyor slide, achieve long-distance switching and storage, and has better applicability.

[0036] In this invention, such as Figure 6 As shown, the clamp mounting base 40 includes a base plate 41 for mounting positioning clamps, on which clamps for positioning the vehicle body are mounted. Below the base plate 41 are an AGV traction positioning mechanism 42 and an AGV traction support position 43, both positioned and supported on the AGV trolley 30. Below the base plate 41 are a clamp base positioning mechanism 44 and a clamp base support block 45, both supporting and positioning the AGV trolley 30. Two AGV traction positioning mechanisms 42 and two clamp base positioning mechanisms 44 are provided, each consisting of four roller assemblies. A positioning hole is formed in the center of each roller assembly to mate with a positioning pin. This structure facilitates precise positioning. The AGV traction positioning mechanism 42 and the clamp base positioning mechanism 44 are arranged in a cross shape. The AGV traction support position 43 and the clamp base support block 45 are both four-point support structures, providing stable support on the AGV trolley 30 or the AGV pallet 20.

[0037] In this invention, the AGV trolley 30 is equipped with a lifting and positioning pin that can be raised and lowered within the AGV traction and positioning mechanism 42, and also has a corresponding lifting and supporting block supported on the AGV traction support position 43. The lifting and supporting structure allows the clamp mounting base 40 to be switched and supported on the AGV pallet 20 below.

[0038] In this invention, such as Figure 5As shown, the AGV pallet 20 includes a pallet base 21, with side rails 22 on both sides of the pallet base 21, and precision guide plates 23 on both sides of the side rails 22. The side rails 22 are provided with clamp positioning pins 24 that are positioned and supported within the clamp base positioning mechanism 44; the side rails 22 also have clamp support grooves 25 corresponding to the clamp base support blocks 45. The clamp mounting base 40 is supported on the AGV trolley 30. The AGV trolley 30 lowers the clamp mounting base 40, and the clamp positioning pins 24 are inserted into the clamp base positioning mechanism 44, while the clamp base support blocks 45 are supported within the clamp support grooves 25. In this invention, the clamp positioning pins 24 are located in the middle of the side rails 22 along their length, and the clamp support grooves 25 are located at both ends of the side rails 22, to achieve stable support of the AGV pallet 20 for the clamp mounting base 40.

[0039] In this invention, such as Figure 3 , 4 As shown, an entrance guide 50 is fixedly installed at the front end of the inlet of the conveyor slide 10; the entrance guide 50 includes coarse guide plates 51 located on both sides of the inlet, with flared openings on both sides, and a vehicle model recognition sensor 52 is provided on one side of the entrance guide 50. The AGV trolley 30, carrying the clamp mounting base 40 and the clamp above it, enters along the entrance guide 50. The coarse guide plates 51 provide coarse guidance, and the flared openings facilitate the AGV's entry; the vehicle model recognition sensor 52 is used to identify the vehicle model of the clamp being conveyed by the current AGV and transmit it to the controller, so that the controller can control the welding robot to perform welding operations according to the set welding program; a buffer mechanism 27 is provided at the front end of the AGV tray 20 to buffer and limit the AGV trolley 30, preventing the vehicle from rushing out.

[0040] In this invention, such as Figure 4 As shown, the conveyor slide 10 is a T-shaped slide, including a vertically arranged Y-axis conveyor slide rail 11 and an X-axis conveyor slide rail 12. A switching slide 13 is movably mounted on the Y-axis conveyor slide rail 11, and the switching slide 13 has at least two sets of switching slide rails that can dock with the X-axis conveyor slide rail 12. The switching slide 13 moves on the Y-axis conveyor slide rail 11, and the switching slide rails at different positions dock with the X-axis conveyor slide rail 12 to achieve vehicle model switching.

[0041] In this invention, the AGV pallet 20 has a Y-axis base traction hole 26 on one side, and the Y-axis conveying slide rail 11 is provided with a Y-axis traction pin 15 that can be raised and lowered and positioned in the Y-axis base traction hole 26; the AGV pallet 20 has an X-axis base traction hole at the front end, and the X-axis conveying slide rail 12 is provided with an X-axis traction pin 17 that can be raised and lowered and positioned in the X-axis base traction hole; the conveying slide 10 is also provided with a Y-axis traction motor 14 and an X-axis traction motor 16.

[0042] The application provides a switching method of a clamp switching storage system of an automobile welding line,

[0043] Step one: the clamp enters the line body, the clamp mounting base 40 is positioned on the AGV trolley 30 and then is transported, enters along the entrance guide 50, continues to transport, and under the action of the precision guide plate 23 in the AGV tray 20, the precision of the AGV trolley 30 entering the AGV tray 20 is ensured; after the AGV trolley 30 is transported to the position, the positioning and supporting mechanism of the AGV trolley 30 drives the clamp mounting base 40 to descend, the clamp mounting base 40 is supported and positioned on the AGV tray 20, the vehicle type recognition sensor 52 judges the vehicle type corresponding to the clamp entering, inputs the controller, and the corresponding welding program is started conveniently in the subsequent process; then the AGV trolley 30 exits the AGV tray 20, the clamp enters the line body is realized; the X-direction traction pin 17 rises, the X-direction traction motor 16 drags the AGV tray 20 to the working position through the X-direction conveying slide rail 12, the X-direction traction pin 17 descends, and the side to position the pin rises to ensure the position precision in the working position; the AGV tray 20 reciprocates from the piece loading position to the working position, and single-vehicle-type production is realized;

[0044] Step two: when the second vehicle type, the to-position pin descends, the X-direction traction pin 17 rises, the X-direction traction motor 16 drags the AGV tray 20 from the working position to the piece loading position, the X-direction traction pin 17 descends, the Y-direction traction pin 15 rises, the Y-direction traction motor 14 drags the AGV tray 20 to the storage position A or B on the two sides of the Y-direction conveying slide rail 11, and then step one is repeated, the AGV transports the second vehicle type clamp into the line body, and the second vehicle type flexible switching is realized;

[0045] Step three: subsequent vehicle types are continuously added, the AGV trolley 30 enters the AGV tray 20, the positioning and supporting mechanism rises and removes a pair of clamps from the line body through the AGV traction positioning mechanism 42 and the AGV traction supporting position 43 below the base bottom plate 41, and then step one is repeated to transport the third, fourth and the like vehicle type clamps into the line body working position, and welding work is performed.

[0046] The present application is a kind of fixture switching storage system for automobile welding line, which comprises a fixture installation base 40 for installing fixture unit, an AGV 30 (automatic guided vehicle) for supporting and automatically conveying the fixture, an AGV pallet 20 for the conveying and positioning platform of AGV and also for supporting the fixture, and a conveying slide 10 which is a T-shaped slide and does not need to set multiple exit storage locations on the side of the conveying slide, thus saving the space occupied by the slide and facilitating long-distance storage and conveying. The main components of the fixture installation base 40 include a base plate 41 for installing fixture positioning unit to clamp and position different vehicle body parts, an AGV traction positioning mechanism 42 and an AGV traction support 43 to ensure the position accuracy of the fixture when the AGV is in traction, a fixture base positioning mechanism 44 and a fixture base support block 45 to ensure the positioning accuracy of the fixture on the AGV pallet 20, and an air and electricity quick plug port is provided on the side edge of the fixture installation base 40 to provide air, electricity and signals for the fixture.

[0047] The main components of the AGV pallet 20 include a pallet base 21, side bars 22 provided on both sides of the pallet base 21, AGV vehicle entering space formed between the side bars 22 and the pallet base 21 to facilitate the entry or exit of the fixture installation base 40 into the line body, fixture positioning pins 24 and fixture support grooves 25 provided on the side bars 22 to ensure the accuracy and support of the fixture on the AGV pallet 20, and precision guide plates 23 provided in the AGV pallet 20 on both sides of the AGV vehicle to ensure the position accuracy of the AGV when entering the AGV pallet.

[0048] The conveying slide is a T-shaped slide, and the main components include a slide base, X-direction and Y-direction rails provided on the slide base, and X-direction and Y-direction traction motors; the traction motor serves as the driving power source and cooperates with the rack to realize traction movement; the slide base is also provided with X-direction and Y-direction traction pins, the X-direction traction pin 17 is raised, and the X-direction traction motor 16 pulls the AGV pallet 20 along the X-direction rail from the working position to the loading position or from the loading position to the working position; the Y-direction traction pin 15 is raised, and the Y-direction traction motor 14 pulls the AGV pallet 20 and the switching slide as a whole along the Y-direction rail to the storage locations A or B on both sides of the Y-direction conveying slide rail 11.

[0049] Working principle:

[0050] 1. Clamp into line body: AGV transport vehicle through mechanism AGV traction positioning mechanism 42 and AGV traction support position 43 to position the clamp, and then transport, the entrance guide 50 makes AGV accurately enter AGV PALLET, and the precision guide plate 23 ensures the precision of AGV after entering AGV PALLET. After AGV is transported to the position, the clamp is lowered, the clamp positioning pin 24 is inserted and positioned into the clamp base positioning mechanism 44, the clamp base support block 45 is supported into the clamp support groove 25 and is attached, and the vehicle type recognition sensor 52 judges the vehicle type entering the clamp. Then AGV exits AGV PALLET, realizes that the clamp enters the line body. The X-direction traction pin 17 rises, the X-direction traction motor 16 drags the AGV tray 20 to the working position through the X-direction conveying slide rail 12, the X-direction traction pin 17 descends, and the side to position the plug pin rises to ensure the position precision in the working position; the AGV tray 20 reciprocates from the upper piece position to the working position, and single vehicle type production is realized;

[0051] 2. When the second vehicle type, the to-position plug pin descends, the X-direction traction pin 17 rises, the X-direction traction motor 16 drags the AGV tray 20 from the working position to the upper piece position, the X-direction traction pin 17 descends, the Y-direction traction pin 15 rises, the Y-direction traction motor 14 drags the AGV tray 20 to the warehouse position A or B on both sides of the Y-direction conveying slide rail 11, and then the step one is repeated, the AGV transports the second vehicle type clamp into the line body, and the second vehicle type flexible switching is realized;

[0052] 3. Subsequently, the vehicle type is continuously increased, the AGV trolley 30 enters the AGV tray 20, the positioning support mechanism rises, a pair of clamps is removed from the line body through the AGV traction positioning mechanism 42 and the AGV traction support position 43 below the base bottom plate 41, and then the third, fourth and the like vehicle type clamps are transported into the line body working position by repeating the step one, and welding work is carried out.

[0053] The automobile welding line clamp switching storage system and the switching method can realize unmanned automatic switching of all clamp switching, without the need for personnel to participate, and solve the problem of difficult manual switching. The AGV can be remotely transported, can transport the line body clamp to any empty position of the factory building, and solve the problem of insufficient space around the line.

[0054] The automobile welding line clamp switching storage system and the switching method combine the advantages of the traditional flexible slide table mechanism and the AGV conveying, meet the multi-vehicle type flexible production of the welding line, remotely transport the line body clamp to the idle corner of the factory building by using the AGV, solve the problems of difficult manual switching of the clamp and insufficient space around the line, and therefore, as an unmanned switching storage scheme with high technical content, have good development prospects in the future.

[0055] The automobile welding line clamp switching storage system and the switching method can realize multi-vehicle type flexible switching, facilitate clamp conveying, storage and switching, better meet the on-site space arrangement demand, have strong practicability and good application prospect.

[0056] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0057] The application is described above in conjunction with the drawings, but the application is not limited to the above manner, as long as various non-essential improvements or direct application to other occasions are made by using the method concept and technical solutions of the application, they all fall within the protection scope of the application.

Claims

1. An automotive welding line fixture change storage system comprising a conveyor skid, characterized by: The AGV tray is movably arranged on the conveying slide table, the clamp mounting base is supported on the AGV vehicle, and the AGV vehicle enters the AGV tray, and the AGV tray is provided with a positioning support device for supporting the clamp mounting base; the clamp mounting base comprises a base plate for mounting a positioning clamp, and the base plate is provided with a clamp for positioning a vehicle body; the base plate is provided below with an AGV traction positioning mechanism and an AGV traction support position for supporting on the AGV vehicle; the base plate is provided below with a clamp base positioning mechanism and a clamp base support block for supporting and positioning on the AGV tray; the AGV vehicle is provided with a lifting positioning pin which can be lifted and positioned in the AGV traction positioning mechanism, and is also provided with a lifting support block which is correspondingly supported on the AGV traction support position; the AGV tray comprises a tray base, and the tray base is provided with side columns on both sides, and the side columns are provided with precision guide plates on both sides; the side columns are provided with clamp positioning pins which are positioned and supported in the clamp base positioning mechanism; the side columns are also provided with clamp support grooves which are correspondingly arranged with the clamp base support block; the conveying slide table is a T-shaped slide table, comprising a Y-direction conveying slide rail and an X-direction conveying slide rail arranged vertically, the Y-direction conveying slide rail is movably provided with a switching slide seat, the switching slide seat is provided with at least two groups of switching slide rails which can be docked with the X-direction conveying slide rail; one side of the AGV tray is provided with a Y-direction base traction hole, and the Y-direction conveying slide rail is provided with a Y-direction traction pin which can be lifted and positioned in the Y-direction base traction hole; the front end of the AGV tray is provided with an X-direction base traction hole, and the X-direction conveying slide rail is provided with an X-direction traction pin which can be lifted and positioned in the X-direction base traction hole; the conveying slide table is also provided with a Y-direction traction motor and an X-direction traction motor.

2. The automotive welding line fixture change storage system of claim 1, wherein: The clamp positioning pins are arranged in the middle of the length direction of the side column, and the clamp support grooves are arranged at both ends of the side column.

3. The automotive welding line fixture change storage system according to any one of claims 1 to 2, characterized in that: The front end of the conveying slide table entrance is also fixedly provided with an entrance guide; the entrance guide comprises a trumpet-shaped opening coarse guide plate, and one side of the entrance guide is provided with a vehicle type recognition sensor.

4. A switching method of a switching storage system of an automobile welding line clamp according to any one of claims 1 to 3, characterized in that: Step one: the clamp enters the line body, the clamp mounting base is positioned on the AGV vehicle, and then the conveying is carried out, the entrance guide is entered, and the precision of the AGV vehicle entering the AGV tray is ensured under the action of the precision guide plate in the AGV tray; after the AGV vehicle is conveyed to the position, the positioning support mechanism of the AGV vehicle drives the clamp mounting base to descend, the clamp mounting base is supported and positioned on the AGV tray, and the vehicle type recognition sensor judges the vehicle type corresponding to the clamp; then the AGV vehicle exits the AGV tray, the clamp enters the line body; the X-direction traction pin rises, the X-direction traction motor drags the AGV tray through the X-direction conveying slide rail to the working position, the X-direction traction pin descends, and the side edge of the positioning pin rises to ensure the position precision in the working position; the AGV tray reciprocates from the loading position to the working position, and single-vehicle-type production is realized. Step two: the second vehicle type, the plug-in position is lowered, the X direction traction pin is raised, the X direction traction motor pulls the AGV tray from the working position to the upper piece position, the X direction traction pin is lowered, the Y direction traction pin is raised, the Y direction traction motor pulls the AGV tray to the warehouse position A or B on both sides of the Y direction conveying slide rail, and then step one is repeated to convey the second vehicle type clamp into the line body; Step three: continue to increase the vehicle type, the AGV car enters the AGV tray, the positioning and supporting mechanism rises to move a pair of clamps out of the line body through the AGV traction positioning mechanism and the AGV traction supporting position below the base bottom plate, and then step one is repeated to convey the third, fourth and the like vehicle type clamps into the line body working position to perform welding work.

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