Wire position system

Abstract

This application relates to the field of intelligent manufacturing technology, and more particularly to a line-side positioning system for positioning tooling equipment on a transport vehicle, the transport vehicle including an AGV transport vehicle and a floating frame; the line-side positioning system includes: a worktable, including a first positioning table, a second positioning table, and a third positioning table; a primary guide device, installed on the first positioning table, including a first guide wheel, for adjusting the position of the floating frame along the width direction of the worktable; a secondary guide device, installed on the second positioning table, including a second guide wheel, for adjusting the position of the floating frame along the width direction; and a tertiary guide device, installed on the third positioning table, including a third guide wheel and a fourth guide wheel, the third guide wheel being used to adjust the position of the floating frame along the width direction, and the fourth guide wheel being used to adjust the position of the tooling equipment along the width direction. This line-side positioning system employs graded guidance to control the docking accuracy of the tooling equipment within the required range.

Description

[Technical Field]

[0001] This application relates to the field of intelligent manufacturing technology, and in particular to a line-side positioning system. [Background Technology]

[0002] In unmanned production lines for vehicle manufacturing, tooling equipment such as car bodies are carried by AGVs (Automated Guided Vehicles). The AGVs are used for tasks such as docking equipment within the production line, switching production lines, transporting equipment to storage areas, and switching storage areas. All of these tasks can be completed autonomously by the AGVs without human intervention, resulting in high operational efficiency.

[0003] During the transportation process, AGVs use image processing technology to analyze and determine their own position and adjust their travel route to ensure that they can reach the preset workstation. However, with the continuous development of automated manufacturing, the existing AGV adjustment methods are difficult to meet the high-precision docking requirements. [Summary of the Invention]

[0004] In view of this, this application provides a line-side positioning system that uses graded guidance to control the docking accuracy of tooling equipment within the required range.

[0005] This application provides a line-side positioning system, in which two sets of the line-side positioning systems are symmetrically arranged and form a positioning area between them. The positioning area is used for pre-dock adjustment of tooling equipment on a transport vehicle. The transport vehicle includes an AGV transport vehicle and a floating frame, wherein the floating frame is installed above the AGV transport vehicle, and the tooling equipment is supported on the floating frame. The line-side positioning system includes:

[0006] The worktable includes a first positioning table, a second positioning table, and a third positioning table distributed along the length of the worktable.

[0007] A primary guide device is installed on the first positioning table; the primary guide device includes a first guide wheel, which abuts against the floating frame and is used to adjust the position of the floating frame along the width direction of the worktable;

[0008] A secondary guide device is installed on the second positioning platform; the secondary guide device includes a second guide wheel, which abuts against the floating frame and is used to adjust the position of the floating frame along the width direction of the worktable;

[0009] A three-stage guiding device is installed on the third positioning platform. The three-stage guiding device includes a third guide wheel and a fourth guide wheel. Along the height direction of the worktable, the third guide wheel is positioned below the fourth guide wheel. The third guide wheel abuts against the floating frame and is used to adjust the position of the floating frame along the width direction of the worktable. The fourth guide wheel abuts against the tooling equipment and is used to adjust the position of the tooling equipment along the width direction of the worktable.

[0010] In some embodiments, the line-side positioning system further includes a positioning locking assembly, which is mounted on a third positioning platform;

[0011] The positioning locking assembly includes a limiting member and a first locking member. When the transport equipment moves to the positioning area and completes the initial adjustment, the limiting member is used to restrict the movement of the floating frame in the length direction of the worktable, and the first locking member locks the floating frame along the length direction of the worktable.

[0012] In some embodiments, the line-side positioning system further includes a fixing component, which includes a second locking member, a positioning member, and a third locking member. The second locking member is mounted on the first positioning platform, the positioning member is mounted on the second positioning platform, and the third locking member is mounted on the third positioning platform.

[0013] After the transport equipment moves to the positioning area and completes the initial adjustment, the positioning member extends into the tooling equipment and further corrects the position of the tooling equipment. The second locking member and the third locking member are used to lock the two ends of the tooling equipment along the length of the worktable along the width direction of the worktable.

[0014] In some embodiments, the positioning element includes a positioning pin and a driving element;

[0015] The tooling equipment is provided with a positioning hole, and the driving component can drive the positioning pin to extend into the positioning hole along the height direction of the worktable.

[0016] In some embodiments, the second locking member and the third locking member are at least one of pneumatic clamps, hydraulic clamps, electric clamps, or magnetic clamps.

[0017] In some embodiments, the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel are provided with shims, which are used to adjust the distance between the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel and the positioning area along the width direction of the worktable.

[0018] In some embodiments, the floating frame is provided with guide rails, and the bottom of the tooling equipment is provided with bearing guide blocks;

[0019] The tooling equipment and the floating frame are connected by the guide rail and the bearing guide block. The bearing guide block can be rotated to adjust the position of the tooling equipment on the floating frame along the width direction of the worktable.

[0020] In some embodiments, the floating frame is further provided with a first positioning pin, which extends into the tooling equipment to correct the position of the tooling equipment on the floating frame during transportation.

[0021] In some embodiments, the floating frame is further provided with a second positioning pin, which extends into the AGV transport vehicle to correct the position of the floating frame on the AGV transport vehicle during transportation.

[0022] In some embodiments, the surface of the AGV transport vehicle is provided with a swivel ball structure, and the floating frame is connected to the AGV transport vehicle through the swivel ball structure.

[0023] The technical solution of this application has at least the following beneficial effects:

[0024] The line-side positioning system provided in this application employs a graded guiding method with primary, secondary, and tertiary guiding devices. Along the width of the worktable, it gradually controls the docking accuracy of the tooling equipment to the required range. That is, before the tooling equipment docks with the next workstation, it is first positioned and corrected through graded guidance to ensure the positional accuracy of the tooling equipment before docking with the next workstation. This ensures the docking accuracy between the tooling equipment and the next workstation, solving the problem that the self-guiding function of the AGV transport vehicle is insufficient to meet the high-precision docking requirements of the tooling equipment. [Attached Image Description]

[0025] Figure 1 A schematic diagram of the line-side positioning system provided in this application;

[0026] Figure 2 This is a schematic diagram of the AGV transport vehicle and floating frame that are positioned using a line-side positioning system in this application.

[0027] Figure 3 A schematic diagram of the structure for docking the line-side positioning system provided in this application with the transportation equipment.

[0028] Attached image labels:

[0029] 1-AGV transport vehicle; 2-Floating frame; 21-First positioning pin; 22-Second positioning pin; 23-Landing baffle; 31-First positioning platform; 32-Second positioning platform; 33-Third positioning platform; 4-Primary guiding device; 41-First guide wheel; 5-Secondary guiding device; 51-Secondary guide wheel; 6-Tertiary guiding device; 61-Third guide wheel; 62-Fourth guide wheel; 71-Limiting component; 72-First locking component; 81-Second locking component; 82-Positioning component; 83-Third locking component.

Detailed Implementation Methods

[0030] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0031] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0032] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0033] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0034] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when it is mentioned that an element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0035] In unmanned production lines for vehicle manufacturing, tooling equipment such as car bodies are carried by AGVs (Automated Guided Vehicles). The AGVs are used for tasks such as docking equipment within the production line, switching production lines, transporting equipment to storage areas, and switching storage areas. All of these tasks can be completed autonomously by the AGVs without human intervention, resulting in high operational efficiency.

[0036] During the transportation process, AGVs use image processing technology to analyze and determine their own position and adjust their travel route to ensure that they can reach the preset workstation. However, with the continuous development of automated manufacturing, the existing AGV adjustment methods are difficult to meet the high-precision docking requirements.

[0037] In view of this, this application provides a line-side positioning system, in which two sets of line-side positioning systems are symmetrically arranged and a positioning area is formed between them. The positioning area is used for pre-dock adjustment of tooling equipment on the transport equipment. The transport equipment includes an AGV transport vehicle 1 and a floating frame 2, wherein the floating frame 2 is installed above the AGV transport vehicle 1, and the tooling equipment is supported on the floating frame 2. The line-side positioning system includes:

[0038] The worktable 3 includes a first positioning table 31, a second positioning table 32 and a third positioning table 33 distributed along the length of the worktable 3;

[0039] A primary guide device 4 is installed on the first positioning table 31. The primary guide device 4 includes a first guide wheel 41, which abuts against the floating frame 2 and is used to adjust the position of the floating frame 2 along the width direction of the worktable 3.

[0040] A secondary guide device 5 is installed on the second positioning table 32. The secondary guide device 5 includes a second guide wheel 51, which abuts against the floating frame 2 and is used to adjust the position of the floating frame 2 along the width direction of the worktable 3.

[0041] The three-stage guide device 6 is installed on the third positioning table 33. The three-stage guide device 6 includes a third guide wheel 61 and a fourth guide wheel 62. Along the height direction of the worktable 3, the third guide wheel 61 is located below the fourth guide wheel 62. The third guide wheel 61 abuts against the floating frame 2 and is used to adjust the position of the floating frame 2 along the width direction of the worktable 3. The fourth guide wheel 62 abuts against the tooling equipment and is used to adjust the position of the tooling equipment along the width direction of the worktable 3.

[0042] In the above-mentioned solution, the line-side positioning system provided in this application adopts a graded guidance method through the primary guide device 4, the secondary guide device 5 and the tertiary guide device 6. Along the width direction of the workbench 3, the docking accuracy of the tooling equipment is gradually controlled to the required range. That is, before the tooling equipment docks with the next workstation, it is first positioned and corrected by graded guidance to ensure the position accuracy of the tooling equipment before docking with the next workstation. This ensures the docking accuracy of the tooling equipment with the next workstation and solves the problem that the self-guiding function of the AGV transport vehicle 1 is difficult to meet the high-precision docking requirements of the tooling equipment.

[0043] In some implementations, the tooling equipment is supported on a floating frame 2 above the AGV transport vehicle 1, and can then be transported to a designated workstation by the AGV transport vehicle 1. Specifically, the floating frame 2 is equipped with guide rails, and the bottom of the tooling equipment is equipped with bearing guide blocks. The tooling equipment and the floating frame 2 are connected through the cooperation of the guide rails and the bearing guide blocks. The bearing guide blocks can rotate to adjust the position of the tooling equipment on the floating frame 2 along the width direction of the worktable 3. At the same time, the floating frame 2 is also equipped with a first positioning pin and a positioning baffle. The first positioning pin extends into the tooling equipment to further correct the position of the tooling equipment on the floating frame 2 during transportation, and the positioning baffle is used to restrict the tooling equipment from sliding out of the floating frame 2 along the length direction of the floating frame 2. It can be understood that after setting the first positioning pin, the displacement of the tooling equipment on the floating frame 2 along the length direction of the worktable 3 can be restricted, and through the cooperation of the bearing guide blocks and the guide rails, the tooling equipment can float on the floating frame 2 along the width direction of the worktable 3, which facilitates the subsequent positioning adjustment process of the tooling equipment in the positioning area.

[0044] In some implementations, the AGV transport vehicle 1 used in the transportation equipment relies on navigation technology to travel along a preset route, transporting tooling equipment to designated workstations for equipment docking, production line switching, transport to storage areas, and switching between storage areas. It typically includes a vehicle body, drive unit, power system, and control system. The vehicle body is usually constructed of high-strength materials to support the tooling equipment and ensure durability. The drive unit is responsible for the vehicle's forward, backward, and turning movements. The power system ensures uninterrupted operation of the AGV. The control system is the brain of the entire AGV, responsible for receiving instructions, path navigation, obstacle avoidance, etc. The navigation technologies used by the AGV transport vehicle 1 include magnetic strip navigation, laser navigation, visual navigation, inertial navigation, QR code navigation, and natural landmark navigation, etc. The most suitable navigation method can be selected according to actual needs, and no limitation is made here. It is understood that using the AGV transport vehicle 1 to transfer tooling equipment in this application can improve operational efficiency, reduce human error, lower labor costs, and enable long-term uninterrupted operation, increasing production flexibility and operational speed.

[0045] The floating frame 2, used to support the tooling equipment, is installed on top of the AGV transport vehicle 1. The floating frame 2 can float along the front-to-back and left-to-right directions of the AGV transport vehicle 1. Specifically, the floating frame 2 is also equipped with a second positioning pin, which extends into the AGV transport vehicle 1 to correct the positional deviation of the floating frame 2 on the AGV transport vehicle 1 during transportation, thereby limiting the displacement of the floating frame 2 along the length direction of the worktable 3 on the AGV transport vehicle 1. Simultaneously, the surface of the AGV transport vehicle 1 is equipped with at least one universal ball joint, which connects the AGV transport vehicle 1 to the floating frame 2, allowing the floating frame 2 to float in the front-to-back and left-to-right directions. Understandably, the second positioning pin limits the displacement of the floating frame 2 along the length direction of the worktable 3 on the AGV transport vehicle 1, and the universal ball joint allows the floating frame 2 to float along the width direction of the worktable 3 on the AGV transport vehicle 1, facilitating subsequent positioning adjustments of the floating frame 2 within the positioning area.

[0046] It should be noted that the height of the floating frame 2 can be adjusted by adding shims along the height direction at the omnidirectional ball structure.

[0047] In some implementations, after the AGV transport vehicle 1 transports the tooling equipment to the designated positioning area, pre-dating positioning is required to ensure the docking accuracy of the tooling equipment, floating frame 2, and designated workstation. In this application, the positioning of the tooling equipment and floating frame 2 is achieved through a line-side positioning system. Along the forward direction of the AGV transport vehicle 1, the line-side positioning system is arranged before the designated workstation. That is, the tooling equipment is first positioned and corrected by the line-side positioning system before high-precision docking with the designated workstation. Specifically, the two sets of line-side positioning systems in this application have the same structure and are symmetrically arranged along the width direction of the AGV transport vehicle 1. The line-side positioning systems are arranged along the length direction of the AGV transport vehicle 1, and a positioning area is formed between the two sets of line-side positioning systems. The transport equipment completes the positioning process in the positioning area.

[0048] It should be noted that the floating frame 2 of this application is provided with first guide plates on both sides, and the tooling equipment is provided with second guide plates on both sides. The first guide plates and the second guide plates are used to abut against the line-side positioning system of the two sides, so that the line-side positioning system can adjust the position of the floating frame 2 and the tooling equipment.

[0049] The line-side positioning system includes a workbench 3, which provides mounting positions for other working components within the system. These components can be fixed to the workbench 3 using screws, adhesive bonding, or welding. The connection method between the working components and the workbench 3 can be selected based on actual needs and is not limited here. Preferably, the connection between the working components and the workbench 3 is detachable. This detachable connection allows for individual replacement of damaged components, eliminating the need for complete replacement and reducing maintenance costs while extending the system's lifespan. Along the forward direction of the AGV transport vehicle 1, the workbench 3 includes a first positioning platform 31, a second positioning platform 32, and a third positioning platform 33. The third positioning platform 33 is closer to the designated workstation, and the second positioning platform 32 is located between the first positioning platform 31 and the third positioning platform 33.

[0050] The first positioning platform 31 is equipped with a primary guiding device 4 for initial guidance when the transport equipment arrives at the positioning area. Specifically, the primary guiding device 4 includes a first guide wheel 41, which abuts against the floating frame 2 and is used to initially adjust the position of the floating frame 2 along the width direction of the workbench 3. It is understood that the positioning system along the line in this application is symmetrically arranged. In this case, the relatively positioned first guide wheel 41 can, during the process of the AGV transport vehicle 1 moving to the positioning area, push the floating frame 2 towards the middle area of ​​the travel path through the abutment and push of the first guide plate, that is, adjust the position of the floating frame 2 in the left and right directions, thereby causing the floating frame 2 to drive the initial adjustment of the tooling equipment. After the guiding action of the first guide wheel 41, the left and right limit control of the transport equipment is within ±20mm, that is, the offset distance of the transport equipment in the left and right directions is less than 20mm.

[0051] The second positioning platform 32 is equipped with a secondary guiding device 5 for secondary guidance of the transport equipment when it arrives at the positioning area. Specifically, the secondary guiding device 5 includes a second guide wheel 51, which abuts against the floating frame 2 and is used to adjust the position of the floating frame 2 along the width direction of the workbench 3. It can be understood that, during the AGV transport vehicle 1's journey to the positioning area, the relatively positioned second guide wheel 51, through its contact with and push against the first guide plate, further pushes the floating frame 2 towards the middle of the travel path, thus further adjusting the position of the floating frame 2 in the left-right direction. This, in turn, causes the floating frame 2 to drive the secondary adjustment of the tooling equipment. After the guidance of the second guide wheel 51, the left-right movement of the transport equipment is controlled within ±10mm, meaning the offset distance of the transport equipment in the left-right direction is less than 10mm.

[0052] The third positioning platform 33 is equipped with a three-stage guiding device 6, which is used for three-stage guidance when the transport equipment arrives at the positioning area. Specifically, the three-stage guiding device 6 includes a third guide wheel 61 and a fourth guide wheel 62. Along the height direction of the workbench 3, the third guide wheel 61 is located below the fourth guide wheel 62. The third guide wheel 61 abuts against the floating frame 2 and is used to adjust the position of the floating frame 2 along the width direction of the workbench 3 three times. The fourth guide wheel 62 abuts against the tooling equipment and is used to adjust the position of the tooling equipment along the width direction of the workbench 3. Understandably, the relatively set third guide wheel 61 can push the floating frame 2 further into the middle area of ​​the travel route by contacting and pushing the first guide plate during the process of the AGV transport vehicle 1 traveling to the positioning area. The floating frame 2 drives the tooling equipment to adjust three times. At this time, the fourth guide wheel 62 further adjusts the tooling equipment by contacting and pushing the second guide plate. After the guiding effect of the third guide wheel 61 and the fourth guide wheel 62 in this application, the tooling equipment and the floating frame 2 are limited to ±2mm in the left and right directions, that is, the offset distance of the tooling equipment and the floating frame 2 in the left and right directions is less than 2mm.

[0053] In some embodiments, after three position adjustments, the tooling equipment can fully reach the positioning area. The line-side positioning system also includes a positioning locking assembly, which is installed on the third positioning platform 33 and includes a limiting member 71 and a first locking member 72. The limiting member 71 is used to limit the displacement of the floating frame 2 in the length direction of the worktable 3, and the first locking member 72 is used to lock the floating frame 2 along the length direction of the worktable 3. The limiting member 71 used in this application can be a V-shaped notch opened on the third positioning platform 33, and the floating frame 2 is provided with a structure that fits with the V-shaped notch so that the two can be engaged. At the same time, the first locking member 72 can be a blind hole opened on the third positioning platform 33, and the floating frame 2 is provided with a pin corresponding to the blind hole, so that after the floating frame 2 completes the limiting, it can be locked by the cooperation of the pin and the blind hole. It can be understood that through the fixing effect of the positioning locking assembly, the floating frame 2 can be locked in the positioning area to prevent the floating frame 2 from shifting in the front-to-back direction during subsequent tooling equipment adjustments.

[0054] Furthermore, the line-side positioning system also includes a fixing component, which includes a second locking member 81, a positioning member 82, and a third locking member 83. The second locking member 81 is installed on the first positioning table 31, the positioning member 82 is installed on the second positioning table 32, and the third locking member 83 is installed on the third positioning table 33. The positioning member 82 includes a positioning pin and a driving member. The driving member can drive the positioning pin to extend and retract along the height direction of the worktable 3. The tooling equipment has positioning holes. When the transport equipment moves to the positioning area and completes initial adjustment, the positioning member 82 extends into the positioning holes of the tooling equipment and further corrects the position of the tooling equipment, i.e., restricts the movement of the tooling equipment in the front-to-back direction. When the positioning member 82 is activated, the second locking member 81 and the third locking member 83 can lock the two ends of the tooling equipment along the length direction of the worktable 3 along the width direction of the worktable 3. During locking, the positions of the two ends of the tooling equipment in the left-to-right direction can be slightly adjusted. Understandably, after the fixing effect of the fixing components of this application, the tooling equipment is limited to ±1mm in the left and right directions, that is, the offset distance of the tooling equipment in the left and right directions is less than 1mm, and the docking accuracy between the tooling equipment and the designated work station is high.

[0055] The second locking member 81 and the third locking member 83 used in this application are at least one of pneumatic clamps, hydraulic clamps, electric clamps or magnetic clamps, and can be selected according to actual needs, without limitation.

[0056] Meanwhile, the first guide wheel 41, the second guide wheel 51, the third guide wheel 61, and the fourth guide wheel 62 are equipped with shims. These shims are used to adjust the driving distance of the first guide wheel 41, the second guide wheel 51, the third guide wheel 61, and the fourth guide wheel 62 along the width direction of the worktable 3. Understandably, after setting the shims, the distance between the guide wheels and the positioning area along the width direction of the worktable 3 can be adjusted according to the actual situation.

[0057] In practical applications, the tooling equipment is carried on the floating frame 2 above the AGV transport vehicle 1 and transported by the AGV transport vehicle 1 to the line-side positioning system in front of the designated workstation. At this point, the first guide wheel 41, which is positioned opposite to the first guide wheel, can initially push the floating frame 2 towards the middle area of ​​the travel path, with the left and right limits controlled within ±20mm. Then, the second guide wheel 51 adjusts the position of the floating frame 2 along the width direction of the worktable 3, further pushing the floating frame 2 towards the middle area of ​​the travel path, with the left and right limits controlled within ±10mm. Then, the third guide wheel adjusts the position of the floating frame 2 along the width direction of the worktable 3 for the third time, and the fourth guide wheel 62 adjusts the position of the tooling equipment along the width direction of the worktable 3. The third guide wheel 61 can further push the floating frame 2 towards the middle area of ​​the travel path, and the fourth guide wheel 62 further adjusts the tooling equipment, so that the left and right limits are controlled within ±2mm. Finally, the locking assembly locks the floating frame 2 in the positioning area, and the fixing assembly fixes the tooling equipment and makes minor adjustments to the position of the tooling equipment in the left and right directions, so that the left and right limits are controlled within ±1mm, completing the positioning of the tooling equipment. The tooling equipment can then be docked with the designated workstation with high precision.

[0058] As an optional technical solution of this application, in addition to using the primary guide device 4, the secondary guide device 5, and the tertiary guide device 6, more guide devices can be set between the tertiary guide device 6 and the designated workstation to further improve the docking accuracy between the tooling equipment and the designated workstation; or the number of guide devices can be reduced when the required guide accuracy is low. The number of guide devices in the line-side positioning system can be selected according to actual needs, and no limitation is made here.

[0059] The above description, based on the embodiments shown in the figures, details the structure, features, and effects of the present invention. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A line-side positioning system, characterized in that, Two sets of line-side positioning systems are symmetrically arranged, forming a positioning area between them. The positioning area is used to adjust the tooling equipment on the transport equipment before docking. The transport equipment includes an AGV transport vehicle (1) and a floating frame (2), wherein the floating frame (2) is installed above the AGV transport vehicle (1), and the tooling equipment is movably supported on the floating frame (2). The line-side positioning system includes: The workbench includes a first positioning platform (31), a second positioning platform (32) and a third positioning platform (33) distributed along the length of the workbench; A primary guide device (4) is installed on the first positioning table (31); the primary guide device (4) includes a first guide wheel (41), the first guide wheel (41) abuts against the floating frame (2) and is used to adjust the position of the floating frame (2) along the width direction of the worktable; A secondary guide device (5) is installed on the second positioning table (32); the secondary guide device (5) includes a second guide wheel (51), the second guide wheel (51) abuts against the floating frame (2) and is used to adjust the position of the floating frame (2) along the width direction of the worktable; A three-stage guide device (6) is installed on the third positioning table (33). The three-stage guide device (6) includes a third guide wheel (61) and a fourth guide wheel (62). Along the height direction of the worktable, the third guide wheel (61) is located below the fourth guide wheel (62). The third guide wheel (61) abuts against the floating frame (2) and is used to adjust the position of the floating frame (2) along the width direction of the worktable. The fourth guide wheel (62) abuts against the tooling equipment and is used to adjust the position of the tooling equipment along the width direction of the worktable.

2. The line-side positioning system according to claim 1, characterized in that, The line-side positioning system also includes a positioning locking component, which is installed on the third positioning platform (33); The positioning locking assembly includes a limiting member (71) and a first locking member (72). When the transport equipment moves to the positioning area and completes the initial adjustment, the limiting member (71) is used to restrict the movement of the floating frame (2) in the length direction of the workbench, and the first locking member (72) locks the floating frame (2) along the length direction of the workbench.

3. The line-side positioning system according to claim 2, characterized in that, The line-side positioning system also includes a fixing component, which includes a second locking member (81), a positioning member (82) and a third locking member (83). The second locking member (81) is installed on the first positioning platform (31), the positioning member (82) is installed on the second positioning platform (32), and the third locking member (83) is installed on the third positioning platform (33). When the transport equipment moves to the positioning area and completes the initial adjustment, the positioning member (82) extends into the tooling equipment and further corrects the position of the tooling equipment, and the second locking member (81) and the third locking member (83) are used to lock the two ends of the tooling equipment along the length direction of the worktable along the width direction of the worktable.

4. The line-side positioning system according to claim 3, characterized in that, The positioning component (82) includes a positioning pin and a driving component; The tooling equipment is provided with a positioning hole, and the driving component can drive the positioning pin to extend into the positioning hole along the height direction of the worktable.

5. The line-side positioning system according to claim 3, characterized in that, The second locking member (81) and the third locking member (83) are at least one of pneumatic clamps, hydraulic clamps, electric clamps or magnetic clamps.

6. The line-side positioning system according to claim 1, characterized in that, The first guide wheel (41), the second guide wheel (51), the third guide wheel (61) and the fourth guide wheel (62) are provided with shims. The shims are used to adjust the distance between the first guide wheel (41), the second guide wheel (51), the third guide wheel (61) and the fourth guide wheel (62) and the positioning area along the width direction of the worktable.

7. The line-side positioning system according to claim 1, characterized in that, The floating frame (2) is provided with guide rails, and the bottom of the tooling equipment is provided with bearing guide blocks; The tooling equipment and the floating frame (2) are connected by the guide rail and the bearing guide block. The bearing guide block can be rotated to adjust the position of the tooling equipment on the floating frame (2) along the width direction of the worktable.

8. The line-side positioning system according to claim 1, characterized in that, The floating frame (2) is also provided with a first positioning pin (21), which extends into the tooling equipment to correct the position of the tooling equipment on the floating frame (2) during transportation.

9. The line-side positioning system according to claim 1, characterized in that, The floating frame (2) is also provided with a second positioning pin (22), which extends into the AGV transport vehicle (1) to correct the position of the floating frame (2) on the AGV transport vehicle (1) during transportation.

10. The line-side positioning system according to claim 1, characterized in that, The surface of the AGV transport vehicle (1) is provided with a universal ball structure, and the floating frame (2) is connected to the AGV transport vehicle (1) through the universal ball structure.

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