Main bonding wire side wall part conveying system and control method

Abstract

The invention belongs to the technical field of welding production, and particularly relates to a conveying system of an automobile production line and a control method thereof. Wherein production line rails are arranged on the workpiece discharging station, the workpiece feeding station I, the maintenance station and the workpiece feeding station II respectively, a standby trolley is connected to the maintenance station in a matched mode, and the production line rails on the maintenance station are connected with the production line rails on the workpiece feeding station II and the workpiece feeding station I respectively. The production line rails on the second workpiece feeding station and the first workpiece feeding station are connected with the production line rail on the workpiece discharging station, a waiting position switch is arranged on one side of the production line rail between the workpiece discharging station and the second workpiece feeding station, and a waiting position switch is arranged on one side of the production line rail between the workpiece discharging station and the first workpiece feeding station. The trolley capable of automatically moving in a bidirectional reciprocating mode is adopted, the conveying function of the side wall assembly parts of multiple vehicle types is achieved, the beneficial effects of being relatively small in planned occupied area and high in production flexibility are achieved, and the requirement for large-batch production of automobiles is met; and the positioning precision is high, the conveying speed is high, and maintenance and switching are convenient.

Description

Technical Field

[0001] The invention belongs to the technical field of welding production, and in particular relates to a main welding line side enclosure conveying system and a control method. Background Art

[0002] In the production of automobile welding workshops, the left and right side panel assemblies need to be transferred to the main welding line for assembly and welding. There are usually two ways to transport the side panel assemblies: one is to use a single-rail electric hoist lifting mechanism on the main welding line side to transport the side panel assembly to the main welding line pre-installation station, and the operator manually lifts the side panel assembly to the pre-installation fixture for operation. This method has high labor intensity and is prone to bumping during the manual lifting of the side panel assembly, resulting in quality problems; the other is to use an electric self-propelled trolley EMS conveying system. This type of EMS self-propelled trolley is usually powered by a busbar and is controlled to travel in one direction through a half-wave generator. Therefore, the entire operating line section must be a circular circulation layout, which occupies a relatively large area and has high requirements for the overall planning requirements of the side panel assembly conveying line and the main welding line body. In addition, the EMS self-propelled trolley assembly often uses a scissor fork balancing suspension mechanism, which increases its own weight and has a relatively complex structure. Summary of the invention

[0003] In order to overcome the above problems, the present invention provides a main welding line side panel part conveying system and control method; it is used for automatic conveying of main welding line side panel assemblies, and adopts a trolley that can automatically run bidirectional reciprocatingly to realize the conveying function of side panel assemblies of multiple models. It has the advantages of relatively small planning footprint and high production flexibility, and meets the requirements of mass production of automobiles; it also has high positioning accuracy, fast conveying speed, and convenient maintenance and switching.

[0004] A main welding line side enclosure conveying system, comprising a self-propelled trolley 1, a loading station 2, a production line track 3, a turnout 1 4, a loading station 1 6, a loading station 2 9, a turnout 2 11, a maintenance station 7, and a spare trolley 8; wherein the loading station 2, the loading station 1 6, the maintenance station 7 and the loading station 2 9 are respectively provided with a production line track 3, and the self-propelled trolley 1 can be connected to any one of the production line tracks 3, the production line track 3 on the maintenance station 7 is connected with a spare trolley 8, and the production line track 3 on the maintenance station 7 is respectively It is connected to one end of the production line track 3 on the loading station 2 9 and the loading station 1 6, and the other ends of the production line track 3 on the loading station 2 9 and the loading station 1 6 are respectively connected to the production line track 3 on the lowering station 2, and the lowering station 2, the loading station 1 6 and the loading station 2 9 are all equipped with a self-propelled trolley balance rail 121; a waiting position switch 2 10 is provided on one side of the production line track 3 between the lowering station 2 and the loading station 2 9, and a waiting position switch 1 5 is provided on one side of the production line track 3 between the lowering station 2 and the loading station 1 6;

[0005] The self-propelled trolley 1 and the spare trolley 8 have the same structure, both of which include a main travel drive assembly 101, a connecting rod 102, a lifting drive motor and a reducer 104, a travel driven assembly 107, a boom 110, a lifting frame 112, a belt suspension point assembly 113, a lifting drive pulley 114, a self-propelled trolley frame 115, a self-propelled trolley balance support wheel 116, and a belt guide wheel 117; wherein the main travel drive assembly 101 and the travel driven assembly 107 are hinged on the boom 110 through the connecting rod 102, the boom 110 is fixed on the self-propelled trolley frame 115, and the lifting drive motor and the reducer 104 and the lifting drive pulley 117 are fixed in the middle of the self-propelled trolley frame 115. Pulley 114, a belt guide wheel 117 is fixed on the self-propelled trolley frame 115 outside the boom 110, and the concentric output shafts on the left and right sides of the lifting drive motor and the reducer 104 are respectively connected to the corresponding lifting drive pulley 114, which can drive the lifting drive pulley 114 to rotate; a lifting drive belt 118 is wound around the lifting drive pulley 114, and the two ends of the lifting drive belt 118 are respectively connected to the corresponding belt suspension point assembly 113 after passing through the corresponding belt guide wheel 117; and the walking main drive assembly 101 and the walking driven assembly 107 are used to cooperate with the production line track 3, so that the self-propelled trolley 1 can slide along the production line track 3;

[0006] A guide rod 1152 is fixed at the bottom of the bicycle frame 115, and the balance support wheel 116 passes through the bicycle frame 115 and is connected to the corresponding bicycle balance rail 121;

[0007] The lifting frame 112 is fixed with a side panel lock tooling assembly 1123, a guide wheel mechanism 1124 and a side panel sensor bracket 1125, wherein a side panel detection photoelectric sensor 1126 is installed at the bottom of the side panel sensor bracket 1125, and a guide rod 1152 is inserted into the guide wheel mechanism 1124 to realize a guiding connection between the lifting frame 112 and the bicycle frame 115; and the lifting frame 112 is also provided with a guide wheel mechanism 1127 for cooperating with a grooved column guide rail on the ground of the corresponding work station.

[0008] The lock side panel tooling assembly 1123 includes a lock side panel tooling assembly drive motor and reducer 112301, a swing arm 112316, a linear slide mechanism 112308, a floating head 112306, a latch 112304, a limit slot 112305, and a joint mechanism; wherein the lock side panel tooling assembly drive motor and reducer 112301 is fixed on the lifting frame 112, and a swing arm 112316 is mounted on its output shaft, and linear slide mechanisms 112308 are respectively arranged on the left and right sides of the front and rear ends of the lock side panel tooling assembly drive motor and reducer 112301, and the linear slide mechanism 112308 is fixed on the lifting frame 112 On; each branch arm of the swing arm 112316 is respectively connected with a joint mechanism, the other end of the joint mechanism is connected to the slider of the corresponding linear slide mechanism 112308 through a pin shaft 112302, and the slider is provided with a connecting plate with a threaded hole, one end of the floating head 112306 is connected to the connecting plate, and the other end is matched and connected to the T-slot at the tail of the pin 112304, the pin 112304 is connected to the lifting frame 112 through a sliding bearing and a bearing seat 112303, and a limiting slot 112305 is fixed on the outer lifting frame 112, and the pin 112304 can be aligned with the through hole of the limiting slot 112305.

[0009] The joint mechanism includes a joint bearing 112309, a joint bearing 112311, and a connecting rod 112310, wherein one end of the joint bearing 112309 and the joint bearing 112311 are respectively fixed at the two ends of the connecting rod 112310, the other end of the joint bearing 112311 is connected to the branch arm corresponding to the swing arm 112316 through a pin 112318, and the other end of the joint bearing 112309 is connected to the slider of the linear slide mechanism 112308 through a pin 112302.

[0010] It also includes a sensor plate 1 112314, a sensor plate 2 112315, a side panel tooling locking switch 112313, and a side panel tooling releasing switch 112317, wherein the side panel tooling locking switch 112313 and the side panel tooling releasing switch 112317 are fixed on the lifting frame 112, and the sensor plate 1 112314 and the sensor plate 2 112315 are respectively fixed on two adjacent branch arms of the swing arm 112316, and are respectively used to trigger the side panel tooling locking switch 112313 and the side panel tooling releasing switch 112317.

[0011] The guide rod guide wheel mechanism 1124 includes four guide wheels and a connecting plate, wherein the connecting plate is fixed on the lifting frame 112, the four guide wheels are fixed on the connecting plate, and the guide rod 1152 is inserted into the four guide wheels and connected with the four guide wheels.

[0012] The guide wheel mechanism 1127 includes a guide wheel 11271, a cam bearing 11272, a guide wheel 2 11273, a guide wheel 3 11274, a guide wheel 4 11275, a guide wheel 5 11276, a guide support 11277, a cam bearing mounting seat 11278 and a cam bearing 2 11279, wherein the guide wheel 11271 is fixed above the guide support 11277, and the cam bearing 11272 and the cam bearing 2 11279 are fixed on the guide wheel. Guide wheel one 11271 is fixed on the guide support 11277 below cam bearing two 11279, guide wheel three 11274 and guide wheel four 11275 are fixed on the guide support 11277 below guide wheel two 11273, guide wheel five 11276 is fixed on the guide support 11277 below guide wheel four 11275, and guide support 11277 is fixed on the outer end of the lifting frame 112.

[0013] The belt hanging point assembly 113 includes a splint 1131, a lifting ring 1132, a guide sleeve 1135, a nut 1136, and a screw 1138, wherein a screw 1138 is fixed to the bottom of the lifting ring 1132, and the screw 1138 is sleeved in the guide sleeve 1135. After the guide sleeve 1135 passes through the hanging point mounting hole on the lifting frame 112, it is fastened to the lifting frame 112 by the nut 1136. The end of the lifting drive belt 118 is folded upward and sleeved outside the cylinder of the lifting ring 1132, and the folded part is fixedly clamped in the splint 1131.

[0014] A gasket 1137 is provided between the lifting frame 112 and the nut 1136 .

[0015] The lifting ring 1132 includes a U-shaped frame and a cylinder, wherein the cylinder is fixed in the U-shaped frame, the screw 1138 is fixed to the bottom of the U-shaped frame, and a wedge block is fixed to the side of the U-shaped frame, and the wedge block contacts the travel switch 1133 fixed on the lifting frame 112.

[0016] The travel switch 1133 is fixed on the lifting frame 112 via a travel switch mounting bracket 1134 .

[0017] The walking main drive assembly 101 includes a walking main drive motor and reducer 1011, a walking main drive wheel 1012, a main drive frame 1014, and a main drive mechanism track guide wheel 1015, wherein the walking main drive motor and reducer 1011 and the walking main drive wheel 1012 are respectively installed on both sides above the vertical plate of the main drive frame 1014, and the transmission shaft of the walking main drive motor and reducer 1011 is connected to the walking main drive wheel 1012, which can control the rotation of the walking main drive wheel 1012, and the guide wheel 1015 is installed on the bottom plate of the main drive frame 1014, and the bottom of the bottom plate is fixed above one end of the connecting rod 102, and the connecting rod 102 is connected to the articulated seat 109 through the pin 106, and the articulated seat 109 is fixed on the boom 110;

[0018] The walking driven assembly 107 includes a driven frame 1071, a driven mechanism track guide wheel 1072, and a walking driven wheel 1074; wherein the walking driven wheel 1074 is installed above the vertical plate of the driven frame 1071, and the driven mechanism track guide wheel 1072 is installed on the bottom plate of the driven frame 1071, and the bottom of the bottom plate of the driven frame 1071 is fixed above the other end of the connecting rod 102; the main driving frame 1014 and the driven frame 1071 are sleeved outside the corresponding production line track 3, so that the walking main driving wheel 1012 and the walking driven wheel 1074 are respectively matched on the upper surface of the production line track 3, and can roll along the production line track 3, while the guide wheel 1015 and the driven mechanism track guide wheel 1072 are respectively matched on the guide surface of the side of the production line track 3, and are in sliding contact with the guide surface.

[0019] Two rows of guide wheels 1015 are installed on the bottom plate of the main driving frame 1014, and the two rows of guide wheels 1015 are respectively matched with the external guide surfaces on both sides of the production line track 3; two rows of driven mechanism track guide wheels 1072 are installed on the bottom plate of the driven frame 1071, and the two rows of driven mechanism track guide wheels 1072 are respectively matched with the external guide surfaces on both sides of the production line track 3.

[0020] A positioning rod 103 is installed on the connecting rod 102 .

[0021] A buffer limiter 1151 and a rising overtravel switch 1153 are installed at the bottom of the self-driving trolley frame 115.

[0022] The unloading station 2, loading station one 6, maintenance station 7 and loading station two 9 are respectively provided with production line tracks 3, wherein the end of the production line track 3 on the maintenance station 7 is connected with one port of the switch two 11, and the other two ports of the switch two 11 are respectively connected with one end of the production line track 3 on the loading station two 9 and the loading station one 6; the other ends of the production line tracks 3 on the loading station two 9 and the loading station one 6 are respectively connected with two ports of the switch one 4, and the other port of the switch one 4 is connected with the production line track 3 on the unloading station 2.

[0023] The self-propelled trolley 1 can be connected to the switch 1 4 or the switch 2 11 .

[0024] The self-propelled trolley frame 115 is provided with a rising-to-position stop switch and a rising-to-position deceleration switch, and the lifting frame 112 is provided with a descending-to-position stop switch and a descending-to-position deceleration switch.

[0025] The rails 3 above the unloading station 2, loading station 2 9 and loading station 1 6 are respectively provided with occupancy switches for detecting whether the self-propelled trolley 1 is in place.

[0026] A conveying method of a main welding line side enclosure conveying system, comprising the following contents:

[0027] Step 1: Initially, two self-propelled vehicles 1 wait at loading station 1 6 and loading station 2 9 respectively; the vehicle model is sent to the vehicle model information storage variable corresponding to loading station 1 6;

[0028] Step 2, move the tooling with the side enclosure under the loading station 16, so that the lifting ear of the side enclosure tooling is located between the sliding bearing and the bearing seat 112303 and the limit slot 112305, control the lifting drive motor and the reducer 104 to reverse drive, the coupling 105 and the lifting drive pulley 114 follow the reverse operation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to rotate out of the lifting drive pulley 114, and drives the lifting frame 112 to descend under the guidance of the guide rod 1152 through the belt guide wheel 117 and the belt suspension point assembly 113. When the lifting frame 112 descends to the low position, the descent-in-place deceleration switch on the lifting frame 112 is triggered, and the lifting drive motor and the reducer 104 are controlled to decelerate and operate. After the descent-in-place stop switch on the lifting frame 112 is triggered, the lifting drive motor and the reducer 104 are controlled to stop running;

[0029] Step 3: Control the motor 112301 for locking the side panel tooling to rotate, and then drive the latch 112304 to pass through the ear hole of the side panel tooling and insert it into the limit slot 112305 to pick up the side panel tooling; if the side panel tooling locking in place switch 112313 is triggered, it means that the side panel tooling is locked in place, and control the motor 112301 for locking the side panel tooling to stop rotating, the driving is completed, and enter the next step;

[0030] Step 4: After picking up the side panel tooling, the side panel detection photoelectric sensor 1126 detects whether the side panel tooling is in place. After detecting that the side panel tooling is in place, the lifting drive motor and the reducer 104 are controlled to drive forward, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run in the reverse direction, and the lifting frame 112 is driven to rise through the belt guide wheel 117 and the belt suspension point assembly 113; when the trigger on the self-propelled trolley frame 115 After the deceleration switch is triggered, the lifting drive motor and the reducer 104 are controlled to decelerate and run. When the stop switch is triggered, the lifting drive motor and the reducer 104 are controlled to stop running. Then the main driving motor and the reducer 1011 are controlled to run forward, and the main driving wheel 1012 is driven to run on the production line track 3, so that the self-propelled trolley 1 in the loading station 6 carries the side enclosure parts and drives away from the loading station 6 area until the waiting position switch 5 is triggered, and the trolley 1 arrives at the waiting position to wait;

[0031] Step 5, when the signals from the occupancy switch on the unloading station 2, the occupancy switch on the loading station 2 9 and the waiting position switch 2 10 determine that there is no vehicle at the unloading station 2 and there is a vehicle at the loading station 2 9 or the waiting position 2, the turnout 1 4 is switched to the straight track, the main driving motor and reducer 1011 of the self-propelled trolley 1 at the waiting position 1 are controlled to rotate forward, and the main driving wheel 1012 is driven to run on the production line track 3. When the self-propelled trolley 1 reaches the unloading station 2, the current vehicle model stored in the vehicle model information storage variable corresponding to the loading station 1 6 is passed to The vehicle model information storage variable corresponding to the unloading station 2 is compared with the vehicle model in the vehicle model information storage variable corresponding to the main welding line pre-installation station; when the vehicle model in the storage variable of the unloading station 2 is not equal to the vehicle model in the storage variable of the main welding line pre-installation station, an error alarm is issued; when the vehicle model in the storage variable of the unloading station 2 is equal to the vehicle model in the storage variable of the main welding line pre-installation station, the vehicle model comparison is consistent, then the lifting motor 104 of the self-propelled trolley 1 in the unloading station 2 is controlled to reverse drive, and the coupling 105 and the lifting drive pulley 114 follow the reverse rotation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and the lifting frame 112 is driven to descend through the belt guide wheel 117 and the belt suspension point assembly 113; until the deceleration switch and the stop switch are triggered, the lifting motor 104 stops running, and the lifting frame 112 descends to the position, and the side panel tooling is sent to the main welding line robot grabbing position; after the robot finishes picking up the parts, the lifting motor 104 is controlled to drive forward, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation, and the lifting frame 112 stored in the lifting drive pulley 114 is driven forward. The lifting drive belt 118 in the driven pulley 114 is driven to run, and the lifting frame 112 is driven to rise through the belt guide wheel 117 and the belt suspension point assembly 113; until the rise-to-position deceleration switch and the rise-to-position stop switch on the self-propelled trolley frame 115 are triggered, the lifting motor 104 stops running, and the main driving motor and the reducer 1011 are controlled to reversely run, and the main driving wheel 1012 is driven to run on the production line track 3, so that the self-propelled trolley 1 in the unloading station 2 returns to the loading station 1 6, waiting to pick up the next side enclosure part;

[0032] During this process, after the rising stop switch on the self-propelled trolley frame 115 is triggered, it indicates that the vehicle has risen to the position. If the vehicle continues to rise due to other factors, the rising overtravel switch 1153 will be triggered, and then the lifting motor 104 will be controlled to stop running. The rising overtravel switch 1153 plays a secondary protection role.

[0033] Step 6: After the current vehicle model stored in the corresponding vehicle model information storage variable of the loading station 1 6 is transferred to the corresponding vehicle model information storage variable of the unloading station 2, the next vehicle model is sent to the corresponding vehicle model information storage variable of the loading station 2 9 as the current vehicle model of the loading station 2 9; at this time, the tooling with the side enclosure moves under the loading station 2 9, and the lifting motor 104 of the self-propelled trolley 1 at the loading station 2 9 is controlled to reversely drive, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and the lifting drive belt 118 is driven to run through the belt guide The pulley 117 and the belt suspension point assembly 113 drive the lifting frame 112 to descend. When the lifting frame 112 descends to a low position, the descending in-position deceleration switch and the in-position stop switch thereon are triggered, and the lifting motor 104 is controlled to stop running, and the side panel tooling lock motor 112301 is controlled to rotate, and then the latch 112304 is driven to pass through the ear hole of the side panel tooling and then insert into the limit slot 112305 to pick up the side panel tooling; if the side panel tooling lock in-position switch 112313 is triggered, it means that the side panel tooling is locked in position, and the side panel tooling lock motor 112301 is controlled to stop rotating, and the driving is completed, and the next step is entered;

[0034] Step seven, after picking up the side panel tooling, the side panel sensor 1126 detects whether the side panel tooling is in place. If the side panel tooling is detected to be in place, the lifting motor 104 of the self-propelled trolley 1 at the loading station 2 9 is controlled to be driven in the forward direction, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation. The lifting drive belt 118 housed in the lifting drive pulley 114 is driven to run, and the lifting frame 112 is driven to rise through the belt guide wheel 117 and the belt hanging point assembly 113. When the rise-in-place deceleration switch and the rise-in-place stop switch are triggered, the lifting motor 104 is controlled to stop running, and the main driving motor and the reducer 1011 of the self-propelled trolley 1 are controlled to run in the forward direction to drive the walking The main driving wheel 1012 runs on the production line track 3, and the self-propelled trolley 1 carries the side enclosure parts and leaves the loading station 2 9 area until it reaches the waiting position 2 position where the waiting position switch 2 10 is located to wait; when there is no car at the unloading station 2 and there is a car at the loading station 1 6 or the waiting position 1, the switch 1 4 is switched to the curved track, and the main driving motor and reducer 1011 of the self-propelled trolley 1 at the waiting position 2 are controlled to rotate forward, and the main driving wheel 1012 is driven to run on the production line track 3, and the position value of the self-propelled trolley 1 is read by the yardstick positioning reader 108. When the self-propelled trolley 1 travels to the unloading station 2, the main driving motor and reducer 1011 of the self-propelled trolley 1 are controlled to stop running;

[0035] Step eight, transfer the current vehicle model stored in the vehicle model information storage variable corresponding to the upper station 2 9 to the vehicle model information storage variable corresponding to the lower station 2, and compare it with the vehicle model in the vehicle model information storage variable corresponding to the main welding line pre-installation station. When the vehicle model in the storage variable of the lower station 2 is not equal to the vehicle model in the storage variable of the main welding line pre-installation station, an error alarm is issued; when the vehicle model in the storage variable of the lower station 2 is equal to the vehicle model in the storage variable of the main welding line pre-installation station, the vehicle model comparison is consistent, and the lifting motor 104 of the self-propelled trolley 1 at the lower station 2 is controlled to reverse drive, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and the lifting frame 112 is driven to descend through the belt guide wheel 117 and the belt suspension point assembly 113 output until the lower station is triggered. The deceleration switch and the stop switch are triggered, the lifting motor 104 stops running, and the side panel is sent to the main welding line robot grabbing position. After the robot finishes picking up the parts, the lifting motor 104 of the self-propelled trolley 1 is controlled to drive forward, the coupling 105 and the lifting drive pulley 114 follow the forward rotation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and the lifting frame 112 is driven to rise through the belt guide wheel 117 and the belt suspension point assembly 113 until the rising position deceleration switch and the rising position stop switch are triggered, the lifting motor 104 stops running, and the main driving motor and reducer 1011 of the self-propelled trolley 1 at the unloading station 2 are controlled to reversely run, and the main driving wheel 1012 is driven to run on the production line track 3, so that the self-propelled trolley 1 at the unloading station 2 returns to the loading station 2 9 to wait for the next side panel part to be picked up;

[0036] Step nine, repeat steps one to eight to achieve flexible batch production of multiple models.

[0037] The first method of switching the spare car is divided into two situations:

[0038] The first situation: when the self-propelled trolley 1 at the loading station 1 6 fails;

[0039] Step 1: first switch the turnout 1 4 to the curved track, control the main driving motor and reducer 1011 of the self-propelled trolley 1 at the loading station 2 9 to run, drive the main driving wheel 1012 to run on the production line track 3, and move the normal self-propelled trolley 1 at the loading station 2 9 forward to the unloading station 2 to wait;

[0040] Step 2: Switch the second turnout 11 to the curved track, control the main driving motor and reducer 1011 of the standby trolley 8 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the standby trolley 8 moves forward to the track 3 between the turnout 1 4 and the unloading station 2 to stop and wait;

[0041] Step 3: Switch the turnout 11 to the straight track, control the main driving motor and reducer 1011 of the self-propelled trolley 1 that has a fault at the loading station 1 6 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 that has a fault at the loading station 1 6 retreats to the maintenance station 7;

[0042] Step 4: Switch the turnout 104 to the straight track, control the main driving motor and reducer 1011 of the spare trolley 8 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the spare trolley 8 retreats to the loading station 106 and is put into use;

[0043] Step 5: Switch the turnout 1 4 to the curved track, control the main driving motor and reducer 1011 of the self-propelled trolley 1 at the unloading station 2 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 at the unloading station 2 retreats to the loading station 2 9; thus, the self-propelled trolley 1 at the loading station 1 6 that has a fault is switched to the maintenance station 7, and the equipment is quickly replaced;

[0044] The second situation: when the self-propelled trolley 1 at the second loading station 9 fails;

[0045] Step 1: first switch the turnout 4 to the straight track, and move the normal self-propelled trolley 1 at the loading station 6 forward to the unloading station 2 to wait;

[0046] Step 2: Switch the second turnout 11 to the straight track, and control the spare trolley 8 to move forward to the track 3 between the turnout 4 and the unloading station 2 to stop and wait;

[0047] Step 3: Switch the second turnout 11 to the curved track, and control the self-propelled trolley 1 that has a fault at the loading station 2 9 to retreat to the maintenance station 7;

[0048] Step 4: switch the turnout 1 4 to the curved track, and control the spare trolley 8 to retreat to the loading station 2 9 and put it into use;

[0049] Step five, switch the turnout 4 to the straight track, and the self-propelled trolley 1 at the unloading station 2 retreats to the loading station 6; at this point, the self-propelled trolley 1 that has a fault at the loading station 2 9 is switched to the maintenance station 7, and the equipment is quickly replaced.

[0050] The second method of switching the spare car is divided into two situations:

[0051] The first situation: when the self-propelled trolley 1 at the loading station 1 6 fails;

[0052] Step 1: first switch the turnout 1 4 to the straight track, operate the self-propelled trolley 1 at the first station 6 to move forward to the unloading station 2, switch the turnout 1 4 to the curved track, operate the self-propelled trolley 1 at the unloading station 2 to retreat to the waiting position 2 10 to wait;

[0053] Step 2: Switch the second switch 11 to the straight track, switch the first switch 4 to the straight track, and control the spare trolley 8 to move forward to the unloading station 2 to wait;

[0054] Step 3: Switch 1 4 is switched to the curved track, and the self-propelled trolley 1 at the waiting position 2 10 is operated to move forward to the track 3 between switch 1 4 and the unloading station 2 and stop;

[0055] Step 4: Switch 1 4 is switched to the straight track, and the self-propelled trolley 1 is operated to retreat to the maintenance station 7; the spare trolley 8 is controlled to retreat to the loading station 1 6 and put into work. At this point, the self-propelled trolley 1 that has a fault at the loading station 1 6 is switched to the maintenance station 7, and the equipment is quickly replaced;

[0056] The second situation: when the self-propelled trolley 1 at the loading station 2 9 fails;

[0057] Step 1: first switch the turnout 1 4 to the curved track, operate the self-propelled trolley 1 at the second station 9 to move forward to the unloading station 2, switch the turnout 1 4 to the straight track, operate the self-propelled trolley 1 at the unloading station 2 to retreat to the waiting position 1 5 to wait;

[0058] Step 2: Switch the second switch 11 to the curved track, switch one 4 to the curved track, and control the spare trolley 8 to move forward to the unloading station 2 to wait;

[0059] Step 3: Switch 1 4 is switched to the straight track, and the self-propelled trolley 1 at the waiting position 1 5 is operated to move forward to the track 3 between switch 1 4 and the unloading station 2 and stop;

[0060] Step 4, switch 1 4 is switched to the curved track, and the self-propelled trolley 1 is operated to retreat to the maintenance station 7; the spare trolley 8 is controlled to retreat to the loading station 2 9 and put into work. At this point, the self-propelled trolley 1 that has a fault at the loading station 2 9 is switched to the maintenance station 7, and the equipment is quickly replaced.

[0061] Beneficial effects of the present invention:

[0062] The present invention adopts a double set of self-propelled suspension trolleys to realize alternating two-way reciprocating operation between the loading station and the unloading station on the aerial rails. The travel path planning occupies a relatively small area, saving space.

[0063] The conveying system of the present invention has two loading ports at the loading station. By matching with the vehicle model production queue plan issued by the main welding line, the two loading ports can be alternately loaded to meet the large-scale flexible production of various vehicle models, and has the advantage of high production flexibility.

[0064] The present invention realizes closed-loop position control of the self-propelled trolley by reading the position value of the two-dimensional code scale installed on the walking path in real time through a code scale positioning reader connected to the control system, thereby meeting the precise positioning requirements at the loading and unloading stations.

[0065] The self-propelled trolley of the present invention has a lifting function, which meets the control requirements of multiple degrees of freedom of the equipment.

[0066] The present invention has a fault redundancy function. A spare self-propelled trolley is reserved at a maintenance station. When a self-propelled trolley in operation fails, the spare self-propelled trolley can be quickly switched to the working station to reduce the loss caused by production line downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without creative work.

[0068] Figure 1 It is a schematic diagram of the structure of the conveying system of the present invention;

[0069] Figure 2 It is a schematic diagram of the overall structure of the self-driving vehicle of the present invention;

[0070] Figure 3 This is a schematic diagram of the travel drive mechanism of the self-propelled trolley of the present invention;

[0071] Figure 4 This is a schematic diagram of the frame of the self-driving trolley of the present invention;

[0072] Figure 5 This is a schematic diagram of the lifting frame of the self-propelled trolley of the present invention;

[0073] Figure 6 It is a schematic diagram of the side panel lock assembly of the bicycle of the present invention;

[0074] Figure 7 It is a detailed schematic diagram of the side panel tooling assembly of the bicycle lock of the present invention;

[0075] Figure 8 This is a schematic diagram of the guide wheel of the self-driving trolley of the present invention;

[0076] Fig. 9 It is a schematic diagram of the belt suspension point and belt break detection structure of the self-driving trolley of the present invention;

[0077] Fig.10 This is a schematic diagram of the balance rail of the self-driving trolley of the present invention;

[0078] Fig.11 The figure is a schematic diagram of the side panel conveying operation of the self-propelled trolley of the present invention.

[0079] Among them: 1 self-propelled trolley, 2 unloading station, 3 track, 4 turnout 1, 5 waiting position switch 1, 6 loading station 1, 7 maintenance station, 8 spare trolley, 9 loading station 2, 10 waiting position switch 2, 11 turnout 2, 101 walking main drive assembly, 102 connecting rod, 103 positioning rod, 104 lifting drive motor and reducer, 105 coupling, 106 pin shaft, 107 walking driven assembly, 108 yardstick positioning code reader, 109 articulated seat, 110 boom, 111 inverter brake resistor box, 112 lifting frame, 113 belt hanging point assembly, 114 lifting drive pulley, 115 self-propelled trolley frame, 116 self-propelled trolley balance support wheel, 1 17 belt guide wheel, 118 lifting drive belt, 119 self-propelled trolley PLC control box, 121 self-propelled trolley balance rail, 122 balance rail boom, 123 diagonal brace arm, 124 balance rail hanging beam, 1011 walking main drive motor and reducer, 1012 walking main drive wheel, 1013 clutch lever, 1014 main drive frame, 1015 main drive mechanism track guide wheel, 1016 carbon brush installation cover, 1017 cover lock pin, 1018 carbon brush, 1071 driven frame, 1072 driven mechanism track guide wheel, 1073 grounding electrode carbon brush, 1074 walking driven wheel, 1151 buffer limiter, 1152 guide rod, 1153 Rising overtravel switch, 1121 tank chain bracket, 1122 tank chain, 1123 lock side panel tooling assembly, 112301 lock side panel tooling assembly drive motor and reducer, 112302 pin shaft, 112303 sliding bearing and bearing seat, 112304 latch, 112305 limit slot, 112306 floating head, 112307 locking nut, 112308 connecting block and linear slide shoe, 112309 joint bearing, 112310 connecting rod, 112311 joint bearing, 112312 linear slide, 112313 side panel tooling locking switch, 112314 induction plate, 112315 induction plate, 112 316 swing arm, 112317 side panel tooling release switch, 112318 pin, 1124 guide rod guide wheel, 1125 side panel sensor bracket, 1126 side panel sensor, 1127 guide wheel mechanism, 11271 guide wheel, 11272 cam bearing, 11273 guide wheel, 11274 guide wheel, 11275 guide wheel, 11276 guide wheel, 11277 guide support, 11278 cam bearing mounting seat, 11279 cam bearing, 1131 splint, 1132 lifting ring, 1133 travel switch, 1134 travel switch mounting bracket, 1135 guide sleeve, 1136 nut, 1137 gasket, 1138 screw. DETAILED DESCRIPTION

[0080] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0081] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0082] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0083] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0084] Example 1

[0085] A main welding line side enclosure conveying system, such as Figure 1-11As shown, it includes a self-propelled trolley 1, a loading station 2, a production line track 3, a turnout 1 4, a loading station 1 6, a loading station 2 9, a maintenance station 7, a spare trolley 8, and a turnout 2 11; wherein the unloading station 2, the loading station 1 6, the maintenance station 7 and the loading station 2 9 are respectively provided with a production line track 3, and the self-propelled trolley 1 can be connected to any one of the production line tracks 3, the production line track 3 on the maintenance station 7 is connected with a spare trolley 8, and the production line track 3 on the maintenance station 7 is respectively connected to the loading station 2 9 and One end of the production line track 3 on the loading station 1 6 is connected, and the other ends of the production line track 3 on the loading station 2 9 and the loading station 1 6 are respectively connected to the production line track 3 on the lowering station 2, and the lowering station 2, the loading station 1 6 and the loading station 2 9 are all installed with self-propelled trolley balance rails 121 arranged on the left and right; a waiting position switch 2 10 is provided on one side of the production line track 3 between the lowering station 2 and the loading station 2 9, and a waiting position switch 1 5 is provided on one side of the production line track 3 between the lowering station 2 and the loading station 1 6;

[0086] The self-propelled trolley 1 and the spare trolley 8 have the same structure, both of which include a main travel drive assembly 101, a connecting rod 102, a lifting drive motor and a reducer 104, a travel driven assembly 107, a lifting arm 110, a lifting frame 112, a belt hanging point assembly 113, a lifting drive pulley 114, a self-propelled trolley frame 115, a self-propelled trolley balance support wheel 116, and a belt guide wheel 117; wherein the main travel drive assembly 101 and the travel driven assembly 107 are hinged on the lifting arm 110 through the connecting rod 102, the lifting arm 110 is fixed on the self-propelled trolley frame 115, and the lifting drive motor and the reducer 104 and the lifting drive pulley 117 are fixed in the middle of the self-propelled trolley frame 115 between the lifting arms 110. Pulley 114, a belt guide wheel 117 is fixed on the self-propelled trolley frame 115 outside the boom 110, and the concentric output shafts on the left and right sides of the lifting drive motor and the reducer 104 are respectively connected to the corresponding lifting drive pulley 114 through the coupling 105, which can drive the lifting drive pulley 114 to rotate; a lifting drive belt 118 is wound around the lifting drive pulley 114, and the two ends of the lifting drive belt 118 are respectively connected to the corresponding belt suspension point assembly 113 after passing through the corresponding belt guide wheel 117; and the walking main drive assembly 101 and the walking driven assembly 107 are used to cooperate with the production line track 3, so that the self-propelled trolley 1 can slide along the production line track 3;

[0087] A guide rod 1152 is fixed to the bottom of the bicycle frame 115, and the balance support wheel 116 passes through the longitudinal rod at the edge of the bicycle frame 115 and is connected to the balance rail 121 of the bicycle in the corresponding station;

[0088] The lifting frame 112 is fixed with a side panel lock tooling assembly 1123, a guide wheel mechanism 1124 and a side panel sensor bracket 1125, wherein a side panel detection photoelectric sensor 1126 is installed at the bottom of the side panel sensor bracket 1125, and a guide rod 1152 is inserted into the guide wheel mechanism 1124 to realize a guiding connection between the lifting frame 112 and the self-propelled vehicle frame 115 (when the lifting frame 112 rises and falls, it is guided by the guide rod 1152); and the lifting frame 112 is also provided with a guide wheel mechanism 1127 for cooperating with a grooved column guide rail on the ground of the corresponding work station.

[0089] The lock side panel tooling assembly 1123 includes a lock side panel tooling assembly drive motor and reducer 112301, a swing arm 112316, a linear slide mechanism 112308, a floating head 112306, a latch 112304, a limit slot 112305, and a joint mechanism; wherein the lock side panel tooling assembly drive motor and reducer 112301 is fixed on the lifting frame 112, and a swing arm 112316 is mounted on its output shaft (the swing arm 112316 includes a base and four branch arms fixed on the base), and linear slide mechanisms 112308 are respectively provided on the left and right sides of the front and rear ends of the lock side panel tooling assembly drive motor and reducer 112301, and the linear slide mechanism 112308 is fixed It is fixed on the lifting frame 112; each branch arm of the swing arm 112316 is respectively connected with a joint mechanism, the other end of the joint mechanism is connected to the slider of the corresponding linear slide mechanism 112308 through a pin shaft 112302, and the slider is provided with a connecting plate with a threaded hole, the threaded rod at one end of the floating head 112306 is connected to the threaded hole of the connecting plate, and the other end is matched and connected to the T-slot at the tail of the pin 112304, the pin 112304 is connected to the lifting frame 112 through a sliding bearing and a bearing seat 112303, and a limiting slot 112305 is fixed on the lifting frame 112 outside it, and the pin 112304 can be aligned with the through hole of the limiting slot 112305.

[0090] The joint mechanism includes a joint bearing 112309, a joint bearing 112311, and a connecting rod 112310, wherein one end of the joint bearing 112309 and the joint bearing 112311 are respectively fixed at the two ends of the connecting rod 112310, the other end of the joint bearing 112311 is connected to the branch arm corresponding to the swing arm 112316 through a pin 112318, and the other end of the joint bearing 112309 is connected to the slider of the linear slide mechanism 112308 through a pin 112302.

[0091] It also includes a sensor plate 1 112314, a sensor plate 2 112315, a side panel tooling locking switch 112313, and a side panel tooling releasing switch 112317, wherein the side panel tooling locking switch 112313 and the side panel tooling releasing switch 112317 are fixed on the lifting frame 112, and the sensor plate 1 112314 and the sensor plate 2 112315 are respectively fixed on two adjacent branch arms of the swing arm 112316, and are respectively used to trigger the side panel tooling locking switch 112313 and the side panel tooling releasing switch 112317.

[0092] The lifting frame 112 includes a door-shaped frame, wherein two cross bars are fixed in the middle of the door-shaped frame, and support bars are fixed in the door-shaped frame outside the two cross bars, respectively. The side panel tooling assembly drive motor and reducer 112301 and guide wheel mechanism 1124 are fixed between the two cross bars, and the linear slide rail 112312, sliding bearing and bearing seat 112303, limit slot 112305, side panel tooling lock in place switch 112313, and side panel tooling release in place switch 112317 are all installed on the lower surface of the two cross bars. The side panel sensor bracket 1125 is fixed on the outside of one side cross bar, and the cam bearing mounting seats 11278 are fixed on the outer ends of the frame bodies at both ends of the door-shaped frame.

[0093] The guide rod guide wheel mechanism 1124 includes four guide wheels and a connecting plate, wherein the connecting plate is fixed on the lifting frame 112, the four guide wheels are fixed on the connecting plate, and the guide rod 1152 is inserted into the four guide wheels and connected with the four guide wheels.

[0094] The guide wheel mechanism 1127 includes a guide wheel 11271, a cam bearing 11272, a guide wheel 2 11273, a guide wheel 3 11274, a guide wheel 4 11275, a guide wheel 5 11276, a guide support 11277, a cam bearing mounting seat 11278 and a cam bearing 2 11279, wherein the guide wheel 11271 is fixed above the guide support 11277, and the cam bearing 11272 and the cam bearing 2 11279 are fixed on the guide wheel. Guide wheel one 11271 is fixed on the guide support 11277 below cam bearing two 11279, guide wheel three 11274 and guide wheel four 11275 are fixed on the guide support 11277 below guide wheel two 11273, guide wheel five 11276 is fixed on the guide support 11277 below guide wheel four 11275, and guide support 11277 is fixed on the outer end of the lifting frame 112.

[0095] The belt hanging point assembly 113 includes a splint 1131, a lifting ring 1132, a guide sleeve 1135, a nut 1136, and a screw 1138, wherein a screw 1138 is fixed to the bottom of the lifting ring 1132, and the screw 1138 is sleeved in the guide sleeve 1135. After the guide sleeve 1135 passes through the hanging point mounting hole on the transverse rod at the edge of the lifting frame 112, it is fastened to the transverse rod at the edge of the lifting frame 112 by the nut 1136. The end of the lifting drive belt 118 is folded upward and sleeved outside the cylinder of the lifting ring 1132, and the folded part is fixedly clamped in the splint 1131.

[0096] A gasket 1137 is provided between the lifting frame 112 and the nut 1136 .

[0097] The lifting ring 1132 includes a U-shaped frame and a cylinder, wherein the cylinder is fixed in the U-shaped frame, the screw 1138 is fixed to the bottom of the U-shaped frame, and a wedge block is fixed to the side of the U-shaped frame, and the wedge block contacts the travel switch 1133 fixed on the lifting frame 112.

[0098] The travel switch 1133 is fixed on the lifting frame 112 via a travel switch mounting bracket 1134 .

[0099] The walking main drive assembly 101 includes a walking main drive motor and reducer 1011, a walking main drive wheel 1012, a main drive frame 1014, and a main drive mechanism track guide wheel 1015, wherein the walking main drive motor and reducer 1011 and the walking main drive wheel 1012 are respectively installed on both sides above the main drive frame 1014 vertical plate, and the transmission shaft of the walking main drive motor and reducer 1011 is connected to the walking main drive wheel 1012, which can control the rotation of the walking main drive wheel 1012, and the guide wheel 1015 is installed on the bottom plate of the main drive frame 1014, and the bottom of the bottom plate is fixed to the connecting rod by a pin shaft. Above one end of 102, the connecting rod 102 is connected to the hinge seat 109 through the pin shaft 106, and the hinge seat 109 is fixed on the boom 110; a carbon brush installation cover 1016 is also movably installed on the back of the main driving frame 1014, and a carbon brush device 1018 is installed on the inner side of the carbon brush installation cover 1016. One side of the carbon brush device 1018 contacts the busbar installed on the side of the production line track 3 to pick up electrical energy, and the other end is connected to a cable for transmitting electrical energy. The electrical energy is transmitted to the main driving motor and the motor of the reducer 1011 as well as the PLC controller, frequency converter and other electrical components in the PLC control box of the self-propelled trolley.

[0100] The walking driven assembly 107 includes a driven frame 1071, a driven mechanism track guide wheel 1072, a grounding electrode carbon brush 1073, and a walking driven wheel 1074; wherein the walking driven wheel 1074 is installed above the vertical plate of the driven frame 1071, and the driven mechanism track guide wheel 1072 is installed on the bottom plate of the driven frame 1071, the bottom of the bottom plate of the driven frame 1071 is fixed above the other end of the connecting rod 102 by a pin shaft, and the grounding electrode carbon brush 1073 is installed on the inner side of the driven frame 1071 for grounding connection; the main driving frame 1014 and the driven frame 1071 are sleeved outside the corresponding production line track 3, so that the walking main driving wheel 1012 and the walking driven wheel 1074 are respectively matched on the upper surface of the production line track 3, and can roll along the production line track 3, while the guide wheel 1015 and the driven mechanism track guide wheel 1072 are respectively matched on the guide surface of the side of the production line track 3, and are in sliding contact with the guide surface.

[0101] Two rows of guide wheels 1015 are installed on the bottom plate of the main driving frame 1014, and the two rows of guide wheels 1015 are respectively matched with the external guide surfaces on both sides of the production line track 3; two rows of driven mechanism track guide wheels 1072 are installed on the bottom plate of the driven frame 1071, and the two rows of driven mechanism track guide wheels 1072 are respectively matched with the external guide surfaces on both sides of the production line track 3.

[0102] A positioning rod 103 is installed on the connecting rod 102 .

[0103] Four buffer limiters 1151 and a rising overtravel switch 1153 are installed at the bottom of the self-propelled trolley frame 115. The buffer limiter 1151 is used to prevent the lifting frame 112 from impacting and colliding with the self-propelled trolley frame 115 when the lifting frame 112 rises overtravel.

[0104] The unloading station 2, loading station one 6, maintenance station 7 and loading station two 9 are respectively provided with production line tracks 3, wherein the end of the production line track 3 on the maintenance station 7 is connected with one port of the switch two 11, and the other two ports of the switch two 11 are respectively connected with one end of the production line track 3 on the loading station two 9 and the loading station one 6; the other ends of the production line tracks 3 on the loading station two 9 and the loading station one 6 are respectively connected with two ports of the switch one 4, and the other port of the switch one 4 is connected with the production line track 3 on the unloading station 2.

[0105] The self-propelled trolley 1 can be connected to the switch 1 4 or the switch 2 11 .

[0106] The yardstick positioning reader 108 is connected to the PLC control system of the self-propelled vehicle.

[0107] The self-propelled trolley frame 115 is provided with a rising-to-position stop switch and a rising-to-position deceleration switch, and the lifting frame 112 is provided with a descending-to-position stop switch and a descending-to-position deceleration switch.

[0108] The self-propelled trolley balance rail 121 is installed on the balance rail boom 122, and the balance rail boom 122 is fixed on the balance rail hanger 124 through the diagonal support arm 123, and the balance rail hanger 124 is fixed on the aerial steel beam of the lower piece station 2, the upper piece station one 6, the upper piece station two 9 or the maintenance station 7.

[0109] The rails 3 above the unloading station 2, loading station 2 9 and loading station 1 6 are respectively provided with occupancy switches for detecting whether the self-propelled trolley 1 is in place.

[0110] Example 2

[0111] A main welding line side enclosure conveying system comprises: a self-propelled trolley 1, a piece unloading station 2, a production line track 3, a turnout 1 4, a waiting position switch 1 5, a piece loading station 1 6, a waiting position switch 2 10, a piece loading station 2 9, a maintenance station 7, a spare trolley 8, a turnout 2 11, a main control PLC control system, and a self-propelled trolley PLC control system.

[0112] There are two self-propelled trolleys 1 in the system, which pick up the side panels alternately at the loading station 1 6 and the loading station 2 9, and transport them to the unloading station 2 via the production line track 3. The path of the production line track 3 is selected and controlled by the switch. There are two switches in the system, which are used for working path switching and path switching of the spare trolley 8 at the maintenance station 7. The unloading station 2 is above the main welding line pre-installation station. After the self-propelled trolley 1 lowers the side panel, it is grabbed by the robot for the assembling operation, and then the self-propelled trolley 1 returns from the unloading station 2 to the loading station, waiting to pick up the next side panel. When any self-propelled trolley 1 in operation fails, the spare trolley 8 can be quickly switched to the corresponding work station to work, and the self-propelled trolley 1 with the failure is switched to the maintenance station 7 to reduce the loss of downtime.

[0113] Overall structure of self-driving car 1 Figure 2As shown, the walking main drive assembly 101 and the walking driven assembly 107 run on the production line track 3, and the two assemblies are connected together through the pin shaft and the connecting rod 102 to form a whole. A busbar is installed on the side of the production line track 3 to supply power to the control system of the self-propelled trolley. A yardstick positioning reader 108 is installed next to the walking main drive assembly 101 to identify the position information of the two-dimensional code ruler installed on the entire track of the conveying system. The yardstick positioning reader 108 is connected to the self-propelled trolley PLC control system to realize the closed-loop positioning control of the self-propelled trolley 1 on the track working position. A positioning rod 103 is installed on the connecting rod 102. At the loading station and the unloading station 2, when the self-propelled trolley 1 is in place, the positioning rod 103 is clamped by the cylinder clamp set on each station, and the mechanical positioning and locking of the self-propelled trolley 1 is realized during the lifting and lowering operation of the self-propelled trolley 1 to keep the stability of the self-propelled trolley 1.

[0114] The connecting rod 102 is connected to the boom 110 through the pin 106 and the hinge seat 109. The boom 110 is connected to the self-propelled trolley frame 115 as a whole. The self-propelled trolley frame 115 is equipped with a lifting drive motor and reducer 104, a coupling 105, a lifting drive pulley 114, a belt guide wheel 117, a self-propelled trolley PLC control box 119, a frequency converter brake resistor box 111, a lifting drive belt 118, and four self-propelled trolley balance support wheels 116. The self-propelled trolley frame 115 is provided with a rising stop switch and a rising deceleration switch, and the lifting frame 112 is provided with a falling stop switch and a falling deceleration switch. The lifting drive motor and reducer 104 of the self-propelled trolley 1 drives the lifting drive belt 118 to run through the coupling 105 and the lifting drive pulley 114. The lifting drive belt 118 is connected to the lifting frame 112 via the belt guide pulleys 117 and 4 belt suspension point assemblies 113 arranged at 4 positions of the self-propelled trolley frame 115. When the lifting drive motor and the reducer 104 are running forward and reverse, the coupling 105 and the lifting drive pulley 114 follow to realize forward and reverse operation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run. The lifting drive belt 118 outputs the rising and falling motion through the belt guide pulley 117 and the 4 belt suspension point assemblies 113 connected to the lifting frame 112, realizing the lifting and lowering motion of the lifting frame 112.

[0115] The walking main drive assembly 101 is composed of Figure 3As shown, it mainly includes: a main driving motor and reducer 1011 for traveling, a main driving wheel 1012 for traveling, a main driving frame 1014, and a main driving mechanism track guide wheel 1015. The main driving motor and reducer 1011 for traveling, and the main driving wheel 1012 for traveling are installed on the main driving frame 1014, and the main driving wheel 1012 for traveling contacts the upper surface of the production line track 3, serving as the driving force source of the entire self-propelled trolley 1. Four guide wheels 1015 are installed at the bottom of the main driving frame 1014, and the guide wheels 1015 are located on the guide surfaces on both sides of the production line track 3, and are used to guide the self-propelled trolley 1 when traveling on the production line track 3, and can prevent the main driving frame 1014 from tipping over on the production line track 3. A carbon brush installation cover plate 1016 is installed on the back of the main drive frame 1014. The carbon brush installation cover plate 1016 can be flipped open and locked by a cover plate lock pin 1017. A carbon brush device 1018 is installed in the carbon brush installation cover plate 1016, which contacts the busbar installed on the side of the production line track 3 to pick up electrical energy. The main driving motor and reducer 1011 for walking is equipped with a clutch lever 1013, which is used to disengage the motor brake resistance. In the event of a fault, the self-propelled trolley 1 can be temporarily pushed and pulled manually to walk on the production line track 3.

[0116] The travel driven assembly 107 includes: a driven frame 1071, a driven mechanism track guide wheel 1072, a grounding electrode carbon brush 1073, and a travel driven wheel 1074. The travel driven wheel 1074 is installed on the driven frame 1071 and is located on the upper surface of the production line track 3; four driven mechanism track guide wheels 1072 are installed at the bottom of the driven frame 1071, and the driven mechanism track guide wheels 1072 are also located on the guide surfaces on both sides of the production line track 3, which are used to guide the self-propelled trolley when traveling and prevent the driven frame 1071 from tipping over on the production line track 3. The grounding electrode carbon brush 1073 is installed on the inner side of the driven frame 1071, and is used to connect the ground of the self-propelled trolley system.

[0117] Belt suspension point assembly 113 is composed of Fig. 9 As shown, it includes: a clamping plate 1131, a lifting ring 1132, a travel switch 1133, a travel switch mounting bracket 1134, a guide sleeve 1135, a nut 1136, a gasket 1137, and a screw 1138. The lifting drive belt 118 passes through the lifting ring 1132 and is folded in half and mounted on the clamping plate 1131. The lifting ring 1132 is connected to two screws 1138. After the screws 1138 and the guide sleeve 1135 pass through the lifting point mounting holes on the lifting frame 112, the screws 1138 are fastened by nuts 1136 and gaskets 1137. The wedge block on the lifting ring 1132 contacts the travel switch 1133. When the lifting drive belt 118 becomes loose or broken, the lifting ring 1132 drives the wedge block to descend under the action of gravity, triggering the travel switch 1133, realizing the belt break detection and ensuring the safety of the equipment.

[0118] Four buffer limiters 1151, one rising overtravel switch 1153 and two guide rods 1152 are installed on the bottom of the self-propelled trolley frame 115. The self-propelled trolley balance rails 121 arranged left and right are installed at the unloading station 2, the loading station 1 6 and the loading station 2 9. Figure 2 The four balancing support wheels 116 mounted on the bicycle frame 115 are in contact with each other, which is used for the overall balance of the bicycle 1 when it is in the working position. Fig.10 As shown, the self-propelled trolley balance rail 121 is installed on the balance rail hanging arm 122, the diagonal support arm 123, and the balance rail hanging 124.

[0119] Lifting frame 112 Figure 5 As shown, the lifting frame 112 is provided with two sets of side enclosure sensor brackets 1125, and the lower end of the side enclosure sensor brackets 1125 is installed with a side enclosure detection photoelectric sensor 1126, which is used to detect and identify whether there are side enclosure parts on the side enclosure tooling; two sets of guide rod guide wheel mechanisms 1124 are installed on both sides of the center of the lifting frame 112, and each set of guide wheel mechanisms 1124 is provided with four circumferentially arranged guide wheels to form a hollow guide mechanism, and the guide rod 1152 is inserted into the hollow guide mechanism. The guide wheel mechanism 1124 cooperates with the two guide rods 1152 on the self-propelled trolley frame 115 to play a guiding and positioning role in the upper half of the lifting operation of the lifting frame 112; the lower half of the lifting operation of the lifting frame 112 relies on the guide wheel mechanism 1127 to cooperate with the grooved column guide rail installed on the ground for guidance. Guide wheel one 11271, guide wheel two 11273 and guide wheel five 11276 in the guide wheel mechanism 1127 cooperate with the inner bottom surface of the grooved guide rail to limit the degree of freedom in the direction perpendicular to the inner bottom surface of the grooved guide rail and the degree of freedom of tilting and rotating; guide wheel four 11275 cooperates with the inner surfaces on both sides of the groove of the grooved guide rail, and guide wheel three 11274 cooperates with the outer surface of one side of the groove of the grooved guide rail; cam bearing one 11272 and cam bearing two 11279 are installed on the cam bearing mounting seat 11278, and cam bearing one 11272 and cam bearing two 11279 respectively cooperate with the inner surfaces on both sides of the groove of the grooved guide rail; guide wheel four 11275, guide wheel three 11274, cam bearing one 11272 and cam bearing two 11279 jointly limit the degree of freedom in the direction perpendicular to the two side surfaces of the groove of the grooved guide rail and the degree of freedom of tilting and rotating. The guide wheel mechanism 1127 is installed on the lifting frame 112 through the guide support 11277. The tank chain bracket 1121 and the tank chain 1122 are installed on the crossbar of the door frame of the lifting frame 112. The tank chain 1122 is installed with a signal cable and a power cable. One end of the cable is led out from the PLC control box of the self-propelled trolley, and the other end is connected to the lock side enclosure tooling drive motor 112301 and the side enclosure detection sensor 1126 element.

[0120] A side locking tooling assembly 1123 is installed in the middle of the lifting frame 112. Figure 6 and Figure 7 As shown, the output shaft of the drive motor and reducer 112301 of the lock side panel tooling assembly is connected to the swing arm 112316, and the swing arm 112316 includes four branch arms. The joint bearing 112309 and the joint bearing 112311 are connected to the connecting rod 112310 through threads and nuts. The swing arm 112316 is connected to the joint shaft 112311 through the pin 112318. The joint bearing 112309 is connected to the linear guide rail mechanism 112308 through the pin 112302. One end of the floating head 112306 is a threaded rod structure, which is matched with the threaded hole of the linear guide rail mechanism 112308 and fastened with a locking nut 112307. The other end of the floating head 112306 is matched with the tail of the latch 112304 by T-slot inlay to form a floating connection. The latch 112304 passes through the sliding bearing and the bearing seat 112303 and can slide linearly therein. The limit slot 112305 is provided with a through hole, and the latch 112304 can be inserted into the hole when it is extended. At the same time, the groove structure of the limit slot 112305 is used to guide the lifting ears of the side panel tooling during the descent process of the lifting frame 112. The induction plates 112314112315 are installed on the two adjacent branch arms of the swing arm 112316, which are used to trigger the side panel tooling lock in place switch 112313 and the side panel tooling release in place switch 112317. The swing arm 112316 converts the rotational motion of the motor into the linear motion of four groups of latches 112304 with the same structure. When the locking side panel tooling assembly driving motor and reducer 112301 rotate forward, the swing arm 112316 rotates, and is transmitted through the joint bearing 112309, the connecting rod 112310, and the joint bearing 112311, so that the linear slide rail mechanism 112308 extends outward along the linear slide rail 112312 and slides, thereby driving the floating head 112306 and the latch 112304 to pass through the sliding bearing and the bearing seat 112303, the side panel tooling lifting ear, and the limit slot 112305. After the latch 112304 is extended and locked in place, the side panel tooling locked in place switch 112313 is triggered by the sensor plate 112314. When the lock side panel tooling assembly drive motor and reducer 112301 reverse, the swing arm 112316 rotates, and is transmitted through the joint bearing 112309, the connecting rod 112310, and the joint bearing 112311, so that the linear slide rail mechanism 112308 retracts and slides inward along the linear slide rail 112312, thereby driving the floating head 112306 and the latch 112304 to retract inward through the sliding bearing and the bearing seat 112303, and disengage from the side panel tooling lifting ear and the limit slot 112305. After the latch 112304 is retracted and released into place, the side panel tooling release position switch 112317 is triggered by the sensor plate 112315.

[0121] The power required by the self-propelled trolley is provided by the busbar on the conveying system production line track 3 through the trolley carbon brush device 1018. There are 6 busbars in parallel, which provide 380V (L1, L2, L3), 220V (L, N) voltage and PE grounding wire respectively. The 380V power supply is used to power the inverter and motor, and the 220V is connected to the 24V DC power module to provide 24V control power for the self-propelled trolley control system.

[0122] The entire control system consists of a main PLC control system and a self-propelled trolley PLC control system. The main PLC control system includes a main PLC controller, an HMI operation screen system, and remote IO. The main PLC controller is responsible for the overall operation control of the conveying system, while monitoring and identifying the status of remote IO signals, implementing logical judgments, and issuing instructions. The remote IO signals include: in-position detection of the first loading position of the trolley (the signal collected by the occupant switch set on the loading station 1 6), in-position detection of the second loading position of the trolley (the signal collected by the occupant switch set on the loading station 2 9), in-position detection of the first waiting position of the trolley (the signal collected by the waiting position switch 1 5), in-position detection of the second waiting position of the trolley (the signal collected by the waiting position switch 2 10), in-position detection of the unloading position of the trolley (the signal collected by the occupant switch set on the unloading station 2), positioning and tightening of the loading position 1, positioning and loosening of the loading position 1, positioning and loosening of the loading position 2, positioning and clamping of the loading position 2, positioning and loosening of the loading position 2, positioning and clamping of the unloading position (the signals collected by the in-position sensing sensors on the cylinder clamps for clamping the positioning rod 103 set on the loading station 1 6, the loading station 2 9 and the unloading station 2 respectively).

[0123] The self-propelled trolley PLC control system consists of the self-propelled trolley PLC controller, horizontal travel inverter, travel main drive motor and reducer 1011, vertical lift inverter, lift drive motor and reducer 104, lock side tooling drive motor and reducer 112301, remote IO, remote control, yardstick positioning reader 108. Among them, the self-propelled trolley PLC controller, horizontal travel inverter, vertical lift inverter are installed in Figure 2The self-propelled trolley PLC control box 119 is shown. The self-propelled trolley PLC control box 119 is fixed on the lifting frame 112, and the self-propelled trolley PLC control system is responsible for the operation control of the trolley itself. The frequency converter is the driving unit of the motor to realize the motor speed adjustment. The remote IO collects the state of the trolley, and the self-propelled trolley PLC controller implements the operation process control according to the state conditions. The remote IO signals include: rising to the position deceleration detection, rising to the position stop detection, rising to the position overtravel detection, belt break detection (signal collected by the travel switch 1133), side enclosure part detection (signal collected by the side enclosure sensor 1126), side enclosure tooling locking detection, side enclosure tooling loosening detection, descending to the position deceleration detection, and descending to the position stop detection. The closed-loop control of the trolley's horizontal walking position stop is realized by the yardstick positioning reader 108, so as to achieve the precise positioning function. The manual operation control of the trolley can be realized by the remote control.

[0124] The self-propelled trolley frame 115 is provided with a rise-to-position deceleration switch and a rise-to-position stop switch, and the lifting frame 112 is provided with a descent-to-position deceleration switch and a descent-to-position stop switch.

[0125] Rising to the designated position deceleration detection: When the lifting frame 112 reaches the trigger distance during the rising process, the rising to the designated position deceleration switch installed on the self-propelled trolley frame 115 is triggered, and the rising to the designated position deceleration switch sends a deceleration signal.

[0126] Rise-to-position stop detection: When the lifting frame 112 rises to position, the rise-to-position stop switch installed on the self-propelled trolley frame 115 is triggered and sends out a position signal.

[0127] Overtravel detection when the lifting frame 112 rises to an overtravel position: When the lifting frame 112 rises to an overtravel position, the overtravel switch 1153 installed on the trolley frame 115 is triggered and an overtravel signal is issued.

[0128] Side panel tooling locking detection and side panel tooling release detection: the side panel tooling locking position switch 112313 and the side panel tooling release position switch 112317 installed on the lifting frame 112 are used to detect whether the latch 112304 is in an extended locked state or a retracted released state.

[0129] Descending into position deceleration detection: When the lifting frame 112 descends to the position where deceleration is required, the descending into position deceleration switch installed on the lifting frame 112 is triggered and a deceleration signal is issued.

[0130] Descent stop detection: When the lifting frame 112 descends to the lowest target position, the descent stop switch installed on the lifting frame 112 is triggered and sends a descent signal.

[0131] Signals are exchanged between the main PLC controller and the PLC controllers of the two self-propelled trolleys 1 through a wireless signal coupler. Two pairs of wireless signal couplers are set at each workstation, and each pair of wireless signal couplers consists of a transmitter and a receiver. The main PLC controller sends operation control instructions such as rising, falling, advancing, retreating, enabling, and workstation safety to the self-propelled trolley receiver through the transmitter. After the self-propelled trolley receiver receives the corresponding operation control instructions, the self-propelled trolley PLC controller controls the self-propelled trolley 1 to realize the corresponding action function. At the same time, the self-propelled trolley 1 can send its working status information such as retreating to the right position, advancing to the right position, rising to the right position, descending to the right position, and failure to the main PLC receiver through the wireless signal coupler transmitter; the retreating to the right position signal detects whether the self-propelled trolley is in place through the occupant switch installed on the upper workstation, and the advancing to the right position detects whether the self-propelled trolley is in place through the occupant switch installed on the lower workstation. At the waiting position, the main control PLC controller interacts with the self-propelled vehicle 1 through photoelectric signals, so that the main control PLC controller gives the self-propelled vehicle PLC controller a command to stop at the waiting position and to advance to the next work position. Specifically:

[0132] The main control PLC sends an "upward command". After the self-propelled trolley PLC controller receives the "upward command", it sends a drive instruction to the vertical lifting inverter. The lifting drive motor and the reducer 104 are driven in the forward direction, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation. The lifting drive belt 118 housed in the lifting drive pulley 114 is driven to run in the reverse direction, and the lifting frame 112 is driven to rise through the belt guide wheel 117 and the four belt suspension point assemblies 113.

[0133] After receiving the "descending command", the PLC controller of the self-propelled trolley 1 sends a driving instruction to the vertical lifting inverter, and the lifting drive motor and the reducer 104 are driven in reverse, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven and rotates out from the lifting drive pulley 114, and drives the lifting frame 112 to descend through the belt guide wheel 117 and the four belt suspension point assemblies 113. The lifting mechanism descends to the low position, triggering the descent in place deceleration switch and the in-place stop switch, and the "descent in place deceleration detection" and "descent in place stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller, and the PLC controller controls the vertical lifting inverter to stop running.

[0134] The main PLC controller sends a "forward command" to the self-propelled trolley. After receiving the "forward command" through the wireless signal coupler, the self-propelled trolley PLC controller sends a drive instruction to the travel inverter. The travel main drive motor and reducer 1011 rotate forward, driving the travel main drive wheel 1012 to run on the production line track 3.

[0135] The main PLC controller sends a "backward command". After the self-propelled trolley PLC controller receives the "backward command" through the wireless signal coupler, it sends a drive instruction to the travel inverter to control the travel main drive motor and reducer 1011 to reverse and drive the travel main drive wheel 1012 to run on the production line track 3.

[0136] After the "enable" command is received by the PLC controller of the self-propelled trolley, it is sent to the "vertical lifting inverter" and "travel inverter" to put them in a standby state.

[0137] The "workstation safety" instruction performs logical judgment on the relevant safety signals collected by the main control PLC and sends it to the self-propelled vehicle PLC controller. The self-propelled vehicle can only operate when safety conditions are met.

[0138] Conveying system control process:

[0139] Step 1: Initially, two self-propelled trolleys 1 (self-propelled trolley 1 and self-propelled trolley 2) wait at loading station 1 6 and loading station 2 9 respectively;

[0140] Step 2, the main control PLC controller receives the vehicle model queue sent by the main welding line, and gives priority to sending the current vehicle model to the vehicle model information storage variable corresponding to the built-in loading station 6, and at the same time moves the tooling with the side panel under the loading station 6, so that the lifting ear of the side panel tooling is located between the sliding bearing and the bearing seat 112303 and the limit slot 112305, and the main control PLC controller sends a "descending command" to the self-propelled trolley 1 through the wireless coupler at the loading station 6. After receiving the "descending command", the self-propelled trolley PLC controller of the self-propelled trolley 1 sends a driving instruction to the vertical lifting inverter to control the lifting drive motor and the reducer 104 to reverse drive, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation and are stored in the lifting The lifting drive belt 118 in the driving pulley 114 is driven, rotated out of the lifting drive pulley 114, and drives the lifting frame 112 to descend under the guidance of the guide rod 1152 through the belt guide wheel 117 and the four belt hanging point assemblies 113. When the lifting frame 112 descends to a low position, the descent-in-place deceleration switch on the lifting frame 112 is triggered, and the lifting drive motor and the reducer 104 are controlled to decelerate. After the descent-in-place stop switch on the lifting frame 112 is triggered, the lifting drive motor and the reducer 104 are controlled to stop running; the "descent-in-place deceleration detection" and "descent-in-place stop detection" signals on the remote IO are fed back to the PLC controller of the self-propelled trolley, and the PLC controller controls the vertical lifting inverter to stop running.

[0141] Step 3: The PLC controller of the self-propelled trolley controls the rotation of the side panel tooling motor 112301, and then drives the latch 112304 to pass through the lifting ear hole of the side panel tooling and then insert into the limit slot 112305 to pick up the side panel tooling; through the "side panel tooling locked in place" and "side panel tooling opened in place" signals triggered by the side panel tooling locked in place switch 112313 and the side panel tooling released in place switch 112317 on the remote IO, it is identified whether the rotation drive of the side panel tooling motor 112301 is completed. If the side panel tooling locked in place switch 112313 is triggered, it means that the side panel tooling is locked in place, and the side panel tooling motor 112301 is controlled to stop rotating, and the drive is completed, and the next step is entered;

[0142] Step 4: After picking up the side panel tooling, the side panel detection photoelectric sensor 1126 detects whether the side panel tooling is in place. After detecting that the side panel tooling is in place, when the "side panel has a piece detection" signal on the remote IO is normal, the self-propelled trolley PLC feeds back the "piece" signal to the main control PLC through the wireless signal coupler, and the main control PLC sends an "up command". After receiving the "up command", the self-propelled trolley PLC controller sends a drive instruction to the vertical lifting inverter to control the lifting drive motor and the reducer 104 to drive forward, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation and are stored in the lifting drive pulley 1 The lifting drive belt 118 in 14 is driven to run in the reverse direction, passing through the belt guide wheel 117 and the four belt suspension point components 113 to drive the lifting frame 112 to rise; the lifting mechanism rises to a high position, and when the rise-to-position deceleration switch on the self-propelled trolley frame 115 is triggered, the lifting drive motor and the reducer 104 are controlled to decelerate and run; when the rise-to-position stop switch is triggered, the lifting drive motor and the reducer 104 are controlled to stop running, and the "rise-to-position deceleration detection" and "rise-to-position stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller, and the PLC controller controls the vertical lifting inverter to stop running. The lifting mechanism raises the side enclosure to a high position, and the self-propelled trolley feeds back the "rise-to-position" signal to the main control PLC controller through the wireless signal coupler. The main control PLC controller sends a "forward command" to the self-propelled trolley 1. After receiving the "forward command" through the wireless signal coupler, the self-propelled trolley PLC controller sends a drive instruction to the travel inverter, and then controls the travel main drive motor and reducer 1011 to run forward, driving the travel main drive wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 in the loading station 16 carries the side enclosure parts away from the loading station 16 area until Figure 1 The waiting position switch 5 is triggered, and the trolley 1 arrives at the waiting position 1 and waits;

[0143] Step five, occupancy switches are installed at the unloading station 2, loading station one 6, and loading station two 9, which are connected to the remote IO of the main control PLC control system, and the trolley unloading station in-place detection, trolley loading station one in-place detection, and trolley loading station two in-place detection signals are fed back to the main control PLC, and the main control PLC controller identifies whether there is a self-propelled trolley 1 in each station. The main control PLC controller performs logical judgment. When the occupancy switch on the unloading station 2, the occupancy switch on the loading station two 9, and the waiting position switch two 10 signal judgment that there is no car at the unloading station 2 and there is a car at the loading station two 9 or the waiting position two, the photoelectric switch sends a "go to the unloading station 2 command" to the self-propelled trolley one, and at the same time switches the turnout one 4 to the straight track. After receiving the "go to the unloading station 2 command", the self-propelled trolley PLC controller sends a drive instruction to the travel inverter to control the travel main movement of the self-propelled trolley 1 in the loading station one 6. The driving motor and reducer 1011 rotate forward, driving the main driving wheel 1012 to run on the production line track 3, and reads the horizontal walking position value of the self-driving trolley 1 through the yardstick positioning reader 108. When the self-driving trolley travels to the unloading station 2, the self-driving trolley PLC controller controls the self-driving trolley 1 to stop according to the position value read by the yardstick positioning reader 108 (that is, the main driving motor and reducer 1011 stop running). At the same time, the self-driving trolley PLC controller feeds back the "forward to position" signal to the main control PLC through the wireless signal coupler.At this time, the main control PLC transfers the current car model stored in the car model information storage variable corresponding to the upper workstation 16 to the car model information storage variable corresponding to the lower workstation 2, and performs a program logic comparison with the car model in the car model information storage variable corresponding to the main welding line pre-installation station; when the car model in the storage variable of the lower workstation 2 is not equal to the car model in the storage variable of the main welding line pre-installation station, the main control PLC controller issues a comparison inconsistency error alarm; when the car model in the storage variable of the lower workstation 2 is equal to the car model in the storage variable of the main welding line pre-installation station, the main control PLC controller issues a car model comparison consistency signal. When the main control PLC controller sends a car model comparison consistency signal and the main control PLC controller receives a non-interference signal from the main welding line, the main control PLC controller sends a signal through the wireless signal coupler at the lower workstation 2. The PLC controller of the self-propelled trolley sends a "descending command". After receiving the "descending command", the PLC controller of the self-propelled trolley sends a driving instruction to the vertical lifting frequency converter to control the lifting motor 104 of the self-propelled trolley 1 in the unloading station 2 to reverse drive, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and drives the lifting frame 112 to descend through the belt guide wheel 117 and the four belt suspension point assemblies 113; the lifting mechanism descends to the low position until the descent in place deceleration switch and the in-place stop switch are triggered, and the "descent in place deceleration detection" and "descent in place stop detection" signals on the remote IO are fed back to the PLC controller of the self-propelled trolley, and the PLC controller of the self-propelled trolley controls the vertical lifting frequency converter to stop running. The lifting motor 104 stops running, and the lifting frame 112 moves downward to the position where the side panel tooling is delivered to the main welding line robot grabbing position; after the robot completes picking up the parts, it sends a picking up completion signal to the main control PLC controller, and the main control PLC controller sends an "up command" to the self-propelled trolley PLC controller through the wireless signal coupler at the unloading station 2. After receiving the "up command", the self-propelled trolley PLC controller sends a drive instruction to the vertical lifting inverter to control the lifting motor 104 to drive forward, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, passing through the belt guide wheel 117 and the four belt suspension point components 113 to drive the lifting frame 112 to rise; the lifting mechanism rises to a high position until the rise-in-place deceleration switch and the rise-in-place stop switch on the self-propelled trolley frame 115 are triggered, and the lifting motor 104 stops running. The "rise-in-place deceleration detection" and "rise-in-place stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller, and the PLC controller controls the vertical lifting inverter to stop running. After the lifting mechanism rises to a high position, the self-propelled trolley feeds back the "rise-in-place" signal to the main control PLC controller.The main PLC controller sends a "backward command". After the self-driving trolley PLC controller receives the "backward command" through the wireless signal coupler, it sends a drive instruction to the travel inverter to control the travel main drive motor and reducer 1011 to reverse and drive the travel main drive wheel 1012 to run on the production line track 3, so that the self-driving trolley 1 in the unloading station 2 returns to the loading station 6, waiting to pick up the next side panel part;.

[0144] During this process, after the rising stop switch on the self-propelled trolley frame 115 is triggered, it indicates that the vehicle has risen to the position. If the vehicle continues to rise due to other factors, the rising overtravel switch 1153 will be triggered, and then the lifting motor 104 will be controlled to stop running. The rising overtravel switch 1153 plays a secondary protection role.

[0145] Step six, after the current vehicle model stored in the corresponding vehicle model information storage variable of loading station one 6 is transferred to the corresponding vehicle model information storage variable of unloading station 2, the next vehicle model is sent to the corresponding vehicle model information storage variable of loading station two 9 as the current vehicle model of loading station two 9; at this time, the tooling with side panels moves under loading station two 9, and the main control PLC sends a "descending command" to self-propelled trolley two through the wireless coupler at loading station two 9. After the PLC controller of self-propelled trolley two receives the "descending command", it sends a drive instruction to the vertical lifting frequency converter to control the lifting motor of self-propelled trolley 1 at loading station two 9. 104 is driven in reverse, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation. The lifting drive belt 118 housed in the lifting drive pulley 114 is driven to run, and the lifting frame 112 is driven to descend through the belt guide wheel 117 and the four belt suspension point components 113. When the lifting frame 112 descends to the low position, the descent-in-place deceleration switch and the in-place stop switch thereon are triggered, and the lifting motor 104 is controlled to stop running. The "descent-in-place deceleration detection" and "descent-in-place stop detection" signals on the remote IO are fed back to the PLC controller of the self-propelled trolley, and the PLC controller controls the vertical lifting inverter to stop running. The PLC controller of the self-propelled trolley controls the rotation of the locking motor 112301 of the side panel tooling, and then drives the latch 112304 to pass through the lifting ear hole of the side panel tooling and then insert into the limit slot 112305 to pick up the side panel tooling; through the "side panel tooling locked in place" and "side panel tooling opened in place" signals triggered by the side panel tooling locked in place switch 112313 and the side panel tooling released in place switch 112317 on the remote IO, it is identified whether the rotation drive of the locking motor 112301 of the side panel tooling is completed. If the side panel tooling locked in place switch 112313 is triggered, it means that the side panel tooling is locked in place, and the locking motor 112301 of the side panel tooling is controlled to stop rotating, the drive is completed, and the next step is entered;

[0146] Step 7, after picking up the side panel tooling, the side panel sensor 1126 detects whether the side panel tooling is in place. If the side panel tooling is detected to be in place, when the "side panel has a piece detection" signal on the remote IO is normal, the self-propelled trolley PLC feeds back the "piece has a piece" signal to the main control PLC through the wireless signal coupler, and the main control PLC sends an "up command". After receiving the "up command", the self-propelled trolley PLC controller sends a drive instruction to the vertical lifting inverter to control the lifting motor 104 of the self-propelled trolley 1 at the loading station 2 9 to drive forward, and the coupling 105, The lifting drive pulley 114 follows the forward rotation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, passing through the belt guide wheel 117 and the four belt suspension point components 113 to drive the lifting frame 112 to rise. When the rise-to-position deceleration switch and the rise-to-position stop switch are triggered, the lifting motor 104 is controlled to stop running, and the "rise-to-position deceleration detection" and "rise-to-position stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller, and the PLC controller controls the vertical lifting inverter to stop running. The lifting mechanism raises the side enclosure to the high position, and the self-propelled trolley 2 feeds back the "rise-to-position" signal to the main control PLC through the wireless signal coupler. The main control PLC sends a "forward command" to the self-propelled trolley 2. After the self-propelled trolley PLC receives the "forward command" through the wireless signal coupler, it sends a driving instruction to the travel inverter to control the main travel drive motor and reducer 1011 of the self-propelled trolley 1 to rotate forward, and drive the main travel drive wheel 1012 to operate on the production line track 3. The self-propelled trolley 1 carries the side enclosure parts and drives out of the loading station 2 9 area until it reaches the waiting position 2 position where the waiting position switch 2 10 is located to wait; occupancy switches are installed at the unloading station 2, the loading station 1 6, and the loading station 2 9, which are connected to the remote IO of the main control PLC, and the "trolley unloading station in-place detection", "trolley loading station 1 in-place detection", and "trolley loading station 2 in-place detection" signals fed back to the main control PLC identify whether there is a self-propelled trolley in place at each station. The main control PLC performs logical judgment. When there is no vehicle at the unloading station 2 and there is a vehicle at the loading station 1 6 or the waiting station 1, the photoelectric switch sends a "advance to the unloading station 2 command" to the self-propelled trolley 2, and at the same time switches the switch 1 4 to the curved track. After receiving the "advance to the unloading station 2 command", the self-propelled trolley PLC controller of the self-propelled trolley 2 sends a drive instruction to the travel inverter to control the travel main drive motor and reducer 1011 of the self-propelled trolley 1 at the waiting station 2 to rotate forward, drive the travel main drive wheel 1012 to operate on the production line track 3, and read the horizontal travel position value of the self-propelled trolley 1 through the yardstick positioning reader 108. When it travels to the unloading station 2, the travel main drive motor and reducer 1011 of the self-propelled trolley 1 are controlled to stop running; the self-propelled trolley PLC controller controls the self-propelled trolley 1 to stop according to the position value read by the yardstick positioning reader 108, and at the same time, the self-propelled trolley PLC controller feeds back the "advance to position" signal to the main control PLC through the wireless signal coupler.

[0147] Step eight, at this time, the main control PLC program transfers the current car model stored in the car model information storage variable corresponding to the upper workstation 2 9 to the car model information storage variable corresponding to the lower workstation 2, and performs a program logic comparison with the car model in the car model information storage variable corresponding to the main welding line pre-installation station. When the car model in the storage variable of the lower workstation 2 is not equal to the car model in the storage variable of the main welding line pre-installation station, the main control PLC program issues an error alarm for inconsistent comparison; when the car model in the storage variable of the lower workstation 2 is equal to the car model in the storage variable of the main welding line pre-installation station, the main control PLC program issues a car model comparison consistency signal; when the main control PLC program issues a car model comparison consistency signal and the main control PLC receives a non-interference signal from the main welding line, the main control PLC sends a wireless signal at the lower workstation 2. The signal coupler sends a "descending command" to the PLC controller of the self-propelled trolley. After receiving the "descending command", the PLC controller of the self-propelled trolley sends a driving instruction to the vertical lifting frequency converter to control the lifting motor 104 of the self-propelled trolley 1 at the lower workstation 2 to reverse drive, and the coupling 105 and the lifting drive pulley 114 follow the reverse operation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and the output of the belt guide wheel 117 and the four belt suspension point components 113 drives the lifting frame 112 to descend until the descent in place deceleration switch and the in-place stop switch are triggered. The "descent in place deceleration detection" and "descent in place stop detection" signals on the remote IO are fed back to the PLC controller of the self-propelled trolley, and the PLC controller controls the vertical lifting frequency converter to stop running. After the lifting mechanism is in place, the lifting motor 104 stops running and sends the side panel to the main welding line robot grabbing position. After the robot completes the picking up, it sends a "picking up completed" signal to the main control PLC. The main control PLC sends an "up command" to the self-propelled trolley PLC controller through the wireless signal coupler at the unloading station 2. After receiving the "up command", the self-propelled trolley PLC controller sends a drive instruction to the vertical lifting inverter to control the lifting motor 104 of the self-propelled trolley 1 to drive forward, and the coupling 105 and the lifting drive pulley 114 follow the forward rotation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, and the lifting frame 112 is driven to rise through the belt guide wheel 117 and the four belt suspension point assemblies 113 until the rising position deceleration switch and the rising position stop switch are triggered, and the lifting motor 104 stops running, and the "rising position deceleration detection" and "rising position stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller, and the PLC controller controls the vertical lifting inverter to stop running. After the lifting mechanism moves up to the highest position, the self-propelled trolley will feedback the "rising to the position" signal to the main control PLC.The main control PLC sends a "backward command". After the PLC controller of the self-driving trolley 2 receives the "backward command" through the wireless signal coupler, it sends a drive instruction to the travel inverter to control the main travel drive motor and reducer 1011 of the self-driving trolley 1 at the unloading station 2 to reverse and drive the main travel drive wheel 1012 to run on the production line track 3, so that the self-driving trolley 1 at the unloading station 2 returns to the loading station 2 9 to wait for the next side panel part to be picked up.

[0148] Step nine, repeat steps one to eight to achieve flexible batch production of multiple models.

[0149] The first method of switching the spare car is divided into two situations:

[0150] The first situation: when the self-propelled trolley 1 at the loading station 1 6 fails;

[0151] Step 1: first switch the turnout 1 4 to the curved track, control the main driving motor and reducer 1011 of the self-propelled trolley 1 at the loading station 2 9 to run, drive the main driving wheel 1012 to run on the production line track 3, and move the normal self-propelled trolley 1 at the loading station 2 9 forward to the unloading station 2 to wait;

[0152] Step 2: Switch the second turnout 11 to the curved track, control the main driving motor and reducer 1011 of the standby trolley 8 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the standby trolley 8 moves forward to the track 3 between the turnout 1 4 and the unloading station 2 to stop and wait;

[0153] Step 3: Switch the turnout 11 to the straight track, control the main driving motor and reducer 1011 of the self-propelled trolley 1 that has a fault at the loading station 1 6 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 that has a fault at the loading station 1 6 retreats to the maintenance station 7;

[0154] Step 4: Switch the turnout 104 to the straight track, control the main driving motor and reducer 1011 of the spare trolley 8 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the spare trolley 8 retreats to the loading station 106 and is put into use;

[0155] Step 5: Switch the turnout 1 4 to the curved track, control the main driving motor and reducer 1011 of the self-propelled trolley 1 at the unloading station 2 to run, drive the main driving wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 at the unloading station 2 retreats to the loading station 2 9; thus, the self-propelled trolley 1 at the loading station 1 6 that has a fault is switched to the maintenance station 7, and the equipment is quickly replaced to reduce the loss of downtime;

[0156] The second situation: when the self-propelled trolley 1 at the second loading station 9 fails;

[0157] Step 1: first switch the turnout 4 to the straight track, and move the normal self-propelled trolley 1 at the loading station 6 forward to the unloading station 2 to wait;

[0158] Step 2: Switch the second turnout 11 to the straight track, and control the spare trolley 8 to move forward to the track 3 between the turnout 4 and the unloading station 2 to stop and wait;

[0159] Step 3: Switch the second turnout 11 to the curved track, and control the self-propelled trolley 1 that has a fault at the loading station 2 9 to retreat to the maintenance station 7;

[0160] Step 4: switch the turnout 1 4 to the curved track, and control the spare trolley 8 to retreat to the loading station 2 9 and put it into use;

[0161] Step five, switch the turnout 4 to the straight track, and the self-propelled trolley 1 at the unloading station 2 retreats to the loading station 6; at this point, the self-propelled trolley 1 that has a fault at the loading station 2 9 is switched to the maintenance station 7, and the equipment is quickly replaced to reduce downtime losses.

[0162] The second method of switching the spare car is divided into two situations:

[0163] The first situation: when the self-propelled trolley 1 at the loading station 1 6 fails;

[0164] Step 1: first switch the turnout 1 4 to the straight track, operate the self-propelled trolley 1 at the first station 6 to move forward to the unloading station 2, switch the turnout 1 4 to the curved track, operate the self-propelled trolley 1 at the unloading station 2 to retreat to the waiting position 2 10 to wait;

[0165] Step 2: Switch the second switch 11 to the straight track, switch the first switch 4 to the straight track, and control the spare trolley 8 to move forward to the unloading station 2 to wait;

[0166] Step 3: Switch 1 4 is switched to the curved track, and the self-propelled trolley 1 at the waiting position 2 10 moves forward to the track 3 between switch 1 4 and the unloading station 2 and stops;

[0167] Step 4: Switch 1-4 is switched to the straight track, and the self-propelled trolley 1 is operated to retreat to the maintenance station 7; the spare trolley 8 is controlled to retreat to the loading station 1-6 and put into work. At this point, the self-propelled trolley 1 that has a fault at the loading station 1-6 is switched to the maintenance station 7, and the equipment is quickly replaced to reduce the loss of downtime;

[0168] The second situation: when the self-propelled trolley 1 at the second loading station 9 fails;

[0169] Step 1: first switch the turnout 1 4 to the curved track, operate the self-propelled trolley 1 at the second station 9 to move forward to the unloading station 2, switch the turnout 1 4 to the straight track, operate the self-propelled trolley 1 at the unloading station 2 to retreat to the waiting position 1 5 to wait;

[0170] Step 2: Switch the second switch 11 to the curved track, switch one 4 to the curved track, and control the spare trolley 8 to move forward to the unloading station 2 to wait;

[0171] Step 3: Switch 1 4 is switched to the straight track, and the self-propelled trolley 1 at the waiting position 1 5 is operated to move forward to the track 3 between switch 1 4 and the unloading station 2 and stop;

[0172] Step 4, switch 1 4 is switched to the curved track, and the self-propelled trolley 1 is operated to retreat to the maintenance station 7; the spare trolley 8 is controlled to retreat to the loading station 2 9 and put into work. At this point, the self-propelled trolley 1 that has a fault at the loading station 2 9 is switched to the maintenance station 7, and the equipment is quickly replaced to reduce the loss of downtime.

[0173] The present invention has two loading ports at the loading station. The main PLC control system of the conveying system receives the vehicle model production plan queue issued by the main welding line, controls the self-propelled trolleys at the two loading ports to load the parts alternately, and when the self-propelled trolley reaches the unloading station, it matches the vehicle model at the pre-installation station of the main welding line again. After the matching is successful, the side panel assembly is grabbed by the main welding line robot for vehicle assembly operation. The conveying system can meet the large-scale flexible production of various vehicle models;

[0174] The main control PLC of the present invention and the PLC of the self-propelled trolley perform signal interaction at the loading station and the unloading station through wireless coupling sensors to realize the dispatching control of the entire conveying system.

[0175] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the protection scope of the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention. These simple variations all belong to the protection scope of the present invention.

[0176] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0177] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A main welding line side enclosure conveying system, characterized in that: The invention comprises a self-propelled trolley (1), a loading station (2), a production line track (3), a first turnout (4), a first loading station (6), a second loading station (9), a second turnout (11), a maintenance station (7), and a spare trolley (8); wherein the unloading station (2), the first loading station (6), the maintenance station (7), and the second loading station (9) are respectively provided with production line tracks (3), and the self-propelled trolley (1) can be connected to any one of the production line tracks (3), the production line track (3) on the maintenance station (7) is connected to the spare trolley (8), and the production line track (3) on the maintenance station (7) is respectively connected to the second loading station (9). (9) is connected to one end of the production line track (3) on the loading station one (6), and the other ends of the production line track (3) on the loading station two (9) and the loading station one (6) are respectively connected to the production line track (3) on the unloading station (2), and the unloading station (2), the loading station one (6) and the loading station two (9) are all installed with a self-propelled trolley balance rail (121); a waiting position switch two (10) is provided on one side of the production line track (3) between the unloading station (2) and the loading station two (9), and a waiting position switch one (5) is provided on one side of the production line track (3) between the unloading station (2) and the loading station one (6); The self-propelled trolley (1) and the spare trolley (8) have the same structure, and both comprise a main travel drive assembly (101), a connecting rod (102), a lifting drive motor and a reducer (104), a travel driven assembly (107), a suspension arm (110), a lifting frame (112), a belt suspension point assembly (113), a lifting drive pulley (114), a self-propelled trolley frame (115), a self-propelled trolley balance support wheel (116), and a belt guide wheel (117); wherein the main travel drive assembly (101) and the travel driven assembly (107) are hinged to the suspension arm (110) through the connecting rod (102), the suspension arm (110) is fixed to the self-propelled trolley frame (115), and the lifting drive motor and a reducer (104) and a lifting drive pulley (114) are fixed to the middle of the self-propelled trolley frame (115). A lifting drive pulley (114), a belt guide wheel (117) is fixed on the self-propelled trolley frame (115) outside the boom (110), and the concentric output shafts on the left and right sides of the lifting drive motor and the reducer (104) are respectively connected to the corresponding lifting drive pulley (114), and can drive the lifting drive pulley (114) to rotate; a lifting drive belt (118) is wound around the lifting drive pulley (114), and the two ends of the lifting drive belt (118) are respectively connected to the corresponding belt suspension point assembly (113) after passing through the corresponding belt guide wheel (117); and the walking main drive assembly (101) and the walking driven assembly (107) are used to cooperate with the production line track (3), so that the self-propelled trolley (1) can slide along the production line track (3); A guide rod (1152) is fixed at the bottom of the bicycle frame (115); and the balance support wheel (116) passes through the bicycle frame (115) and is connected to the corresponding balance rail (121) of the bicycle; The lifting frame (112) is fixed with a side enclosure lock tooling assembly (1123), a guide wheel mechanism (1124) and a side enclosure sensor bracket (1125), wherein a side enclosure detection photoelectric sensor (1126) is installed at the bottom of the side enclosure sensor bracket (1125), and a guide rod (1152) is inserted into the guide wheel mechanism (1124) to realize a guide connection between the lifting frame (112) and the self-propelled vehicle frame (115); and the lifting frame (112) is also provided with a guide wheel mechanism (1127) for cooperating with a grooved column guide rail on the floor of a corresponding workstation.

2. A main welding line side enclosure conveying system according to claim 1, characterized in that: The lock side panel tooling assembly (1123) comprises a lock side panel tooling assembly drive motor and reducer (112301), a swing arm (112316), a linear slide mechanism (112308), a floating head (112306), a latch (112304), a limit slot (112305), and a joint mechanism; wherein the lock side panel tooling assembly drive motor and reducer (112301) are fixed on the lifting frame (112), and a swing arm (112316) is mounted on the output shaft thereof, and linear slide mechanisms (112308) are respectively arranged on the left and right sides of the front and rear ends of the lock side panel tooling assembly drive motor and reducer (112301), and the linear slide mechanism (112308) is fixed on the lifting frame (112). 2); each branch arm of the swing arm (112316) is respectively connected to a joint mechanism, the other end of the joint mechanism is connected to the slider of the corresponding linear slide mechanism (112308) through a pin shaft (112302), and the slider is provided with a connecting plate with a threaded hole, one end of the floating head (112306) is connected to the connecting plate, and the other end is matched and connected to the T-slot at the tail of the latch (112304), the latch (112304) is connected to the lifting frame (112) through a sliding bearing and a bearing seat (112303), and a limit slot (112305) is fixed on the lifting frame (112) outside thereof, and the latch (112304) can be aligned with the through hole of the limit slot (112305); The joint mechanism comprises a joint bearing (112309), a joint bearing (112311), and a connecting rod (112310), wherein one end of the joint bearing (112309) and the joint bearing (112311) are respectively fixed at two ends of the connecting rod (112310), the other end of the joint bearing (112311) is connected to a branch arm corresponding to a swing arm (112316) through a pin shaft (112318), and the other end of the joint bearing (112309) is connected to a slider of a linear slide mechanism (112308) through a pin shaft (112302).

3. A main welding line side enclosure conveying system according to claim 2, characterized in that: The invention also comprises a first induction plate (112314), a second induction plate (112315), a side enclosure tooling locking switch (112313), and a side enclosure tooling releasing switch (112317), wherein the side enclosure tooling locking switch (112313) and the side enclosure tooling releasing switch (112317) are fixed on the lifting frame (112), and the first induction plate (112314) and the second induction plate (112315) are respectively fixed on two adjacent branch arms of the swing arm (112316), and are respectively used to trigger the side enclosure tooling locking switch (112313) and the side enclosure tooling releasing switch (112317).

4. A main welding line side enclosure conveying system according to claim 1, characterized in that: The guide rod guide wheel mechanism (1124) comprises four guide wheels and a connecting plate, wherein the connecting plate is fixed on the lifting frame (112), the four guide wheels are fixed on the connecting plate, and the guide rod (1152) is inserted into the four guide wheels and is connected with the four guide wheels; The guide wheel mechanism (1127) comprises a guide wheel 1 (11271), a cam bearing 1 (11272), a guide wheel 2 (11273), a guide wheel 3 (11274), a guide wheel 4 (11275), a guide wheel 5 (11276), a guide support (11277), a cam bearing mounting seat (11278) and a cam bearing 2 (11279), wherein the guide wheel 1 (11271) is fixed above the guide support (11277), and the cam bearing 1 (11272) and the cam bearing 2 (11279) are fixed on the guide wheel. The guide wheel (11271) is fixed on the guide support (11277) below the cam bearing (11271), the guide wheel (11273) is fixed on the guide support (11277) below the cam bearing (11279), the guide wheel (11274) and the guide wheel (11275) are fixed on the guide support (11277) below the guide wheel (11273), the guide wheel (11276) is fixed on the guide support (11277) below the guide wheel (11275), and the guide support (11277) is fixed on the outer end of the lifting frame (112).

5. A main welding line side enclosure conveying system according to claim 1, characterized in that: The belt suspension point assembly (113) comprises a clamping plate (1131), a lifting ring (1132), a guide sleeve (1135), a nut (1136), and a screw (1138), wherein a screw (1138) is fixed at the bottom of the lifting ring (1132), and the screw (1138) is sleeved in the guide sleeve (1135). After the guide sleeve (1135) passes through the suspension point installation hole on the lifting frame (112), it is fastened to the lifting frame (112) by the nut (1136). The end of the lifting drive belt (118) is folded upward and sleeved outside the cylinder of the lifting ring (1132), and the folded part is fixedly clamped in the clamping plate (1131).

6. A main welding line side enclosure conveying system according to claim 1, characterized in that: The walking main drive assembly (101) comprises a walking main drive motor and reducer (1011), a walking main drive wheel (1012), a main drive frame (1014), and a main drive mechanism track guide wheel (1015), wherein the walking main drive motor and reducer (1011) and the walking main drive wheel (1012) are respectively installed on both sides above the vertical plate of the main drive frame (1014), and the transmission shaft of the walking main drive motor and reducer (1011) is connected to the walking main drive wheel (1012) to control the rotation of the walking main drive wheel (1012), and the guide wheel (1015) is installed on the bottom plate of the main drive frame (1014), and the bottom of the bottom plate is fixed above one end of the connecting rod (102), and the connecting rod (102) is connected to the articulated seat (109) through a pin shaft (106), and the articulated seat (109) is fixed on the boom (110).

7. A main welding line side enclosure conveying system according to claim 1, characterized in that: The walking driven assembly (107) comprises a driven frame (1071), a driven mechanism track guide wheel (1072), and a walking driven wheel (1074); wherein the walking driven wheel (1074) is mounted above the vertical plate of the driven frame (1071), and the driven mechanism track guide wheel (1072) is mounted on the bottom plate of the driven frame (1071), and the bottom of the bottom plate of the driven frame (1071) is fixed above the other end of the connecting rod (102); the main driving frame (1014) and the driven frame (1071) are sleeved outside the corresponding production line track (3), so that the walking main driving wheel (1012) and the walking driven wheel (1074) are respectively matched on the upper surface of the production line track (3) and can roll along the production line track (3), and at the same time, the guide wheel (1015) and the driven mechanism track guide wheel (1072) are respectively matched on the guide surface of the side of the production line track (3) and are in sliding contact with the guide surface.

8. A main welding line side enclosure conveying system according to claim 1, characterized in that: The unloading station (2), loading station one (6), maintenance station (7) and loading station two (9) are respectively provided with production line tracks (3), wherein the end of the production line track (3) on the maintenance station (7) is connected to one port of the second switch (11), and the other two ports of the second switch (11) are respectively connected to one end of the production line track (3) on the loading station two (9) and the loading station one (6); the other ends of the production line track (3) on the loading station two (9) and the loading station one (6) are respectively connected to two ports of the first switch (4), and the other port of the first switch (4) is connected to the production line track (3) on the unloading station (2).

9. A main welding line side enclosure conveying system according to claim 1, characterized in that: The self-propelled trolley frame (115) is provided with a stop switch for rising to a certain position and a deceleration switch for rising to a certain position, and the lifting frame (112) is provided with a stop switch for falling to a certain position and a deceleration switch for falling to a certain position; The rails (3) above the unloading station (2), loading station two (9) and loading station one (6) are respectively provided with occupancy switches for detecting whether the self-propelled trolley (1) is in place; A buffer limiter (1151) and an ascending overtravel switch (1153) are installed at the bottom of the self-propelled trolley frame (115).

10. A method for conveying main welding line side enclosure parts using a main welding line side enclosure part conveying system according to any one of claims 1 to 9, characterized in that: It includes the following: Step 1: Initially, two self-propelled vehicles (1) wait at loading station 1 (6) and loading station 2 (9) respectively; the vehicle model is sent to the vehicle model information storage variable corresponding to loading station 1 (6); Step 2: Move the tooling with the side enclosure under the loading station 1 (6) so that the lifting lug of the side enclosure tooling is located between the sliding bearing and the bearing seat (112303) and the limit slot (112305), control the lifting drive motor and the reducer (104) to reverse drive, the coupling (105) and the lifting drive pulley (114) to follow the reverse operation, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven, and the lifting drive belt (118) is pulled out from the lifting drive pulley (114). The lifting frame (112) is rotated out and driven to descend under the guidance of the guide rod (1152) through the belt guide wheel (117) and the belt suspension point assembly (113). When the lifting frame (112) descends to a low position, a descent-in-place deceleration switch on the lifting frame (112) is triggered, and the lifting drive motor and the reducer (104) are controlled to decelerate. When the descent-in-place stop switch on the lifting frame (112) is triggered, the lifting drive motor and the reducer (104) are controlled to stop running. Step 3, control the side panel tooling lock motor (112301) to rotate, and then drive the latch (112304) to pass through the ear hole of the side panel tooling and insert into the limit slot (112305), and pick up the side panel tooling; if the side panel tooling lock-in-place switch (112313) is triggered, it means that the side panel tooling is locked in place, control the side panel tooling lock motor (112301) to stop rotating, the drive is completed, and enter the next step; Step 4: After picking up the side panel tooling, the side panel detection photoelectric sensor (1126) detects whether the side panel tooling is in place. After detecting that the side panel tooling is in place, the lifting drive motor and the reducer (104) are controlled to drive forward, the coupling (105) and the lifting drive pulley (114) follow the forward rotation, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run in the reverse direction, passing through the belt guide wheel (117) and the belt hanging point assembly (113) to drive the lifting frame (112) to rise; when the upper part on the self-propelled trolley frame (115) is triggered, the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run in the reverse direction, and the lifting frame (112) is driven to rise. After the lifting position deceleration switch is triggered, the lifting drive motor and the reducer (104) are controlled to decelerate and run. When the lifting position stop switch is triggered, the lifting drive motor and the reducer (104) are controlled to stop running. Then, the main travel drive motor and the reducer (1011) are controlled to run forward, and the main travel drive wheel (1012) is driven to run on the production line track (3), so that the self-propelled trolley (1) in the loading station 1 (6) carries the side enclosure parts and drives away from the loading station 1 (6) area until the waiting position switch 1 (5) is triggered, and the self-propelled trolley (1) arrives at the waiting position 1 position to wait; Step 5: When the signals of the occupancy switch on the unloading station (2), the occupancy switch on the loading station 2 (9) and the waiting station switch 2 (10) are used to judge that there is no vehicle at the unloading station (2) and there is a vehicle at the loading station 2 (9) or the waiting station 2, the switch 1 (4) is switched to the straight track, and the main driving motor and the reducer (1011) of the self-propelled trolley (1) at the waiting station 1 are controlled to rotate forward, and the main driving wheel (1012) is driven to run on the production line track (3). When the self-propelled trolley (1) reaches the unloading station (2), the current vehicle model stored in the vehicle model information storage variable corresponding to the loading station 1 (6) is transmitted to the vehicle model information storage variable. The information is passed to the vehicle model information storage variable corresponding to the unloading station (2), and compared with the vehicle model in the vehicle model information storage variable corresponding to the main welding line pre-installation station; when the vehicle model in the storage variable of the unloading station (2) is not equal to the vehicle model in the storage variable of the main welding line pre-installation station, an error alarm is issued; when the vehicle model in the storage variable of the unloading station (2) is equal to the vehicle model in the storage variable of the main welding line pre-installation station, it means that the vehicle model comparison is consistent, then the lifting motor (104) of the self-propelled trolley (1) in the unloading station (2) is controlled to reverse drive, and the coupling (105) and the lifting drive pulley (114) follow the reverse operation , the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run, passing through the belt guide wheel (117) and the belt suspension point assembly (113) to drive the lifting frame (112) to descend; until the descending in place deceleration switch and the in place stop switch are triggered, the lifting motor (104) stops running, the lifting frame (112) descends in place, and the side enclosure tooling is sent to the main welding line robot grasping position; after the robot completes the picking up, the lifting motor (104) is controlled to drive forward, the coupling (105) and the lifting drive pulley (114) follow the forward rotation, and the lifting frame (112) stored in the lifting drive pulley is driven forward. The lifting drive belt (118) in (114) is driven to run, and drives the lifting frame (112) to rise through the belt guide wheel (117) and the belt suspension point assembly (113); until the lifting position deceleration switch and the lifting position stop switch on the self-propelled trolley frame (115) are triggered, the lifting motor (104) stops running, and the main driving motor and the reducer (1011) are controlled to reverse and run, driving the main driving wheel (1012) to run on the production line track (3), so that the self-propelled trolley (1) in the unloading station (2) returns to the loading station one (6) to wait for the next side enclosure piece to be picked up; During this process, when the stop switch on the self-propelled trolley frame (115) is triggered, it indicates that the trolley has reached the position of ascending. If the trolley continues to ascend due to other factors, the ascending overtravel switch (1153) will be triggered, and then the lifting motor (104) will be controlled to stop running. The ascending overtravel switch (1153) plays a secondary protective role. Step 6: After the current vehicle model stored in the corresponding vehicle model information storage variable of the loading station 1 (6) is transmitted to the corresponding vehicle model information storage variable of the unloading station (2), the next vehicle model is sent to the corresponding vehicle model information storage variable of the loading station 2 (9) as the current vehicle model of the loading station 2 (9); at this time, the tooling with the side enclosure moves under the loading station 2 (9), and the lifting motor (104) of the self-propelled trolley (1) at the loading station 2 (9) is controlled to reversely drive, and the coupling (105) and the lifting drive pulley (114) follow the reverse operation, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run. The guide wheel (117) and the belt suspension point assembly (113) drive the lifting frame (112) to descend. When the lifting frame (112) descends to a low position, the descending in place deceleration switch and the in place stop switch thereon are triggered, and the lifting motor (104) is controlled to stop running, and the side enclosure tooling locking motor (112301) is controlled to rotate, thereby driving the latch (112304) to pass through the ear hole of the side enclosure tooling and then insert into the limit card slot (112305), and pick up the side enclosure tooling; if the side enclosure tooling locking in place switch (112313) is triggered, it means that the side enclosure tooling is locked in place, and the side enclosure tooling locking motor (112301) is controlled to stop rotating, and the driving is completed, and the next step is entered; Step 7, after picking up the side panel tooling, the side panel sensor (1126) detects whether the side panel tooling is in place. If the side panel tooling is detected to be in place, the lifting motor (104) of the self-propelled trolley (1) at the loading station 2 (9) is controlled to be driven in forward rotation, the coupling (105) and the lifting drive pulley (114) follow the forward rotation, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run, and the lifting frame (112) is driven to rise through the belt guide wheel (117) and the belt suspension point assembly (113). When the lifting position deceleration switch and the lifting position stop switch are triggered, the lifting motor (104) is controlled to stop running, and the main driving motor and the reducer (108) of the self-propelled trolley (1) are controlled to move. 11) forward running, driving the main driving wheel (1012) to run on the production line track (3), the self-propelled trolley (1) carrying the side enclosure parts leaves the loading station 2 (9) area until it reaches the waiting station 2 where the waiting position switch 2 (10) is located to wait; when there is no car at the unloading station (2) and there is a car at the loading station 1 (6) or the waiting station 1, the switch 1 (4) is switched to the curved track, and the main driving motor and reducer (1011) of the self-propelled trolley (1) at the waiting station 2 are controlled to run forward, driving the main driving wheel (1012) to run on the production line track (3), and when it reaches the unloading station (2), the main driving motor and reducer (1011) of the self-propelled trolley (1) are controlled to stop running; Step 8, the current vehicle model stored in the vehicle model information storage variable corresponding to the loading station 2 (9) is transferred to the vehicle model information storage variable corresponding to the loading station (2), and compared with the vehicle model in the vehicle model information storage variable corresponding to the main welding line pre-installation station. When the vehicle model in the storage variable of the loading station (2) is not equal to the vehicle model in the storage variable of the main welding line pre-installation station, an error alarm is issued; when the vehicle model in the storage variable of the loading station (2) is equal to the vehicle model in the storage variable of the main welding line pre-installation station, it means that the vehicle model comparison is consistent; the lifting motor (104) of the self-propelled trolley (1) at the loading station (2) is controlled to reverse drive, the coupling (105) and the lifting drive pulley (114) follow the reverse operation, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run, and the lifting frame (112) is driven to descend through the belt guide wheel (117) and the belt suspension point assembly (113) output until the trigger descends to the position The deceleration switch and the stop switch are triggered, the lifting motor (104) stops running, and the side panel is sent to the main welding line robot grabbing position. After the robot completes the picking up, the lifting motor (104) of the self-propelled trolley (1) is controlled to be driven in the forward direction, the coupling (105) and the lifting drive pulley (114) follow the forward rotation, and the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run, and the lifting frame (112) is driven to rise through the belt guide wheel (117) and the belt suspension point assembly (113) until the lifting in position deceleration switch and the lifting in position stop switch are triggered, the lifting motor (104) stops running, and the main driving motor and the reducer (1011) of the self-propelled trolley (1) at the unloading station (2) are controlled to run in the reverse direction, and the main driving wheel (1012) is driven to run on the production line track (3), so that the self-propelled trolley (1) at the unloading station (2) returns to the loading station two (9) to wait for the next side panel to be picked up; Step nine, repeat steps one to eight to achieve flexible batch production of multiple models.

11. The main welding line side enclosure conveying method according to claim 10, characterized in that: The first method of switching the spare car is divided into two situations: The first situation: when the self-propelled trolley (1) at the loading station 1 (6) breaks down; Step 1: first switch the turnout 1 (4) to the curved track, control the main driving motor and reducer (1011) of the self-propelled trolley (1) at the loading station 2 (9) to operate, drive the main driving wheel (1012) to run on the production line track (3), and move the normal self-propelled trolley (1) at the loading station 2 (9) to the unloading station (2) to wait; Step 2, switch the second switch (11) to the curved track, control the main driving motor and reducer (1011) of the standby trolley (8) to run, drive the main driving wheel (1012) to run on the production line track (3), so that the standby trolley (8) moves forward to the track (3) between the first switch (4) and the unloading station (2) to stop and wait; Step 3, switch the second switch (11) to the straight track, control the main driving motor and reducer (1011) of the self-propelled trolley (1) that has a fault at the loading station (6) to operate, drive the main driving wheel (1012) to run on the production line track (3), so that the self-propelled trolley (1) that has a fault at the loading station (6) retreats to the maintenance station (7); Step 4: Switch the turnout 1 (4) to the straight track, control the main driving motor and reducer (1011) of the spare trolley (8) to operate, drive the main driving wheel (1012) to run on the production line track (3), and make the spare trolley (8) retreat to the loading station 1 (6) and put into use; Step 5, switch the turnout 1 (4) to the curved track, control the main driving motor and reducer (1011) of the self-propelled trolley (1) at the unloading station (2) to run, drive the main driving wheel (1012) to run on the production line track (3), so that the self-propelled trolley (1) at the unloading station (2) retreats to the loading station 2 (9); thus, the self-propelled trolley (1) at the loading station 1 (6) that has a fault is switched to the maintenance station (7), and the equipment is quickly replaced; The second situation: when the self-propelled trolley (1) at the second loading station (9) fails; Step 1: first switch the turnout 1 (4) to the straight track, and move the normal self-propelled trolley (1) at the loading station 1 (6) to the unloading station (2) to wait; Step 2: Switch the second turnout (11) to the straight track, and control the spare trolley (8) to move forward to the track (3) between the first turnout (4) and the unloading station (2) to stop and wait; Step 3, switch the second turnout (11) to the curved track, and control the self-propelled trolley (1) that has a fault at the loading station (9) to retreat to the maintenance station (7); Step 4, switch the turnout 1 (4) to the curved track, control the spare trolley (8) to retreat to the loading station 2 (9) and put it into use; Step 5, switch the turnout 1 (4) to the straight track, and the self-propelled trolley (1) at the unloading station (2) retreats to the loading station 1 (6); thus, the self-propelled trolley (1) at the loading station 2 (9) that has a fault is switched to the maintenance station (7), and the equipment is quickly replaced. The second method of switching the spare car is divided into two situations: The first situation: when the self-propelled trolley (1) at the loading station 1 (6) breaks down; Step 1: first switch the switch 1 (4) to the straight track, operate the self-propelled trolley (1) at the first station (6) to move forward to the unloading station (2), switch the switch 1 (4) to the curved track, operate the self-propelled trolley (1) at the unloading station (2) to retreat to the waiting position 2 (10) to wait; Step 2: Switch the second switch (11) to the straight track, switch the first switch (4) to the straight track, and control the spare trolley (8) to move forward to the unloading station (2) to wait; Step 3: Switch 1 (4) switches to the curved track, and the self-propelled trolley (1) at the waiting position 2 (10) moves forward to the track (3) between switch 1 (4) and the unloading station (2) and stops; Step 4: Switch 1 (4) is switched to a straight track, and the self-propelled trolley (1) is operated to retreat to the maintenance station (7); the spare trolley (8) is controlled to retreat to the loading station 1 (6) and put into operation. Thus, the self-propelled trolley (1) that has a fault at the loading station 1 (6) is switched to the maintenance station (7), and the equipment is quickly replaced. The second situation: when the self-propelled trolley (1) at the second loading station (9) fails; Step 1: first switch the switch 1 (4) to the curved track, operate the self-propelled trolley (1) at the second station (9) to move forward to the unloading station (2), switch the switch 1 (4) to the straight track, operate the self-propelled trolley (1) at the unloading station (2) to move backward to the waiting position 1 (5) to wait; Step 2: Switch the second switch (11) to the curved track, switch the first switch (4) to the curved track, and control the spare trolley (8) to move forward to the unloading station (2) to wait; Step 3: Switch 1 (4) switches to a straight track, and the self-propelled trolley (1) at the waiting position 1 (5) moves forward to the track (3) between switch 1 (4) and the unloading station (2) and stops; Step 4: Switch 1 (4) is switched to the curved track, and the self-propelled trolley (1) is operated to retreat to the maintenance station (7); the spare trolley (8) is controlled to retreat to the loading station 2 (9) and put into operation. At this point, the self-propelled trolley (1) that has a fault at the loading station 2 (9) is switched to the maintenance station (7), and the equipment is quickly replaced.

Images