Gantry changing system, scissor clamp mechanism and assembly line

Abstract

The application relates to the field of workpiece production operations, and discloses a skid changing system, a scissor clamping mechanism and a flow line. The skid changing system comprises a skid assembly, a skid changing conveying line, a lifting assembly and an adjusting and positioning assembly. The skid assembly comprises multiple uniform skids with the same model and multiple non-uniform skids with different models. The skid changing conveying line can alternately input the uniform skids and the non-uniform skids. The lifting assembly can lift a workpiece carried by a previous skid input to the skid changing conveying line and place the workpiece on a next skid. The adjusting and positioning assembly can adjust and position the relative position of the lifting assembly and the skid with any model input to the skid changing conveying line. The flow line can realize collinear skid changing of workpieces with different models, reduces the investment cost of equipment and improves production efficiency.

Description

Technical Field

[0001] This application belongs to the field of workpiece production operations, specifically relating to a skid changing system, a scissor clamping mechanism, and an assembly line. Background Technology

[0002] To facilitate the transfer of workpieces between multiple production workshops, multiple skid conveyor lines are typically used. Considering that different production workshops involve different production processes, different types of skid conveyor lines are used, and naturally, different types of skid conveyor lines also have different types of skids. Furthermore, to accommodate different workpiece models, even skids of the same type may be provided in multiple models. Therefore, in existing workpiece production lines, multiple models of skids are generally required for the same type of skid conveyor line to correspond to the multiple models of skids provided for another type of skid conveyor line, in order to transfer different types of workpieces between the two different types of skid conveyor lines. However, this not only incurs significant costs due to the storage of multiple models of skids but also prevents the co-production of different types of workpieces on the same line, affecting the production line's cycle time. Summary of the Invention

[0003] In view of at least one of the above-mentioned defects or deficiencies in the prior art, this application provides a skid-changing system, a scissor clamping mechanism and an assembly line. By adopting a standardized skid of the same model, skid-changing for different models of workpieces can be achieved on the same line, thereby reducing the investment cost of skids, adapting to the needs of different production cycles and improving production efficiency.

[0004] To achieve the above objectives, this application provides a skid-changing system, comprising:

[0005] The skid assembly includes multiple standardized skids of the same model and multiple non-standardized skids of different models. The standardized skids can be positioned to carry any type of workpiece and are provided with multiple skid support structures. The multiple non-standardized skids can be positioned to carry different types of workpieces respectively.

[0006] The skid-changing conveyor line can alternately input the standardized skids and the non-standardized skids;

[0007] The lifting assembly is capable of raising the workpiece carried by the previous skid on the skid-changing conveyor line and placing the raised workpiece onto the next skid on the skid-changing conveyor line.

[0008] The adjustment and positioning assembly can adjust and position the relative position of the lifting assembly with any type of skid input to the skid changing conveyor line;

[0009] In the case where the skid on the skid-changing conveyor line is the uniform skid to be received by the workpiece, the uniform skid can be positioned by the adjustment and positioning assembly, so that the workpiece positioning structure of the workpiece that has been raised by the lifting assembly can be vertically aligned with the corresponding skid bearing structure, and the lifting assembly can avoid all the skid bearing structures during the process of lowering the workpiece.

[0010] When the skid on the skid-changing conveyor line is the uniform skid for the workpiece to be released, the uniform skid can be positioned by the adjustment and positioning assembly, so that the lifting assembly can avoid all the skid-bearing structures to raise the workpiece on the uniform skid.

[0011] In some embodiments, the adjustment and positioning assembly includes a scissor clamping mechanism, which includes a base, a first clamping arm, a second clamping arm, a rotating device, and an eccentric rotating structure. The eccentric rotating structure is connected to the rotating shaft of the rotating device and has an eccentric shaft parallel to the rotating shaft. The first clamping arm has a first slot extending along the arm length direction, and the second clamping arm has a second slot extending along the arm length direction.

[0012] The inner ends of the first clamping arm and the second clamping arm are both hinged to the base. The eccentric shaft passes through the first slot and the second slot and can move along the first slot and the second slot simultaneously during the rotation of the rotating shaft, thereby causing the first clamping arm and the second clamping arm to swing in coordination, so that the outer ends of the first clamping arm and the outer ends of the second clamping arm can clamp or release the skid located on the skid changing conveyor line.

[0013] In some embodiments, the first slot includes a first inner straight slot section, a first curved slot section, and a first outer straight slot section connected sequentially along the inner and outer extension directions of the first clamping arm; the second slot includes a second inner straight slot section, a second curved slot section, and a second outer straight slot section connected sequentially along the inner and outer extension directions of the second clamping arm.

[0014] In both the fully closed and fully open states of the outer ends of the first and second clamping arms, the eccentric shaft passes through the first and second curved groove sections.

[0015] In some embodiments, the adjustment and positioning assembly further includes a telescopic adjustment mechanism for driving the scissor clamping mechanism to move along the length of the skid-changing conveyor line.

[0016] In some embodiments, the telescopic adjustment mechanism includes a telescopic device, a power device, and a guide rail structure. The telescopic device and the guide rail structure are both arranged along the length direction of the skid changing conveyor line. The power device, the telescopic device, and the base are sequentially connected by transmission, and the base and the guide rail structure are connected by a sliding fit.

[0017] In some embodiments, the uniform skid is provided with a plurality of skid positioning structures arranged at intervals along the length of the skid. The scissor clamping mechanism can move to different positions under the drive of the telescopic adjustment mechanism to clamp the skid positioning structures in the uniform skid located on the skid changing conveyor line, thereby driving the uniform skid to move to different positions.

[0018] In some embodiments, the production line further includes a workpiece model identification device for identifying the model of the workpiece to be replaced, the telescopic adjustment mechanism communicating with the workpiece model identification device and being able to move the scissor clamping mechanism to different positions to clamp the skid positioning structure in the uniform skid located on the skid changing conveyor line according to the workpiece model identified by the workpiece model identification device.

[0019] In some embodiments, the skid-changing conveyor line is provided with a first conveyor line stop device and a second conveyor line stop device, and various non-standard skids are respectively provided with various first skid stop devices, while each standard skid is provided with the same second skid stop device.

[0020] When the workpiece is transferred from the non-standard skid to the standard skid, the first conveyor line stop device can stop the non-standard skid corresponding to the first skid stop device trigger control at the first coarse positioning position on the skid changing conveyor line. The scissor clamping mechanism can perform fine positioning of the non-standard skid located at different first coarse positioning positions when the telescopic adjustment mechanism is not in operation.

[0021] Furthermore, the second conveyor line stop device can trigger the second skid stop device to control the uniform skid to stop at the second coarse positioning position on the skid changing conveyor line, and the scissor clamping mechanism can move to different positions under the drive of the telescopic adjustment mechanism to perform clamping and fine positioning of the skid positioning structure in the uniform skid located at the second coarse positioning position.

[0022] In some embodiments, the skid-changing conveyor line is provided with a third conveyor line stop device and a fourth conveyor line stop device, and various non-standard skids are respectively provided with various third skid stop devices, while each standard skid is provided with the same fourth skid stop device.

[0023] When a workpiece is transferred from the uniform skid to the non-uniform skid, the fourth conveyor line stop device can trigger the fourth skid stop device to stop the uniform skid at the fourth coarse positioning position on the skid changing conveyor line. The scissor clamping mechanism can move to different positions under the drive of the telescopic adjustment mechanism to perform fine clamping and positioning of the skid positioning structure in the uniform skid located at the fourth coarse positioning position.

[0024] Furthermore, the third conveyor line stop device can trigger the corresponding non-standard skid to stop at the third coarse positioning position on the skid changing conveyor line, and the scissor clamping mechanism can perform fine positioning clamping on the non-standard skid located at different third coarse positioning positions.

[0025] In some embodiments, the uniform skid is provided with a plurality of skid positioning structures arranged at intervals along the length of the skid, and the scissor clamping mechanism can move to different positions under the drive of the telescopic adjustment mechanism to clamp different skid positioning structures in the uniform skid located on the skid changing conveyor line.

[0026] The second aspect of this application provides a scissor clamping mechanism, including a base, a first clamping arm, a second clamping arm, a rotating device, and an eccentric rotating structure. The eccentric rotating structure is connected to the rotating shaft of the rotating device and has an eccentric shaft parallel to the rotating shaft. The first clamping arm has a first slot extending along the arm length direction, and the second clamping arm has a second slot extending along the arm length direction.

[0027] The inner ends of the first clamping arm and the second clamping arm are both hinged to the base. The eccentric shaft passes through the first slot and the second slot and can move along the first slot and the second slot simultaneously during the rotation of the shaft, thereby causing the first clamping arm and the second clamping arm to swing in coordination, so that the outer ends of the first clamping arm and the outer ends of the second clamping arm can open or close.

[0028] In some embodiments, the first slot includes a first inner straight slot section, a first curved slot section, and a first outer straight slot section connected sequentially along the inner and outer extension directions of the first clamping arm; the second slot includes a second inner straight slot section, a second curved slot section, and a second outer straight slot section connected sequentially along the inner and outer extension directions of the second clamping arm.

[0029] In both the fully closed and fully open states of the outer ends of the first and second clamping arms, the eccentric shaft passes through the first and second curved groove sections.

[0030] A third aspect of this application provides an assembly line, comprising:

[0031] A standardized skid conveyor line for conveying multiple standardized skids;

[0032] Non-standard skid conveyor lines are used to transport various types of non-standard skids; and

[0033] The aforementioned skid-changing system can be connected to both the standardized skid conveyor line and the non-standardized skid conveyor line.

[0034] As can be seen from the above technical solution, during the workpiece skid changing process, with the coordinated operation of the skid changing conveyor line and the lifting assembly, workpieces carried by any type of non-standard skid can be transferred to one of the standard skids, or workpieces carried by a standard skid can be transferred to a corresponding non-standard skid. This enables co-line skid changing operations for different types of workpieces, facilitating flexible workpiece production organization to adapt to different production rhythms, reducing skid reserves and input, and saving costs. More importantly, the skid changing system of this application can adjust the relative position of the positioning assembly and the positioning lifting assembly with any type of skid input to the skid changing conveyor line, so that the workpiece positioning structure of the workpiece raised by the lifting assembly is vertically aligned with the corresponding skid bearing structure of the standard skid to be received, which helps to achieve precise docking between the workpiece and the standard skid. Furthermore, through the aforementioned position adjustment, the lifting assembly can cleverly avoid the entire skid-bearing structure of the unified skid, whether it is lowering the raised workpiece onto the unified skid or raising the workpiece on the unified skid, thereby solving the problem of mutual interference between the skid-bearing structure and the lifting assembly.

[0035] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0037] Figure 1 This is a schematic diagram of an assembly line according to a specific embodiment of this application;

[0038] Figure 2 This is a schematic diagram of a skid-changing system for an assembly line according to a specific embodiment of this application. The skid-changing system in the figure has a standardized skid as its input on the skid-changing conveyor line.

[0039] Figure 3A schematic diagram of the lifting assembly of the skid changing system placing the workpiece onto the standardized skid.

[0040] Figure 4 for Figure 2 A cross-sectional view of the skid-changing system;

[0041] Figure 5 for Figure 4 A schematic diagram of the other side of the skid-changing system;

[0042] Figure 6 for Figure 5 A partially enlarged schematic diagram of the skid-changing system.

[0043] Explanation of reference numerals in the attached figures

[0044] 1. Standard skid 2. Non-standard skid

[0045] 3. Skid-changing conveyor line; 4. Lifting assembly

[0046] 5. Scissor-type clamping mechanism; 6. Telescopic adjustment mechanism

[0047] 7. Standardized skid conveyor line; 8. Non-standardized skid conveyor line

[0048] 101 Skid load-bearing structure 102 Skid positioning structure

[0049] 401 Lateral support arm; 501 base

[0050] 502 First clamping arm; 503 Second clamping arm

[0051] 504 Rotating device; 505 Eccentric rotating structure

[0052] 601 Telescopic device; 602 Power unit

[0053] 603 guide rail structure 5021 first slot

[0054] 5031 Second slot 5051 Eccentric shaft

[0055] A. First type of workpiece B. Second type of workpiece Detailed Implementation

[0056] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0057] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0058] like Figures 2 to 6As shown, a first exemplary embodiment of this application provides a skid-changing system, which includes a skid assembly, a skid-changing conveyor line, a lifting assembly, and an adjustment and positioning assembly.

[0059] The skid assembly includes multiple uniform skids 1 of the same type and multiple non-uniform skids 2 of different types. The uniform skids 1 can position and support any type of workpiece, while the multiple non-uniform skids 2 can each position and support different types of workpieces. Therefore, when a workpiece needs to be transferred from a uniform skid 1 to a non-uniform skid 2, a non-uniform skid 2 matching the workpiece's type must be used. Conversely, when a workpiece needs to be transferred from a non-uniform skid 2 to a uniform skid 1, only one uniform skid 1 needs to be used. Accordingly, the uniform skid 1 is equipped with multiple skid support structures 101, each corresponding to a workpiece positioning structure of a different type of workpiece, thus meeting the support requirements of different types of workpieces on the uniform skid 1. The skid-changing conveyor line 3 can alternately input the uniform skids 1 and the non-uniform skids 2, as shown in the figure. Figure 2 The skid-changing conveyor 3 can be a fixed roller bed, as is well known to those skilled in the art. The lifting assembly 4 can raise the workpiece carried by the previous skid on the skid-changing conveyor 3 and place the raised workpiece onto the next skid on the skid-changing conveyor 3. The adjusting and positioning assembly can adjust and position the relative position of the lifting assembly 4 with any type of skid on the skid-changing conveyor 3.

[0060] When the skid on the skid-changing conveyor line 3 is a uniform skid 1 to be received, the uniform skid 1 can be positioned by the adjustment and positioning assembly so that the workpiece positioning structure of the workpiece that has been raised by the lifting assembly 4 can be vertically aligned with the corresponding skid bearing structure 101, and the lifting assembly 4 can avoid all skid bearing structures 101 during the process of lowering the workpiece.

[0061] When the skid on the skid-changing conveyor line 3 is a uniform skid 1 for the workpiece to be released, the uniform skid 1 can be positioned by the adjustment and positioning assembly so that the lifting assembly 4 can avoid all the skid-bearing structures 101 to lift the workpiece on the uniform skid 1.

[0062] As can be seen, with the coordinated operation of the skid-changing conveyor line 3 and the lifting assembly 4, workpieces carried by any type of non-standard skid 2 can be transferred to one of the standard skids 1, or workpieces carried by the standard skid 1 can be transferred to the corresponding non-standard skid 2. This enables co-line skid-changing operations for different types of workpieces, facilitating flexible production organization to adapt to different production rhythms, reducing skid reserves and input, and saving costs. More importantly, the skid-changing system of this exemplary embodiment can adjust the relative position of the positioning assembly and the lifting assembly with any type of skid input to the skid-changing conveyor line 3 by adjusting the positioning assembly, so that the workpiece positioning structure of the workpiece raised by the lifting assembly is vertically aligned with the corresponding skid-bearing structure 101 of the standard skid 1 to be received, which helps to achieve precise docking between the workpiece and the standard skid 1. Furthermore, through the aforementioned position adjustment, the lifting assembly 4 can cleverly avoid all the skid-bearing structures 101 of the unified skid 1, whether it is lowering the raised workpiece onto the unified skid 1 or raising the workpiece on the unified skid 1, thereby solving the problem of mutual interference between the skid-bearing structures 101 and the lifting assembly 4.

[0063] It should be noted that, under normal circumstances, the lifting assembly 4 is provided with a transverse support arm 401 for lifting the workpiece. Therefore, in order to avoid the transverse support arm 401 from colliding with the skid bearing structure 101 of the uniform skid 1, the relative position of the lifting assembly 4 and the uniform skid 1 input to the skid changing conveyor line 3 can be adjusted and positioned by adjusting the positioning assembly, so that the lifting assembly 4 can avoid the entire skid bearing structure 101 during the lifting process.

[0064] For example, when the lifting assembly 4 is fixedly installed on both sides of the skid-changing conveyor line 3, the adjustment and positioning assembly can be configured to adjust the position of the uniform skid 1 on the skid-changing conveyor line 3 and lock the uniform skid 1 in position, so that the corresponding skid-bearing structure 101 of the uniform skid 1 aligns with the workpiece positioning structure of the raised workpiece, while the lateral support arm 401 of the lifting assembly 4 avoids other skid-bearing structures 101 when descending. Alternatively, when the uniform skid 1 input to the skid-changing conveyor line 3 is not positioned, the adjustment and positioning assembly can be configured to adjust the position of the lifting assembly 4, so that the workpiece positioning structure of the raised workpiece aligns with the corresponding skid-bearing structure 101 of the uniform skid 1, while the lateral support arm 401 of the lifting assembly 4 avoids other skid-bearing structures 101 when descending. Of course, the adjustment and positioning assembly can also be configured to appropriately adjust the positions of the uniform skid 1 and the lifting assembly 4 on the skid-changing conveyor line 3 respectively, so that the lifting assembly 4 can avoid all skid-bearing structures 101 during the lifting process.

[0065] In this embodiment, to meet the positioning and bearing requirements of different types of workpieces, reference is made to... Figure 2The skid bearing structure 101 can be a column structure, and the workpiece positioning structure can be a positioning hole. Correspondingly, the column structure is provided with a positioning pin for forming a through-fit with the positioning hole. Thus, when the lifting assembly 4 places the raised workpiece onto the uniform skid 1, the workpiece can be locked by the positioning pin passing through the positioning hole of the workpiece.

[0066] In the method of setting the adjustment and positioning assembly to be able to adjust the position of the uniform skid 1 on the skid-changing conveyor line 3, refer to Figures 4 to 6 The adjustment and positioning assembly includes a scissor-type clamping mechanism 5 for adjusting and positioning the uniform skid 1. Specifically, the scissor-type clamping mechanism 5 includes a base 501, a first clamping arm 502, a second clamping arm 503, a rotating device 504, and an eccentric rotating structure 505. The eccentric rotating structure 505 includes a transmission seat and an eccentric shaft 5051. The transmission seat is sleeved on the rotating shaft of the rotating device 504, and the eccentric shaft 5051 extends parallel to the rotating shaft and is disposed at the outer end of the transmission seat. The first clamping arm 502 has a first slot 5021 extending along the arm length direction, and the second clamping arm 503 has a second slot 5031 extending along the arm length direction.

[0067] Furthermore, the base 501 includes two opposing base columns. The inner ends of the first clamping arm 502 and the second clamping arm 503 are respectively hinged to the two base columns of the base 501. The eccentric shaft 5051 passes through the first slot 5021 and the second slot 5031. Thus, when the rotating shaft of the rotating device 504 rotates, the eccentric shaft 5051 can move simultaneously along the first slot 5021 and the second slot 5031, thereby driving the first clamping arm 502 and the second clamping arm 503 to swing in coordination, so that the outer ends of the first clamping arm 502 and the second clamping arm 503 can clamp or release the uniform skid 1 located on the skid changing conveyor line 3. When clamping the uniform skid 1 on the skid changing conveyor line 3, the positioning of the uniform skid 1 can be completed.

[0068] Of course, when it is required to position the non-standard skid 2 on the skid-changing conveyor line 3, the non-standard skid 2 can also be positioned by the scissor clamping mechanism 5.

[0069] It is worth noting that, in this embodiment, the first slot 5021 includes a first inner straight slot section, a first curved slot section, and a first outer straight slot section connected sequentially along the inner and outer extension directions of the first clamping arm 502, and the second slot 5031 includes a second inner straight slot section, a second curved slot section, and a second outer straight slot section connected sequentially along the inner and outer extension directions of the second clamping arm 503. Specifically, in both the fully closed and fully open states of the outer ends of the first clamping arm 502 and the second clamping arm 503, the first slot 5021 and the second slot 5031 maintain an upward trend extending from the inside out.

[0070] Therefore, when the eccentric shaft 5051 rotates to its highest point under the drive of the rotating shaft, the eccentric shaft 5051 is positioned to pass through the first and second curved groove sections. At this time, the first clamping arm 502 and the second clamping arm 503 swing together to a fully retracted state, allowing the outer ends of the first clamping arm 502 and the second clamping arm 503 to clamp the skid located on the skid changing conveyor line 3. Conversely, when the eccentric shaft 5051 rotates to its lowest point under the drive of the rotating shaft, the eccentric shaft 5051 is also positioned to pass through the first and second curved groove sections. At this time, the first clamping arm 502 and the second clamping arm 503 swing together to a fully open state, allowing the outer ends of the first clamping arm 502 and the second clamping arm 503 to release the skid located on the skid changing conveyor line 3.

[0071] Understandably, referring to Figure 6 When the eccentric shaft 5051 is at its lowest point, regardless of whether it rotates one revolution clockwise or counterclockwise, the first clamping arm 502 and the second clamping arm 503 can swing in tandem to complete the closing and opening actions. Therefore, by continuously driving the eccentric shaft 5051 to rotate in the same direction, the first clamping arm 502 and the second clamping arm 503 can perform continuous closing and opening actions. During this process, the eccentric shaft 5051 can alternate between a state where it simultaneously passes through the first inner straight groove section and the second outer straight groove section, and a state where it simultaneously passes through the second inner straight groove section and the first outer straight groove section.

[0072] Of course, the eccentric shaft 5051 can also be configured to rotate by moving back and forth along the same path. For example, when the eccentric shaft 5051 is at its lowest point, it rotates counterclockwise to its highest point to complete the closing action, and then rotates clockwise back to its lowest point to complete the opening action.

[0073] Therefore, this application is not limited to the rotation mode of the eccentric shaft 5051 mentioned above. Any driving mode that can drive the first clamping arm 502 and the second clamping arm 503 to swing together to a fully open or fully open state should also fall within the protection scope of this application.

[0074] Furthermore, the rotating device 504 can be an electric motor, a pneumatic motor, a hydraulic motor, etc., and this embodiment does not limit it.

[0075] In an optional or preferred embodiment, the adjustment and positioning assembly further includes a telescopic adjustment mechanism 6 for driving the scissor clamping mechanism 5 to move along the length of the skid-changing conveyor line 3.

[0076] Specifically, refer to Figure 4 and Figure 5The telescopic adjustment mechanism 6 includes a telescopic device 601, a power unit 602, and a guide rail structure 603. Both the telescopic device 601 and the guide rail structure 603 are arranged along the length of the skid-changing conveyor line 3. The power unit 602, the telescopic device 601, and the base 501 of the scissor-type clamping mechanism 5 are sequentially connected by a transmission mechanism. The base 501 and the guide rail structure 603 form a sliding fit connection. In other words, the power unit 602 can drive the telescopic device 601 to telescopically move, thereby causing the base 501 to move along the length of the skid-changing conveyor line 3. This allows the scissor-type clamping mechanism 5 to move the skid on the skid-changing conveyor line 3 to a suitable position when clamping it, such as moving the uniform skid 1 to a position aligned with the raised workpiece.

[0077] In some embodiments, the bottom of the base 501 may be provided with pulleys, allowing it to slide on the guide rail structure 603. In other embodiments, the bottom of the base 501 may also be provided with a slider, which slides in conjunction with the guide rail structure 603, allowing the base 501 to slide on the guide rail structure 603. In summary, this application does not limit the form of movement of the base 501.

[0078] In this embodiment, the outer ends of the first clamping arm 502 and the second clamping arm 503 of the scissor clamping mechanism 5 are provided with clamping plates for expanding the clamping area. When the first clamping arm 502 and the second clamping arm 503 retract towards each other, the two clamping plates retract simultaneously.

[0079] Furthermore, in order to enable the scissor clamping mechanism 5 to stably clamp the uniform skid 1, the uniform skid 1 is provided with a skid positioning structure 102. (Refer to...) Figure 4 The skid positioning structure 102 is mounted on the standardized skid 1 in the form of a crossbeam. Thus, the scissor clamping mechanism 5 can move to a suitable position under the drive of the telescopic adjustment mechanism 6, placing the skid positioning structure 102 within the clamping range of the first clamping arm 502 and the second clamping arm 503 for clamping. It is understood that during the clamping process of the skid positioning structure 102, the first clamping arm 502 or the second clamping arm 503 can push the standardized skid 1 along the length of the skid-changing conveyor line 3, thereby achieving precise positioning and ensuring accurate alignment between the standardized skid 1 and the raised workpiece.

[0080] In an optional or preferred embodiment, the uniform skid 1 is provided with a plurality of skid positioning structures 102 arranged at intervals along the length of the skid. Correspondingly, the scissor clamping mechanism 5 can move to different positions under the drive of the telescopic adjustment mechanism 6, thereby clamping different skid positioning structures 102 in the uniform skid 1 located on the skid changing conveyor line 3. With this configuration, during the skid changing process for various workpieces of different models, when the lifting assembly 4 lifts different models of workpieces, although the positions of the different models of workpieces are different (mainly in the position along the length of the skid changing conveyor line 3), the scissor clamping mechanism 5 can still be moved to the position corresponding to the different models of workpieces by the drive of the telescopic adjustment mechanism 6, so that the scissor clamping mechanism 5 can clamp the skid positioning structure 102 corresponding to the model of the workpiece, thereby adjusting the position of the uniform skid 1 to align it with the corresponding model of workpiece.

[0081] Based on the aforementioned position adjustment requirements of the scissor clamping mechanism 5, a workpiece model identification device can be installed in the skid-changing system of this application to identify the model of the workpiece to be skid-changed. Specifically, the workpiece model identification device can be a radio frequency identification (RFID) device, which includes an electronic tag and a reader. The electronic tag can be installed in the skid-changing conveyor line 3 of the skid-changing system, and the electronic tag can be installed on the non-standardized skid 2. Thus, when the non-standardized skid 2 carries a workpiece of the corresponding model and is input into the skid-changing conveyor line 3, the reader can identify the model of the workpiece to be skid-changed on the non-standardized skid 2. Alternatively, the electronic tag can be installed on the standardized skid 1. When the standardized skid 1 carries a workpiece of a certain model and is input into the skid-changing conveyor line 3, the reader can identify the model of the workpiece to be skid-changed on the standardized skid 1.

[0082] Understandably, different types of workpieces will be in different positions when lifted by the lifting assembly 4. To address this, the telescopic adjustment mechanism 6 can communicate with the workpiece type identification device and, based on the workpiece type identified by the device, can move the scissor clamping mechanism 5 to different positions to clamp the skid positioning structure 102 in the standardized skid 1 on the skid changing conveyor line 3, thereby precisely positioning the standardized skid 1.

[0083] In the above process, when a skid positioning structure 102 is provided on the uniform skid 1, the scissor clamping mechanism 5 needs to be driven to the position aligned with the raised workpiece. At this time, it is necessary to ensure that the skid positioning structure 102 is within the clamping range of the scissor clamping mechanism 5, so that the skid positioning structure 102 is clamped by the clamping action of the scissor clamping mechanism 5, so that the uniform skid 1 is precisely positioned to align with the raised workpiece.

[0084] When the uniform skid 1 is provided with multiple skid positioning structures 102, the scissor clamping mechanism 5 needs to be driven to align with one of the skid positioning structures 102, and then the skid positioning structure 102 is clamped by the clamping action of the scissor clamping mechanism 5, so that the uniform skid 1 is precisely positioned to align with the raised workpiece. For example, when a non-standardized skid 2 carrying a first-type workpiece A is input into the skid-changing conveyor line 3, the workpiece model identification device identifies the workpiece to be replaced as model A and sends the model information to the telescopic adjustment mechanism 6. After the lifting assembly 4 raises the first-type workpiece A and the standardized skid 1 is input into the skid-changing conveyor line 3, the telescopic adjustment mechanism 6 can move the scissor clamping mechanism 5 to the position of the skid positioning structure 102 corresponding to the model of the workpiece according to the above model information, so that the scissor clamping mechanism 5 can clamp the skid positioning structure 102, thereby adjusting the standardized skid 1 to a position aligned with the raised first-type workpiece A, that is, the skid bearing structure 101 of the standardized skid 1 is aligned with the positioning hole of the first-type workpiece A, so that it can be locked on the standardized skid 1 when the first-type workpiece A falls, and at the same time, the lateral support arm 401 of the lifting assembly 4 avoids the other skid bearing structures 101 when it falls.

[0085] Furthermore, to achieve automated control of the skid conveyor, the skid-changing conveyor line 3 is equipped with a first conveyor line stop device and a second conveyor line stop device. Various non-standard skids 2 are equipped with different first skid stop devices, and each standard skid 1 is equipped with the same second skid stop device. Thus, when a workpiece is transferred from a non-standard skid 2 to a standard skid 1, the first conveyor line stop device can trigger the first skid stop device, thereby controlling the corresponding non-standard skid 2 to stop at the corresponding first coarse positioning position on the skid-changing conveyor line. At this time, the scissor clamping mechanism 5 can perform fine positioning of the non-standard skids 2 located at different first coarse positioning positions without the telescopic adjustment mechanism 6 operating. In addition, the second conveyor line stop device can be triggered by the second skid stop device to control the uniform skid 1 to stop at the second coarse positioning position on the skid changing conveyor line. At this time, the scissor clamping mechanism 5 can move to different positions under the drive of the telescopic adjustment mechanism 6, so as to perform fine positioning of the skid positioning structure 102 in the uniform skid 1 located at the second coarse positioning position.

[0086] It is worth noting that different first coarse positioning positions can be determined according to the model of the non-standardized skid 2, while the second coarse positioning position can always be within the same range. Therefore, when different models of non-standardized skids 2 carrying different workpieces are input into the skid-changing conveyor line 3, the mutual sensing between the first skid stop device and the first conveyor line stop device can control the different models of non-standardized skids 2 to stop at their corresponding first coarse positioning positions, allowing different models of workpieces to move smoothly into the working range of the lifting assembly 4. Subsequently, when the standardized skid 1 is input into the skid-changing conveyor line 3, the mutual sensing between the second skid stop device and the second conveyor line stop device can control the standardized skid 1 to stop at the second coarse positioning position, allowing the scissor-type clamping mechanism 5 to perform fine positioning, aligning the corresponding skid-bearing structure 101 of the standardized skid 1 with the positioning structure of the workpiece lifted by the lifting assembly 4.

[0087] In some embodiments, the skid-changing conveyor line is further provided with a third conveyor line stop device and a fourth conveyor line stop device. Various non-standard skids 2 are respectively provided with various third skid stop devices, and each standard skid 1 is provided with the same fourth skid stop device. Thus, when a workpiece is transferred from the standard skid 1 to the non-standard skid 2, the fourth conveyor line stop device can be triggered by the fourth skid stop device, thereby controlling the standard skid 1 to stop at the fourth coarse positioning position on the skid-changing conveyor line. At this time, the scissor clamping mechanism 5 can move to different positions under the drive of the telescopic adjustment mechanism 6, thereby performing fine clamping positioning on different skid positioning structures 102 in the standard skid 1 located at the fourth coarse positioning position. Furthermore, the third conveyor line stop device can be triggered by the third skid stop device, thereby controlling the corresponding non-standard skid 2 to stop at the corresponding third coarse positioning position on the skid-changing conveyor line. At this time, the scissor clamping mechanism 5 can perform fine clamping positioning on the non-standard skid 2 located at different third coarse positioning positions.

[0088] Similarly, different third coarse positioning positions can be determined based on the model of the non-standard skid 2, while the fourth coarse positioning position can always be within the same position range. The control process for the non-standard skid 2 and the standard skid 1 under this working condition will not be described in detail here.

[0089] It should be noted that the aforementioned stopping device can be a displacement sensor, limit switch, etc., and this embodiment does not limit it. For example, a displacement sensor can be used as the first conveyor line stopping device and the first skid stopping device, while a limit switch can be used as the second conveyor line stopping device and the second skid stopping device.

[0090] A second exemplary embodiment of this application provides a scissor clamping mechanism 5, which includes a base 501, a first clamping arm 502, a second clamping arm 503, a rotating device 504, and an eccentric rotating structure 505. The eccentric rotating structure 505 is connected to the rotating shaft of the rotating device 504 and has an eccentric shaft 5051 parallel to the rotating shaft. The first clamping arm 502 has a first slot 5021 extending along the arm length direction, and the second clamping arm 503 has a second slot 5031 extending along the arm length direction. The inner ends of the first clamping arm 502 and the second clamping arm 503 are both hinged to the base 501. The eccentric shaft 5051 passes through the first slot 5021 and the second slot 5031, and can move along the first slot 5021 and the second slot 5031 simultaneously during the rotation of the rotating shaft, thereby causing the first clamping arm 502 and the second clamping arm 503 to swing together, so that the outer ends of the first clamping arm 502 and the second clamping arm 503 can open or close.

[0091] In an optional or preferred embodiment, the first slot 5021 includes a first inner straight slot section, a first curved slot section, and a first outer straight slot section connected sequentially along the inner and outer extension directions of the first clamping arm 502. The second slot 5031 includes a second inner straight slot section, a second curved slot section, and a second outer straight slot section connected sequentially along the inner and outer extension directions of the second clamping arm 503. In both the fully closed and fully open states of the outer ends of the first clamping arm 502 and the second clamping arm 503, the eccentric shaft 5051 passes through the first curved slot section and the second curved slot section.

[0092] It should be noted that the scissor clamping mechanism of this exemplary embodiment has all the technical effects brought about by the scissor clamping mechanism 5 in the above-described skid-changing system, so it will not be described again here.

[0093] like Figure 1 As shown, a third exemplary embodiment of this application also provides an assembly line, which includes a standardized skid conveyor line 7, a non-standardized skid conveyor line 8, and the aforementioned skid-changing system. The standardized skid conveyor line 7 is used to transport multiple standardized skids 1, the non-standardized skid conveyor line 8 is used to transport multiple non-standardized skids 2, and the skid-changing system can be connected to the standardized skid conveyor line 7 and the non-standardized skid conveyor line 8. (Refer to...) Figure 1 The standardized skid conveyor line 7 and the non-standardized skid conveyor line 8 can be equipped with multiple fixed roller beds, thereby enabling the standardized skid 1 and the non-standardized skid 2 to be conveyed separately, thus realizing the conveying of workpieces.

[0094] When using the non-standardized skid conveyor line 8 to sequentially transport various non-standardized skids 2 of different models to the skid-changing conveyor line 3, correspondingly, multiple skid-changing conveyor lines 3 can be sequentially set up in the skid-changing system to simultaneously receive different models of non-standardized skids 2. For example... Figure 1As shown, driven by the non-standardized skid conveyor line 8, the A-type non-standardized skid 2 carrying the first type of workpiece A and the B-type non-standardized skid 2 carrying the second type of workpiece B can be respectively conveyed to two skid-changing conveyor lines 3, so that the skid-changing operation of the first type of workpiece A and the second type of workpiece B can be carried out simultaneously, thereby further improving the production cycle and increasing production efficiency.

[0095] The production line in this specific embodiment can be a vehicle production line. Accordingly, the standardized skid 1 is a painting skid, the non-standardized skid 2 is a welding skid or a final assembly skid, the standardized skid conveyor line 7 is a painting skid conveyor line, and the non-standardized skid conveyor line 8 is a welding skid conveyor line or a final assembly skid conveyor line. Therefore, in this vehicle production line, using a single model of painting skid can meet the skid-changing requirements between multiple models of welding skids or final assembly skids. Compared with existing production lines using multiple models of painting skids, this facilitates adaptive production processes and co-line skid-changing operations, thereby adapting to the production cycle of multiple models and small batches of vehicle products and reducing equipment costs.

[0096] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0099] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. Skid-changing system, including: The skid assembly includes multiple uniform skids (1) of the same model and multiple non-uniform skids (2) of different models. The uniform skids (1) can be positioned to carry any type of workpiece and are provided with multiple skid support structures (101). The multiple non-uniform skids (2) can be positioned to carry different types of workpieces respectively. The skid-changing conveyor line (3) is capable of alternately feeding the standardized skid (1) and the non-standardized skid (2). The lifting assembly (4) is capable of raising the workpiece carried by the previous skid on the skid-changing conveyor line (3) and placing the raised workpiece onto the next skid on the skid-changing conveyor line (3); The adjustment positioning assembly can adjust and position the relative position of the lifting assembly (4) and any type of skid input to the skid changing conveyor line (3); The adjustment and positioning assembly includes a scissor clamping mechanism (5), which includes a base (501), a first clamping arm (502), a second clamping arm (503), a rotating device (504), and an eccentric rotating structure (505). The eccentric rotating structure (505) is connected to the rotating shaft of the rotating device (504) and has an eccentric shaft (5051) parallel to the rotating shaft. The first clamping arm (502) has a first slot (5021) extending along the arm length direction, and the second clamping arm (503) has a second slot (5031) extending along the arm length direction. The eccentric shaft (5051) passes through the first slot (5021) and the second slot (5031) and can move along the first slot (5021) and the second slot (5031) simultaneously during the rotation of the rotating shaft, thereby driving the first clamping arm (502) and the second clamping arm (503) to swing together. In the case where the skid on the skid-changing conveyor line (3) is the uniform skid (1) to be received by the workpiece, the uniform skid (1) can be positioned by the adjustment and positioning assembly, so that the workpiece positioning structure of the workpiece that has been raised by the lifting assembly (4) can be vertically aligned with the corresponding skid bearing structure (101), and the lifting assembly (4) can avoid all the skid bearing structures (101) during the process of lowering the workpiece. When the skid on the skid-changing conveyor line (3) is the uniform skid (1) of the workpiece to be released, the uniform skid (1) can be positioned by the adjustment and positioning assembly so that the lifting assembly (4) can avoid all the skid-bearing structures (101) to lift the workpiece on the uniform skid (1).

2. The skid-changing system according to claim 1, characterized in that, The inner ends of the first clamping arm (502) and the second clamping arm (503) are both hinged to the base (501), and the outer ends of the first clamping arm (502) and the second clamping arm (503) can clamp or release the skid located on the skid changing conveyor line (3).

3. The skid-changing system according to claim 2, characterized in that, The first slot (5021) includes a first inner straight slot section, a first curved slot section and a first outer straight slot section connected in sequence along the inner and outer extension directions of the first clamping arm (502), and the second slot (5031) includes a second inner straight slot section, a second curved slot section and a second outer straight slot section connected in sequence along the inner and outer extension directions of the second clamping arm (503). In both the fully closed state of the first clamping arm (502) and the fully open state of the second clamping arm (503), the eccentric shaft (5051) passes through the first curved groove and the second curved groove.

4. The skid-changing system according to claim 2, characterized in that, The adjustment and positioning assembly also includes a telescopic adjustment mechanism (6) for driving the scissor clamping mechanism (5) to move along the length of the skid-changing conveyor line (3).

5. The skid-changing system according to claim 4, characterized in that, The telescopic adjustment mechanism (6) includes a telescopic device (601), a power device (602), and a guide rail structure (603). The telescopic device (601) and the guide rail structure (603) are arranged along the length of the skid changing conveyor line (3). The power device (602), the telescopic device (601), and the base (501) are sequentially connected by transmission. The base (501) and the guide rail structure (603) form a sliding fit connection.

6. The skid-changing system according to claim 4, characterized in that, The uniform skid (1) is provided with a skid positioning structure (102). The scissor clamping mechanism (5) can move to different positions under the drive of the telescopic adjustment mechanism (6) to clamp the skid positioning structure (102) in the uniform skid (1) located on the skid changing conveyor line (3), so that the uniform skid (1) can be precisely positioned in different positions.

7. The skid-changing system according to claim 6, characterized in that, The skid-changing system also includes a workpiece model identification device for identifying the model of the workpiece to be skid-changed. The telescopic adjustment mechanism (6) communicates with the workpiece model identification device and can drive the scissor clamping mechanism (5) to different positions according to the workpiece model identified by the workpiece model identification device to clamp the skid positioning structure (102) in the uniform skid (1) located on the skid-changing conveyor line (3).

8. The skid-changing system according to claim 6, characterized in that, The skid-changing conveyor line is provided with a first conveyor line stop device and a second conveyor line stop device. Various non-standard skids (2) are respectively provided with various first skid stop devices, and each standard skid (1) is provided with the same second skid stop device. When the workpiece is transferred from the non-standard skid (2) to the standard skid (1), the first conveyor line stop device can stop the non-standard skid (2) corresponding to the first skid stop device trigger control at the first coarse positioning position on the skid changing conveyor line. The scissor clamping mechanism (5) can perform fine positioning of the non-standard skid (2) located at different first coarse positioning positions when the telescopic adjustment mechanism (6) is not running. Furthermore, the second conveyor line stop device can trigger the second skid stop device to control the uniform skid (1) to stop at the second coarse positioning position on the skid changing conveyor line, and the scissor clamping mechanism (5) can move to different positions under the drive of the telescopic adjustment mechanism (6) to perform clamping and fine positioning of the skid positioning structure (102) in the uniform skid (1) located at the second coarse positioning position.

9. The skid-changing system according to claim 6, characterized in that, The skid-changing conveyor line is provided with a third conveyor line stop device and a fourth conveyor line stop device. Various non-standard skids (2) are respectively provided with various third skid stop devices, and each standard skid (1) is provided with the same fourth skid stop device. When the workpiece is transferred from the uniform skid (1) to the non-uniform skid (2), the fourth conveyor line stop device can trigger the fourth skid stop device to stop the uniform skid (1) at the fourth coarse positioning position on the skid changing conveyor line. The scissor clamping mechanism (5) can move to different positions under the drive of the telescopic adjustment mechanism (6) to perform fine clamping positioning of the skid positioning structure (102) in the uniform skid (1) located at the fourth coarse positioning position. Furthermore, the third conveyor line stop device can stop the non-standard skid (2) corresponding to the trigger control of the third skid stop device at the third coarse positioning position on the skid changing conveyor line, and the scissor clamping mechanism (5) can perform clamping and fine positioning of the non-standard skid (2) located at different third coarse positioning positions.

10. The skid-changing system according to claim 6, characterized in that, The uniform skid (1) is provided with a plurality of skid positioning structures (102) arranged at intervals along the length of the skid. The scissor clamping mechanism (5) can move to different positions under the drive of the telescopic adjustment mechanism (6) to clamp different skid positioning structures (102) in the uniform skid (1) located on the skid changing conveyor line (3).

11. A scissor clamping mechanism, comprising a base (501), a first clamping arm (502), a second clamping arm (503), a rotating device (504), and an eccentric rotating structure (505), wherein the eccentric rotating structure (505) is connected to the rotating shaft of the rotating device (504) and is provided with an eccentric shaft (5051) parallel to the rotating shaft, wherein the first clamping arm (502) is provided with a first slot (5021) extending along the arm length direction, and the second clamping arm (503) is provided with a second slot (5031) extending along the arm length direction; in, The inner ends of the first clamping arm (502) and the second clamping arm (503) are both hinged to the base (501). The eccentric shaft (5051) passes through the first slot (5021) and the second slot (5031) and can move along the first slot (5021) and the second slot (5031) simultaneously during the rotation of the shaft, thereby causing the first clamping arm (502) and the second clamping arm (503) to swing together, so that the outer ends of the first clamping arm (502) and the outer ends of the second clamping arm (503) can open or close.

12. The scissor clamping mechanism (5) according to claim 11, characterized in that, The first slot (5021) includes a first inner straight slot section, a first curved slot section and a first outer straight slot section connected in sequence along the inner and outer extension directions of the first clamping arm (502), and the second slot (5031) includes a second inner straight slot section, a second curved slot section and a second outer straight slot section connected in sequence along the inner and outer extension directions of the second clamping arm (503). In both the fully closed state of the first clamping arm (502) and the fully open state of the second clamping arm (503), the eccentric shaft (5051) passes through the first curved groove and the second curved groove.

13. Assembly line, including: A standardized skid conveyor line (7) is used to transport multiple standardized skids (1); Non-standard skid conveyor line (8), used for conveying various non-standard skids (2); and The skid-changing system according to any one of claims 1 to 10 is capable of being connected to the conventional skid conveyor line (7) and the non-conventional skid conveyor line (8).

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