A transport vehicle positioning device and product processing production line

Abstract

The present invention belongs to the technical field of industrial automation production lines, and particularly relates to a transport vehicle positioning device, including a driving structure, a position detection structure, a positioning structure, a clamping structure and a calibration structure, wherein the calibration structure includes a first calibration part and a second calibration part, wherein the first calibration part is arranged at the clamping end of the clamping structure, and the second calibration part is arranged on the transport vehicle, and the first calibration part and the second calibration part can be adapted and clamped when the clamping structure clamps the transport vehicle, and the two can fit each other. In the process of the driving structure transferring the transport vehicle to the processing station, the positioning structure can keep the transport vehicle in a horizontal state, and in the process of clamping by the clamping structure, the first calibration part can be brought close to the second calibration part, and the first calibration part and the second calibration part can be clamped, and under the action of the clamping structure, the first calibration part and the second calibration part can fit, thereby eliminating the machining and assembly tolerances between the first calibration part and the second calibration part, and thus the positioning accuracy of the transport vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation production lines, and in particular to a transport vehicle positioning device and a product processing production line. Background Art

[0002] In industrial production processes such as automobile manufacturing, conveyor lines and transport vehicles are often used to achieve automatic conveying and positioning of workpieces. Specifically, there are multiple processing stations on the conveyor line. After the transport vehicle transports the workpiece to a certain processing station, the position of the transport vehicle is positioned by a positioning device to facilitate the robot to pick up and place the workpiece.

[0003] At present, the positioning device mostly uses mechanical structures such as stops or positioning pins to position the transport vehicle. However, due to the influence of machining and assembly tolerances, the positioning accuracy is low, and the error is usually around ±10 mm, which cannot meet the positioning accuracy requirements of the robot when blindly picking and placing. If a visual system is installed to identify and locate the transport vehicle and the workpiece using a camera and image processing algorithm, although a higher positioning accuracy can be achieved, the visual system is expensive, especially the 3D visual system, which usually costs more than hundreds of thousands of yuan, increasing the construction cost of the production line.

[0004] Therefore, the above problems need to be solved urgently. Summary of the invention

[0005] The object of the present invention is to provide a transport vehicle positioning device and a product processing production line to improve the positioning accuracy of the transport vehicle at a processing station.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A transport vehicle positioning device, used for positioning a transport vehicle, comprising:

[0008] A positioning guide rail extending along a first direction;

[0009] A driving structure, used for driving the transport vehicle along the positioning guide rail to move to a processing station;

[0010] A position detection structure, disposed at the processing station, for detecting the position of the transport vehicle and electrically connected to the driving structure;

[0011] a positioning structure, disposed at the processing station, for positioning the transport vehicle in a vertical direction so that the transport vehicle remains in a horizontal state during transfer to the processing station;

[0012] A clamping structure, disposed at the processing station, for clamping the transport vehicle along a second direction;

[0013] A calibration structure, the calibration structure comprising a first calibration part and a second calibration part, the first calibration part is arranged at the clamping end of the clamping structure, the second calibration part is arranged on the transport vehicle, and the first calibration part and the second calibration part can be adapted to be clamped and connected when the clamping structure clamps the transport vehicle, and the two can fit each other;

[0014] Wherein, the first direction, the second direction and the vertical direction are arranged perpendicular to each other.

[0015] Preferably, the first calibration part comprises a first calibration piece and a second calibration piece, the first calibration piece is arranged on the side wall of the clamping end facing the transport vehicle, and the second calibration piece is arranged on the side wall of the first calibration piece facing the transport vehicle;

[0016] The second calibration portion has a first limiting groove and a second limiting groove, the first limiting groove is open along the first direction, the second limiting groove is arranged inside the first limiting groove, and the second limiting groove is open along the vertical direction;

[0017] The first calibration piece can be aligned with the first limiting groove, and the second calibration piece can be aligned with the second limiting groove, so as to limit the transport vehicle along the first direction, the second direction and the vertical direction.

[0018] Preferably, the first limiting groove has a first guide surface, a first fitting surface and a second guide surface in sequence along the first direction, the first fitting surface is adapted to fit with the first calibration piece, and the first guide surface and the second guide surface are axially symmetrically arranged with respect to the vertical center line of the first fitting surface.

[0019] Preferably, the second limiting groove has a third guide surface, a second fitting surface and a fourth guide surface in sequence along the vertical direction, the second fitting surface is adapted to fit with the second calibration piece, and the third guide surface and the fourth guide surface are axially symmetrically arranged with respect to the horizontal midline of the second fitting surface.

[0020] Preferably, the first calibration member is a rotating shaft rotatably arranged at the clamping end, the axis of the rotating shaft is arranged along the vertical direction, and the second calibration member is a conical boss circumferentially arranged at the rotating shaft, and the axis of the conical boss is coaxially arranged with the axis of the rotating shaft.

[0021] Preferably, the positioning structure has a plurality of positioning portions, and the plurality of positioning portions are respectively located on both sides of the processing station along the second direction;

[0022] Any of the positioning parts includes a positioning plate and two rows of positioning members arranged at intervals along the vertical direction. The positioning plate is arranged on the transport vehicle, and the length direction of the positioning plate is arranged along the first direction; the positioning plate can extend between the two rows of positioning members, and the top and bottom of the positioning plate are respectively abutted against the two rows of positioning members.

[0023] Preferably, the positioning member is a roller, the axis of the roller is arranged along the second direction, any of the rollers can rotate along its own axis, and the outer periphery of any of the rollers can abut against the top or bottom of the positioning plate.

[0024] Preferably, the spacing between the two rows of positioning members is adjustable.

[0025] Preferably, guide cone surfaces are respectively provided at both ends of the top and / or bottom of the positioning plate along the first direction, and the height of the guide cone surfaces gradually increases along the moving direction of the transport vehicle.

[0026] A product processing production line, comprising:

[0027] Production of guide rails, laid along a preset direction, with multiple processing stations;

[0028] A transport vehicle, moving along the production rail;

[0029] The transport vehicle positioning device as mentioned above is arranged at any of the processing stations, and the positioning guide rail is docked with the production guide rail.

[0030] Beneficial effects of the present invention:

[0031] The transport vehicle positioning device proposed in the present invention has a driving structure that moves the transport vehicle along the positioning guide rail to the processing station. During this process, the positioning guide rail can limit the transport vehicle, and the positioning structure can keep the transport vehicle in a horizontal state to limit the left and right shaking and up and down tilting of the transport vehicle, ensuring that the transport vehicle enters the processing station with a stable posture. The position detection structure can detect the position of the transport vehicle and send a stop signal to the driving structure after the transport vehicle moves into place. Then the clamping structure can clamp the transport vehicle along the second direction. During the clamping process, the first calibration part can be approached to the second calibration part, and the first calibration part is clamped with the second calibration part. Under the action of the clamping structure, the first calibration part can be fitted with the second calibration part, thereby eliminating the machining and assembly tolerances between the first calibration part and the second calibration part, and further improving the positioning accuracy of the transport vehicle.

[0032] The product processing production line proposed in the present invention can accurately position the transport vehicle under the action of the transport vehicle positioning device to meet the positioning accuracy requirements of the robot's blind picking and blind placing. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of a transport vehicle positioning device according to an embodiment of the present invention;

[0034] Figure 2 is a structural schematic diagram of a positioning structure in an embodiment of the present invention;

[0035] Figure 3 is a structural schematic diagram of a clamping structure in an embodiment of the present invention;

[0036] Figure 4 is a structural schematic diagram of a calibration structure in an embodiment of the present invention;

[0037] Figure 5 Schematic diagram of the structure of the second calibration component in an embodiment of the present invention.

[0038] In the figure:

[0039] 100, transport vehicle; 200, workpiece detection structure; 210, detection cylinder; 220, workpiece detection component;

[0040] 1. Positioning structure; 11. Positioning part; 111. Positioning plate; 1111. Guide cone; 112. Positioning member; 113. First bracket; 114. Second bracket; 115. Cushion block; 12. Positioning bracket;

[0041] 2. Clamping structure; 21. Clamping end; 22. Clamping part;

[0042] 3. Calibration structure; 31. First calibration part; 311. First calibration piece; 312. Second calibration piece; 32. Second calibration part; 321. Base; 322. First limiting groove; 3221. First guide surface; 3222. First fitting surface; 3223. Second guide surface; 323. Second limiting groove; 3231. Third guide surface; 3232. Second fitting surface; 3233. Fourth guide surface. DETAILED DESCRIPTION

[0043] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above drawings.

[0044] In this application, the terms "comprises", "includes", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0045] In the present application, the term "and / or" is a description of the association relationship of associated objects, indicating that three relationships may exist. For example, a centrifugal vortex magnetic pump and / or a centrifugal vortex magnetic pump can represent: the existence of a centrifugal vortex magnetic pump alone, the existence of a centrifugal vortex magnetic pump and a centrifugal vortex magnetic pump at the same time, and the existence of a centrifugal vortex magnetic pump alone. In addition, the character " / " in the present application generally indicates that the objects associated before and after are in an "and / or" relationship.

[0046] In the present application, the terms "connect", "combine", "couple", and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, direct connection refers to two parts or components being connected together without the need for an intermediate piece, and indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0047] In this application, it will be understood by those of ordinary skill in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, and use associated with a specific value, etc. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0048] In this application, it will be understood by those skilled in the art that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0049] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, the bottom can include directly below, lower left, lower right, lower front, and lower back, etc.

[0050] See also Figure 1 In this embodiment, a transport vehicle positioning device for positioning the transport vehicle 100 is proposed, which includes a positioning guide rail, a driving structure and a position detection structure. The positioning guide rail extends along a first direction, and the driving structure is used to move the transport vehicle 100 to the processing station along the positioning guide rail; the position detection structure is arranged at the processing station, and the position detection structure is preferably a position detection sensor in the prior art, which is used to detect the position of the transport vehicle 100 and is electrically connected to the driving structure; the driving structure is preferably a linear drive arranged at the processing station, such as a linear cylinder or other driving component, and the driving structure moves along the positioning guide rail. During the process of the transport cart 100 moving to the processing station, the positioning guide rail can limit the transport cart 100, and the position detection structure can detect the position of the transport cart 100, and send a stop signal to the driving structure after the transport cart 100 moves into place, thereby completing the preliminary positioning of the transport cart 100. However, due to the time difference in the transmission of the stop signal and the inertia of the transport cart 100 itself, the stop position of the transport cart 100 may deviate from the expected one. Therefore, it is also necessary to accurately position the transport cart 100 to meet the positioning accuracy requirements when the robot blindly picks up and places items.

[0051] Therefore, please continue to read Figure 1 The transport vehicle positioning device proposed in this embodiment also includes a positioning structure 1, a clamping structure 2 and a calibration structure 3. The positioning structure 1 is used to position the transport vehicle 100 in the vertical direction so that the transport vehicle 100 maintains a horizontal state during the transfer to the processing station; the clamping structure 2 is used to clamp the transport vehicle 100 in the second direction; the calibration structure 3 includes a first calibration portion 31 and a second calibration portion 32, the first calibration portion 31 is arranged at the clamping end 21 of the clamping structure 2, and the second calibration portion 32 is arranged on the transport vehicle 100, and the first calibration portion 31 and the second calibration portion 32 can be adapted and connected when the clamping structure 2 clamps the transport vehicle 100, and the two can fit each other to calibrate the position of the transport vehicle 100 along the first direction, the second direction and the vertical direction; wherein the first direction, the second direction and the vertical direction are arranged perpendicular to each other.

[0052] It can be understood that, in the process of the driving structure transferring the transport vehicle 100 to the processing station, the positioning structure 1 can maintain a horizontal state to limit the left and right shaking and up and down tilting of the transport vehicle 100, and ensure that the transport vehicle 100 enters the processing station in a stable posture. The position detection structure can detect the position of the transport vehicle 100 and send a stop signal to the driving structure after the transport vehicle 100 moves into position, thereby completing the preliminary positioning of the transport vehicle 100, wherein the transport vehicle 100 moves into position means that the transport vehicle 100 is in the first calibration portion 31 The position is directly opposite to the second calibration part 32, and then the clamping structure 2 can clamp the transport vehicle 100 along the second direction. During the clamping process, the first calibration part 31 can be close to the second calibration part 32, and the first calibration part 31 and the second calibration part 32 can be clamped. Under the action of the clamping structure 2, the first calibration part 31 and the second calibration part 32 can be fitted to complete the precise positioning of the transport vehicle 100, so as to eliminate the machining and assembly tolerances between the first calibration part 31 and the second calibration part 32, thereby meeting the positioning accuracy requirements when the robot is blindly picked up and placed.

[0053] See also Figure 2 In this embodiment, the positioning structure 1 has a plurality of positioning parts 11, and the plurality of positioning parts 11 are respectively located on both sides of the processing station along the second direction. Any positioning part 11 includes a positioning plate 111 and two rows of positioning members 112 arranged at intervals along the vertical direction. The positioning plate 111 is arranged on the transport vehicle 100, and the length direction of the positioning plate 111 is arranged along the first direction; the positioning plate 111 can extend between the two rows of positioning members 112, and the top and bottom of the positioning plate 111 are respectively in contact with the two rows of positioning members 112. It can be understood that when the driving structure drives the transport vehicle 100 to move to the processing station, the positioning plate 111 can extend between the two rows of positioning members 112, and the two rows of positioning members 112 can respectively abut against the top and bottom of the positioning plate 111, so that the transport vehicle 100 can be positioned in the vertical direction, so that when the transport vehicle 100 is moved to the processing station, the left and right shaking and up and down tilting of the transport vehicle 100 can be avoided, and the transport vehicle 100 can be ensured to enter the processing station in a stable posture.

[0054] Furthermore, the length of the positioning plate 111 is consistent with the length of the transport vehicle 100 to ensure that when the transport vehicle 100 moves to the processing station, the top and bottom of the positioning plate 111 are always positioned by two rows of positioning members 112, thereby further ensuring the stability of the transport vehicle 100 during the transfer process.

[0055] In addition, the number of positioning parts 11 on each side of the transport vehicle 100 is preferably two, and the two positioning parts 11 are respectively located on both sides of the processing station along the first direction. Such an arrangement can ensure that after the transport vehicle 100 is transferred to the processing station, the four corners of the transport vehicle 100 can be positioned by the positioning parts 11, thereby meeting the positioning accuracy requirements of the robot during blind picking and blind placing.

[0056] Of course, in some other feasible embodiments, the number of the positioning parts 11 on each side of the transport vehicle 100 may also be three, four or other numbers, which is not specifically limited here.

[0057] In some other feasible embodiments, the positioning structure 1 includes a positioning bracket 12, which is used to fix the positioning part 11 on the same side, and the position of the positioning part 11 on the positioning bracket 12 is adjustable to facilitate positioning of different models of transport vehicles 100, thereby improving the applicability of the positioning structure 1 of the transport vehicle 100.

[0058] Preferably, the positioning member 112 is a roller, the axis of the roller is arranged along the second direction, any roller can rotate along its own axis, and the outer periphery of any roller can abut against the top or bottom of the positioning plate 111. It can be understood that the axes of the rollers in the same row are at the same horizontal position, and the positioning plate 111 can drive the rollers to rotate around their own axes during the movement of the transport vehicle 100, thereby reducing the friction between the rollers and the positioning plate 111, and further ensuring the stability of the transport vehicle 100 during the movement.

[0059] Furthermore, the spacing between the two rows of positioning members 112 is adjustable. It is understandable that the thickness of the positioning plate 111 provided on different transport vehicles 100 is different. By changing the spacing between the two rows of positioning members 112, it is possible to ensure that the two rows of positioning members 112 on both sides can respectively abut against the top and bottom of the positioning plate 111, thereby further improving the applicability of the transport vehicle positioning device.

[0060] Exemplarily, the positioning portion 11 also includes a first bracket 113, a second bracket 114 and a plurality of pads 115. The first bracket 113 is arranged on the positioning bracket 12, and a row of positioning members 112 is arranged on the first bracket 113. The second bracket 114 is arranged on the first bracket 113, and another row of positioning members 112 is arranged on the second bracket 114. A plurality of pads 115 are arranged between the first bracket 113 and the second bracket 114. By adjusting the number of pads 115, the spacing between the two rows of positioning members 112 can be adjusted.

[0061] In particular, the top and / or bottom of the positioning plate 111 are respectively provided with guide cones 1111 at both ends along the first direction, and the height of the guide cones 1111 gradually increases along the moving direction of the transport vehicle 100. It is understandable that, since the positioning plate 111 needs to ensure that it abuts against the top and bottom of the positioning plate 111 at the same time, the docking between the positioning plate 111 and the positioning portion 11 is difficult, and the provision of the guide cones 1111 can reduce the thickness of the end of the positioning plate 111, thereby reducing the docking difficulty between the positioning portion 11 and the positioning plate 111. After the guide cones 1111 and the positioning portion 11 are docked, they can guide the positioning plate 111 and the positioning portion 11 to complete the docking.

[0062] It should be noted that for different processing stations, the direction in which the transport vehicle 100 enters the processing station may be different. For this reason, in this embodiment, both ends of the positioning plate 111 are provided with guide cone surfaces 1111, thereby further improving the applicability of the transport vehicle positioning device.

[0063] See also Figure 3 In this embodiment, the clamping structure 2 includes a plurality of clamping parts 22, and the plurality of clamping parts 22 are respectively arranged on both sides of the processing station, and the clamping parts 22 are arranged one-to-one with the clamping ends 21, and any clamping part 22 is used to push the corresponding clamping end 21 to move along the second direction. Correspondingly, a plurality of calibration structures 3 are also arranged, and the plurality of calibration structures 3 are arranged one-to-one with the plurality of clamping parts 22. It can be understood that the position detection structure sends a stop signal to the driving structure after detecting that the transport vehicle 100 has moved into position. At this time, the clamping part 22 can push the clamping end 21 to approach the transport vehicle 100, thereby being able to clamp the transport vehicle 100 along the second direction.

[0064] Exemplarily, the clamping portion 22 is preferably a cylinder, the piston rod of the cylinder is arranged along the second direction, the clamping end 21 is a plate-like structure, the clamping end 21 is arranged at the end of the piston rod of the cylinder, and can approach the transport vehicle 100 and form a clamp under the action of the cylinder.

[0065] See also Figure 4 and Figure 5In this embodiment, the first calibration part 31 includes a first calibration piece 311 and a second calibration piece 312. The first calibration piece 311 is arranged on the side wall of the clamping end 21 facing the transport vehicle 100, and the second calibration piece 312 is arranged on the side wall of the first calibration piece 311 facing the transport vehicle 100; the second calibration part 32 has a first limiting groove 322 and a second limiting groove 323. The first limiting groove 322 is open along the first direction, and the second limiting groove 323 is arranged inside the first limiting groove 322, and the second limiting groove 323 is open along the vertical direction; the first calibration piece 311 can be aligned with the first limiting groove 322, and the second calibration piece 312 can be aligned with the second limiting groove 323 to limit the transport vehicle along the first direction, the second direction and the vertical direction.

[0066] It can be understood that, under the action of the clamping portion 22, the first calibration member 311 can approach the transport vehicle 100 and can be adapted to the first limiting groove 322, so as to complete the positioning of the transport vehicle 100 along the second direction. Since the first limiting groove 322 is open along the first direction, when the first calibration portion 31 and the second calibration portion 32 deviate in the first direction, the first calibration member 311 can be guided, so as to further improve the positioning accuracy of the transport vehicle 100 in the first direction. Since the clamping structure 2 is fixedly arranged, the first limiting groove 322 can guide the first calibration member 311 while enabling the first calibration member 311 to guide the first limiting groove 322 in the opposite direction, so as to further position the transport vehicle 100 along the first direction. Under the action of the clamping structure 2, the machining and assembly tolerances between the first calibration member 311 and the second calibration member 312 can be eliminated, so as to further improve the positioning accuracy of the transport vehicle 100. Under the action of the clamping part 22, the second calibration part 312 can be moved closer to the transport vehicle 100 along with the first calibration part 311, and can be adapted to the second limiting groove 323. Since the second limiting groove 323 is open in the vertical direction, when the first calibration part 31 and the second calibration part 32 deviate in the vertical direction, it can guide the second calibration part 312. Since the clamping structure 2 is fixed, the second limiting groove 323 can guide the second calibration part 312 while enabling the second calibration part 312 to guide the second limiting groove 323 in the opposite direction, so that the transport vehicle 100 can be further positioned in height to improve the positioning accuracy of the transport vehicle 100.

[0067] Among them, the first limiting groove 322 has a first guide surface 3221, a first fitting surface 3222 and a second guide surface 3223 in sequence along the first direction, the first fitting surface 3222 is adapted to fit with the first calibration component 311, the first guide surface 3221 and the second guide surface 3223 are axially symmetrically arranged with respect to the vertical center line of the first fitting surface 3222, and correspondingly, the first calibration component 311 is also axially symmetrically arranged along its own vertical center line. It can be understood that when there is a deviation between the first limit groove 322 and the first calibration piece 311, the first calibration piece 311, under the action of the clamping portion 22, first contacts the first guide surface 3221 or the second guide surface 3223, and under the continuous action of the clamping portion 22, the position of the transport vehicle 100 can be adjusted, so that the first calibration piece 311 can be fitted with the first fitting surface 3222 to eliminate the machining and assembly tolerances between the first calibration piece 311 and the second calibration piece 312, thereby further improving the positioning accuracy of the transport vehicle 100 along the second direction.

[0068] The second limiting groove 323 has a third guide surface 3231, a second fitting surface 3232 and a fourth guide surface 3233 in sequence along the vertical direction. The second fitting surface 3232 is adapted to fit with the second calibration component 312. The third guide surface 3231 and the fourth guide surface 3233 are axially symmetrically arranged with respect to a horizontal center line of the second fitting surface 3232. Correspondingly, the second calibration component 312 is also axially symmetrically arranged along its own horizontal center line. It can be understood that when there is a deviation between the second limit groove 323 and the second calibration part 312, the second calibration part 312, under the action of the clamping part 22, first contacts the third guide surface 3231 or the fourth guide surface 3233, and under the continuous action of the clamping part 22, the height position of the transport vehicle 100 can be adjusted, so that the second calibration part 312 can be fitted with the second fitting surface 3232, so as to further eliminate the machining and assembly tolerances between the first calibration part 311 and the second calibration part 312, thereby further improving the positioning accuracy of the transport vehicle 100.

[0069] For example, the first calibration member 311 is a rotating shaft rotatably disposed on the clamping end 21, the axis of the rotating shaft is disposed in the vertical direction, and the second calibration member 312 is a conical boss disposed around the circumference of the rotating shaft, and the axis of the conical boss is coaxially disposed with the axis of the rotating shaft. Such an arrangement can reduce the friction between the first calibration member 311 and the second calibration member 312 when they are matched, thereby reducing the wear between the two, and further ensuring the positioning accuracy of the transport vehicle 100.

[0070] In addition, the second calibration part 32 also includes a base 321 detachably arranged on the transport vehicle 100, and the first limiting groove 322 is arranged on the side wall of the base 321 facing the first calibration member 311. Such a configuration facilitates the replacement of the position of the second calibration part 32 according to different models of transport vehicles 100, thereby further improving the applicability of the transport vehicle positioning device.

[0071] Based on the above, this embodiment also proposes a product processing production line, including a production rail, a transport vehicle 100 and a transport vehicle positioning device as described above, wherein the production rail is laid along a preset direction and has multiple processing stations; the transport vehicle 100 moves along the production rail; and the transport vehicle positioning device is set at any processing station. It can be understood that the transport vehicle 100 can be accurately positioned under the action of the transport vehicle positioning device to meet the positioning accuracy requirements of the robot blind pick-up and blind placement.

[0072] Furthermore, the product processing production line also includes a workpiece detection structure 200 , which is disposed at a processing station and is used to detect the workpiece transported by the transport vehicle 100 .

[0073] Exemplarily, the workpiece detection structure 200 includes a detection cylinder 210 and a workpiece detection component 220, wherein the workpiece detection component 220 is disposed at the end of the piston rod of the detection cylinder 210, and the detection cylinder 210 can move the workpiece detection component 220 to the top of the transport vehicle 100, wherein the workpiece detection component 220 is preferably a CCD camera.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A transport vehicle positioning device, used for positioning a transport vehicle (100), characterized in that: include: A positioning guide rail extending along a first direction; A driving structure, used for driving the transport vehicle (100) along the positioning guide rail to move to a processing station; A position detection structure, arranged at the processing station, used for detecting the position of the transport vehicle (100) and electrically connected to the driving structure; A positioning structure (1) is arranged at the processing station and is used to position the transport vehicle (100) in a vertical direction to limit the left-right shaking and up-and-down tilting of the transport vehicle (100), so that the transport vehicle (100) can maintain a horizontal state during the process of being transferred to the processing station; A clamping structure (2), arranged at the processing station, for clamping the transport vehicle (100) along a second direction; A calibration structure (3), the calibration structure (3) comprising a first calibration portion (31) and a second calibration portion (32), the first calibration portion (31) being arranged at the clamping end (21) of the clamping structure (2), the second calibration portion (32) being arranged at the transport vehicle (100), and the first calibration portion (31) and the second calibration portion (32) being adapted to be engaged with each other when the clamping structure (2) clamps the transport vehicle (100), and the two are in close contact with each other; Wherein, the first direction, the second direction and the vertical direction are arranged perpendicular to each other; The first calibration portion (31) comprises a first calibration piece (311) and a second calibration piece (312), wherein the first calibration piece (311) is arranged on a side wall of the clamping end (21) facing the transport vehicle (100), and the second calibration piece (312) is arranged on a side wall of the first calibration piece (311) facing the transport vehicle (100); The second calibration portion (32) comprises a first limiting groove (322) and a second limiting groove (323), the first limiting groove (322) being open along the first direction, the second limiting groove (323) being arranged inside the first limiting groove (322), and the second limiting groove (323) being open along the vertical direction; The first calibration piece (311) can be aligned with the first limiting groove (322), and the second calibration piece (312) can be aligned with the second limiting groove (323), so as to limit the transport vehicle along the first direction, the second direction and the vertical direction.

2. The transport vehicle positioning device according to claim 1, characterized in that: The first limiting groove (322) has a first guiding surface (3221), a first fitting surface (3222) and a second guiding surface (3223) in sequence along the first direction, the first fitting surface (3222) is adapted to fit with the first calibration piece (311), and the first guiding surface (3221) and the second guiding surface (3223) are axially symmetrically arranged with respect to a vertical center line of the first fitting surface (3222).

3. The transport vehicle positioning device according to claim 1, characterized in that: The second limiting groove (323) has a third guide surface (3231), a second fitting surface (3232) and a fourth guide surface (3233) in sequence along the vertical direction, the second fitting surface (3232) is adapted to fit with the second calibration piece (312), and the third guide surface (3231) and the fourth guide surface (3233) are axially symmetrically arranged with respect to a horizontal midline of the second fitting surface (3232).

4. The transport vehicle positioning device according to claim 1, characterized in that: The first calibration member (311) is a rotating shaft rotatably arranged on the clamping end (21), and the axis of the rotating shaft is arranged along the vertical direction, and the second calibration member (312) is a conical boss circumferentially arranged on the rotating shaft, and the axis of the conical boss is coaxially arranged with the axis of the rotating shaft.

5. The transport vehicle positioning device according to claim 1, characterized in that: The positioning structure (1) has a plurality of positioning portions (11), and the plurality of positioning portions (11) are respectively located on two sides of the processing station along the second direction; Any of the positioning portions (11) comprises a positioning plate (111) and two rows of positioning members (112) spaced apart in a vertical direction; the positioning plate (111) is arranged on the transport vehicle (100), and the length direction of the positioning plate (111) is arranged along the first direction; the positioning plate (111) can extend between the two rows of positioning members (112), and the top and bottom of the positioning plate (111) are respectively in contact with the two rows of positioning members (112).

6. The transport vehicle positioning device according to claim 5, characterized in that: The positioning member (112) is a roller, the axis of which is arranged along the second direction, any one of the rollers can rotate along its own axis, and the outer periphery of any one of the rollers can abut against the top or bottom of the positioning plate (111).

7. The transport vehicle positioning device according to claim 5, characterized in that: The distance between the two rows of positioning members (112) is adjustable.

8. The transport vehicle positioning device according to claim 5, characterized in that: The top and / or bottom of the positioning plate (111) are respectively provided with guide conical surfaces (1111) at both ends along the first direction, and the height of the guide conical surfaces (1111) gradually increases along the moving direction of the transport vehicle (100).

9. A product processing production line, characterized in that: include: Production of guide rails, laid along a preset direction, with multiple processing stations; A transport vehicle (100) moves along the production rail; The transport vehicle positioning device as described in any one of claims 1-8 is arranged at any one of the processing stations, and the positioning rail is docked with the production rail.

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