A main wire side wall member conveying system and control method

Abstract

The present application 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 a production line track is arranged on each of a lower piece station, an upper piece station one, a maintenance station and an upper piece station two, a spare trolley is connected to the maintenance station, the production line track on the maintenance station is connected to the production line tracks on the upper piece station two and the upper piece station one, the production line tracks on the upper piece station two and the upper piece station one are connected to the production line track on the lower piece station, a waiting position switch is arranged on one side of the production line track between the lower piece station and the upper piece station two, and a waiting position switch is arranged on one side of the production line track between the lower piece station and the upper piece station one; the present application adopts a bidirectional reciprocating automatic operation trolley to realize the conveying function of multiple vehicle side wall assembly pieces, has the advantages of relatively small planning land area, high production flexibility, and meets the requirements of automobile mass production; and has high positioning accuracy, fast conveying speed and convenient maintenance switching.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of welding production, and particularly relates to a main welding line side wall part conveying system and a control method. BACKGROUND

[0002] In automobile welding workshop production, left and right side wall assembly parts need to be conveyed to the main welding line for assembly and welding. Usually, two ways are adopted to convey the side wall assembly parts: one is to adopt a single steel rail electric hoist lifting mechanism on the side of the main welding line to convey the side wall assembly to the main welding line pre-assembly station, and an operator manually lifts the side wall assembly to the pre-assembly fixture to operate, which has high labor intensity and is prone to bumping during manual lifting of the side wall assembly, thereby causing quality problems; the other is to adopt an EMS conveying system, which is usually powered by a slide contact line and controlled by a half-wave generator for unidirectional walking, so that the entire running line interval must be circularly laid out, has a relatively large area, and has high requirements for the overall planning of the side wall assembly conveying line and the main welding line. SUMMARY

[0003] In order to overcome the above problems, the present application provides a main welding line side wall part conveying system and a control method; for automatic conveying of side wall assembly parts of the main welding line, a bidirectional reciprocating automatic running trolley is adopted to realize the conveying function of side wall assembly parts of multiple vehicle models, has the advantages of relatively small planning area and high production flexibility, and meets the requirements of large-scale automobile production; and has high positioning accuracy, fast conveying speed, and convenient maintenance switching.

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

[0005] The self-propelled trolley 1 and the standby trolley 8 have the same structure, both including a main drive assembly 101, a connecting rod, a lifting drive motor and reducer 104, a driven assembly 107, a boom 110, a lifting frame 112, a belt suspension point assembly 113, a lifting drive pulley 114, a trolley frame 115, a trolley balance support wheel 116, and a belt guide wheel 117. The main drive assembly 101 and the driven assembly 107 are hinged to the boom 110 via a connecting rod. The boom 110 is fixed to the trolley frame 115. The lifting drive motor and reducer 104 and the lifting drive pulley 114 are fixed in the middle of the trolley frame 115. 14. A belt guide wheel 117 is fixed on the self-propelled trolley frame 115 on the outer side of the boom 110. The concentric output shafts on the left and right sides of the lifting drive motor and reducer 104 are respectively connected to the corresponding lifting drive pulleys 114, which can drive the lifting drive pulleys 114 to rotate. A lifting drive belt 118 is wound on the lifting drive pulleys 114. The two ends of the lifting drive belt 118 pass over the corresponding belt guide wheel 117 and are connected to the corresponding belt lifting point assembly 113. The main driving assembly 101 and the 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] The bottom of the self-propelled vehicle frame 115 is fixed with a guide rod 1152, and the balance support wheel 116 passes through the self-propelled vehicle frame 115 and is connected to the corresponding self-propelled vehicle balance rail 121.

[0007] The lifting frame 112 is fixed with a side-locking tooling assembly 1123, a first guide wheel mechanism 1124, and a side-locking sensor bracket 1125. The side-locking sensor bracket 1125 is equipped with a side-locking detection photoelectric sensor 1126 at its bottom. A guide rod 1152 is inserted into the first guide wheel mechanism 1124 to achieve a guiding connection between the lifting frame 112 and the self-propelled trolley frame 115. The lifting frame 112 is also provided with a second guide wheel mechanism 1127 for cooperating with the grooved column guide rail on the corresponding workstation floor.

[0008] The lock side wall assembly 1123 includes a lock side wall assembly drive motor and reducer 112301, a swing arm 112316, a linear slide rail mechanism 112308, a floating head 112306, a latch 112304, a limiting slot 112305, and a joint mechanism. The lock side wall assembly drive motor and reducer 112301 is fixed on the lifting frame 112, and a swing arm 112316 is sleeved on the output shaft of the lock side wall assembly drive motor and reducer 112301. Linear slide rail mechanisms 112308 are arranged on the left and right sides of the front and rear ends of the lock side wall assembly drive motor and reducer 112301, and the linear slide rail mechanisms 112308 are fixed on the lifting frame 112. Each branch arm of the swing arm 112316 is connected with a joint mechanism, and the other end of the joint mechanism is connected to the slider of the corresponding linear slide rail mechanism 112308 through a pin shaft. A connecting plate with a threaded hole is arranged on the slider, and one end of the floating head 112306 is connected in the connecting plate, and the other end is connected in the T-shaped groove 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 the limiting slot 112305 is fixed on the lifting frame 112 outside the latch 112304. The latch 112304 can be aligned with the through hole of the limiting slot 112305.

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

[0010] It also includes an induction plate one 112314, an induction plate two 112315, a side wall assembly locking in place switch 112313, and a side wall assembly loosening in place switch 112317. The side wall assembly locking in place switch 112313 and the side wall assembly loosening in place switch 112317 are fixed on the lifting frame 112. The induction plate one 112314 and the induction plate two 112315 are fixed on the adjacent two branch arms of the swing arm 112316, respectively, and are used to trigger the side wall assembly locking in place switch 112313 and the side wall assembly loosening in place switch 112317, respectively.

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

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

[0013] The belt hanging point assembly 113 includes clamping plate 1131, lifting ring 1132, guide sleeve 1135, nut 1136 and screw rod 1138, wherein the bottom of the lifting ring 1132 is fixed with the screw rod 1138, the screw rod 1138 is sleeved in the guide sleeve 1135, the guide sleeve 1135 passes through the hanging point mounting hole on the lifting frame 112, and is fastened on the lifting frame 112 through 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 fixed and clamped in the clamping plate 1131.

[0014] The gasket 1137 is arranged 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 rod 1138 is fixed at the bottom of the U-shaped frame, and wedge blocks are fixed on the sides of the U-shaped frame, and the wedge blocks are in contact with the travel switch 1133 fixed on the lifting frame 112.

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

[0017] The walking main drive assembly 101 comprises a walking main drive motor and a reducer 1011, a walking main drive wheel 1012, a main drive frame 1014, and a main drive mechanism track guide wheel 1015. 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 with the walking main drive wheel 1012, so as to control the rotation of the walking main drive wheel 1012. 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, and the connecting rod is connected with the hinged seat 109 through a pin shaft, and the hinged seat 109 is fixed on the hanging arm 110.

[0018] The walking driven assembly 107 comprises a driven frame 1071, a driven mechanism track guide wheel 1072, and a walking driven wheel 1074. 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. The main drive frame 1014 and the driven frame 1071 are sleeved on the corresponding production line track 3, so that the walking main drive 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 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 drive frame 1014, and the two rows of guide wheels 1015 are respectively matched on the guide surfaces outside the two 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 on the guide surfaces outside the two sides of the production line track 3.

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

[0021] A buffer limiter 1151 and a lifting overtravel switch 1153 are installed on the bottom of the self-propelled trolley frame 115.

[0022] The production line track 3 is arranged on the lower part work station 2, the upper part work station one 6, the maintenance work station 7, and the upper part work station two 9. The end of the production line track 3 on the maintenance work station 7 is connected with one port of the turnout two 11, and the other two ports of the turnout two 11 are respectively connected with one end of the production line track 3 on the upper part work station two 9 and the upper part work station one 6. The other end of the production line track 3 on the upper part work station two 9 and the upper part work station one 6 is respectively connected with two ports of the turnout one 4, and the other port of the turnout one 4 is connected with the production line track 3 on the lower part work station 2.

[0023] The self-propelled trolley 1 can be connected to turnout one 4 or turnout two 11.

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

[0025] The lower part work station 2, the upper part work station two 9 and the upper part work station one 6 are respectively provided with an occupancy switch for detecting whether the self-propelled trolley 1 is in position.

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

[0027] Step one, initially, two self-propelled trolleys 1 are respectively waiting at the upper part work station one 6 and the upper part work station two 9; the vehicle model is sent to the upper part work station one 6 corresponding vehicle model information storage variable;

[0028] Step two, the side wall tooling with the side wall is moved into the lower part of the upper part work station one 6, so that the lifting lug of the side wall tooling is located between the sliding bearing and bearing seat 112303 and the limiting slot 112305, the lifting driving motor and the speed reducer 104 are controlled to be reversely driven, the shaft coupling 105 and the lifting driving pulley 114 are reversely operated, the lifting driving belt 118 stored in the lifting driving pulley 114 is driven to rotate out of the lifting driving pulley 114, passes through the belt guide wheel 117 and the belt lifting point assembly 113 to drive the lifting frame 112 to descend under the guidance of the guide rod 1152, when the lifting frame 112 descends to the lower position, the descending position deceleration switch on the lifting frame 112 is triggered, the lifting driving motor and the speed reducer 104 are controlled to operate at a low speed, the descending position stop switch on the lifting frame 112 is triggered, and the lifting driving motor and the speed reducer 104 are controlled to stop operating;

[0029] Step three, the side wall tooling locking assembly driving motor and the speed reducer 112301 are controlled to rotate, and then the latch 112304 is driven to pass through the lifting lug hole of the side wall tooling and then inserted into the limiting slot 112305 to pick up the side wall tooling; if the side wall tooling locking in position switch 112313 is triggered, it indicates that the side wall tooling is locked in position, the side wall tooling locking assembly driving motor and the speed reducer 112301 are controlled to stop rotating, the driving is completed, and the next step is entered;

[0030] Step four, after picking up the side body tooling, whether the side body tooling is in place is detected by the side body detection photoelectric sensor 1126, after detecting that the side body tooling is in place, the lifting drive motor and speed reducer 104 are controlled to drive in the forward direction, the shaft coupling 105 and the lifting drive belt pulley 114 follow the forward rotation, the lifting drive belt 118 accommodated in the lifting drive belt pulley 114 is driven to run in the reverse direction, the lifting frame 112 is driven to rise through the belt guide wheel 117 and the belt hanging point assembly 113; after triggering the rising to position deceleration switch on the self-propelled trolley frame 115, the lifting drive motor and speed reducer 104 are controlled to run at a reduced speed, when the rising to position stop switch is triggered, the lifting drive motor and speed reducer 104 are controlled to stop running, then the walking main drive motor and speed reducer 1011 are controlled to run in the forward direction, the walking main drive wheel 1012 is driven to run on the production line track 3, so that the self-propelled trolley 1 in the piece feeding station one 6 carries the side body piece to drive away from the piece feeding station one 6 area, until the waiting position switch one 5 is triggered, the self-propelled trolley 1 reaches the waiting position one position to wait;

[0031] Step five, when the signals of the occupying switch on the lower piece station 2, the occupying switch on the upper piece station two 9 and the waiting position switch two 10 are judged to meet the conditions of no vehicle on the lower piece station 2 and vehicle on the upper piece station two 9 or the waiting position two, the switch one 4 is switched to the straight rail, the walking main drive motor and the reducer 1011 of the self-propelled trolley 1 at the waiting position one are controlled to rotate forward, the walking main drive wheel 1012 is driven to run on the production line track 3, when it runs to the lower piece station 2, the current vehicle model number stored in the upper piece station one 6 corresponding vehicle model information storage variable is transmitted to the lower piece station 2 corresponding vehicle model information storage variable, and the vehicle model number in the main welding line preloading station corresponding vehicle model information storage variable is compared; when the vehicle model number in the lower piece station 2 storage variable is not equal to the vehicle model number in the main welding line preloading station storage variable, an error alarm is sent out; when the vehicle model number in the lower piece station 2 storage variable is equal to the vehicle model number in the main welding line preloading station storage variable, the vehicle model comparison is consistent, then the lifting drive motor and the reducer 104 in the self-propelled trolley 1 in the lower piece station 2 are controlled to reverse drive, 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 operate, the lifting frame 112 is lowered through the belt guide wheel 117 and the belt hanging point assembly 113; until the lowering in place deceleration switch and the in place stop switch are triggered, the lifting drive motor and the reducer 104 stop operating, the lifting frame 112 is lowered to the position, the side wall tool is sent to the main welding robot grabbing piece position; after the robot takes the piece, the lifting drive motor and the reducer 104 are controlled to rotate forward, 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 operate, the lifting frame 112 is lifted through the belt guide wheel 117 and the belt hanging point assembly 113; until the rising in place deceleration switch and the rising in place stop switch on the self-propelled trolley frame 115 are triggered, the lifting drive motor and the reducer 104 stop operating, the walking main drive motor and the reducer 1011 are controlled to reverse, the walking main drive wheel 1012 is driven to run on the production line track 3, so that the self-propelled trolley 1 in the lower piece station 2 returns to the upper piece station one 6, and waits to pick up the next side wall piece;

[0032] In this process, after the rising in place stop switch on the self-propelled trolley frame 115 is triggered, it means that the rising in place is reached, if it continues to rise due to other factors, the rising overtravel switch 1153 will be triggered, then the lifting drive motor and the reducer 104 are controlled to stop operating, which plays a secondary protection role by the rising overtravel switch 1153;

[0033] Step six, the current vehicle model stored in the corresponding vehicle information storage variable of the upper station one 6 is transmitted to the corresponding vehicle information storage variable of the lower station 2, and the next vehicle model is sent to the corresponding vehicle information storage variable of the upper station two 9 as the current vehicle model of the upper station two 9; At this time, the side wall of the tool is moved into the lower part of the upper station two 9, the lifting drive motor and the speed reducer 104 of the self-propelled trolley 1 at the upper station two 9 are reversely driven, the coupling 105 and the lifting drive pulley 114 are reversely operated, the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to operate, the lifting frame 112 is lowered through the belt guide wheel 117 and the belt hanging point assembly 113, when the lifting frame 112 is lowered to the low position, the lowering in-place deceleration switch and the in-place stop switch on the lifting frame 112 are triggered, the lifting drive motor and the speed reducer 104 are stopped, the lock side wall tool assembly drive motor and the speed reducer 112301 are controlled to rotate, and then the latch 112304 is driven to pass through the lifting lug hole of the side wall tool and insert into the limiting slot 112305, so as to pick up the side wall tool; If the side wall tool locking in-place switch 112313 is triggered, it indicates that the side wall tool is locked in place, the lock side wall tool assembly drive motor and the speed reducer 112301 are stopped, the driving is completed, and the next step is entered;

[0034] Step seven, after picking up the side wall tool, whether the side wall tool is in place is detected by the side wall detection photoelectric sensor 1126, if the side wall tool is in place, the lifting drive motor and the speed reducer 104 of the self-propelled trolley 1 at the upper station two 9 are forwardly driven, the coupling 105 and the lifting drive pulley 114 are forwardly operated, the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to operate, the lifting frame 112 is lifted through the belt guide wheel 117 and the belt hanging point assembly 113, when the lifting in-place deceleration switch and the lifting in-place stop switch are triggered, the lifting drive motor and the speed reducer 104 are stopped, the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 are forwardly operated, the walking main drive wheel 1012 is driven to run on the production line track 3, the self-propelled trolley 1 carrying the side wall part drives away from the upper station two 9 area and waits at the waiting position two position where the waiting position two switch 10 is located; When there is no vehicle in the lower station 2 and there is a vehicle in the upper station one 6 or the waiting position one, the turnout one 4 is switched to the curved track, the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 at the waiting position two are forwardly operated, the walking main drive wheel 1012 is driven to run on the production line track 3, the position value of the self-propelled trolley 1 is read by the ruler positioning code reader 108, and when it drives to the lower station 2, the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 are stopped;

[0035] Step 8: Transfer the current vehicle model stored in the vehicle model information storage variable corresponding to the upper workstation 2 (station 9) to the vehicle model information storage variable corresponding to the lower workstation 2 (station 2), and compare it with the vehicle model stored in the vehicle model information storage variable corresponding to the main welding line pre-assembly workstation. If the vehicle model stored in the lower workstation 2 is not equal to the vehicle model stored in the main welding line pre-assembly workstation, an error alarm is triggered; if the vehicle model stored in the lower workstation 2 is equal to the vehicle model stored in the main welding line pre-assembly workstation, the vehicle model comparison is consistent, and the lifting drive motor and reducer 104 of the self-propelled trolley 1 at the lower workstation 2 are controlled to reverse. The coupling 105 and the lifting drive pulley 114 follow the reverse rotation, and the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to run, outputting belt through the belt guide pulley 117 and the belt lifting point assembly 113. The lifting frame 112 descends until the descent deceleration switch and the stop switch are triggered, at which point the lifting drive motor and reducer 104 stop running, and the side panel is sent to the main welding line robot's gripping position. After the robot picks up the part, it controls the lifting drive motor and reducer 104 of the self-propelled trolley 1 to rotate 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. Through the belt guide wheel 117 and the belt lifting point assembly 113, the lifting frame 112 is driven to rise until the rise deceleration switch and the rise stop switch are triggered, at which point the lifting drive motor and reducer 104 stop running, and the main drive motor and reducer 1011 of the self-propelled trolley 1 at the lower workstation 2 is controlled to run in reverse, driving the main drive wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 at the lower workstation 2 returns to the upper workstation 2 9, waiting to pick up the next side panel part.

[0036] Step nine: Repeat steps one through eight to achieve flexible mass production of multiple vehicle models.

[0037] Method 1 for switching to the backup trolley has two scenarios:

[0038] The first scenario: When the self-propelled trolley 1 at station 6 malfunctions;

[0039] Step 1: First, switch the turnout 14 to the curved track, control the main drive motor and reducer 1011 of the self-propelled trolley 1 at the upper workstation 29 to run, drive the main drive wheel 1012 to run on the production line track 3, and move the normal self-propelled trolley 1 at the upper workstation 29 to the lower workstation 2 to wait.

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

[0041] Step three, switch turnout two 11 to straight rail, control the running main drive motor and reducer 1011 of the self-propelled trolley 1 with fault at the upper piece station one 6 to run, drive the running main drive wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 with fault at the upper piece station one 6 retreats to the maintenance station 7;

[0042] Step four, switch turnout one 4 to straight rail, control the running main drive motor and reducer 1011 of the standby trolley 8 to run, drive the running main drive wheel 1012 to run on the production line track 3, so that the standby trolley 8 retreats to the upper piece station one 6 for use;

[0043] Step five, switch turnout one 4 to curved rail, control the running main drive motor and reducer 1011 of the self-propelled trolley 1 at the lower piece station 2 to run, drive the running main drive wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 at the lower piece station 2 retreats to the upper piece station two 9; thus completing the switching of the self-propelled trolley 1 with fault at the upper piece station one 6 to the maintenance station 7, and quickly realizing equipment replacement;

[0044] The second case: when the self-propelled trolley 1 at the upper piece station two 9 has a fault;

[0045] Step one, first switch turnout one 4 to straight rail, and make the normal self-propelled trolley 1 at the upper piece station one 6 advance to the lower piece station 2 to wait;

[0046] Step two, switch turnout two 11 to straight rail, control the standby trolley 8 to advance to the production line track 3 between turnout one 4 and the lower piece station 2 to stop and wait;

[0047] Step three, switch turnout two 11 to curved rail, control the self-propelled trolley 1 with fault at the upper piece station two 9 to retreat to the maintenance station 7;

[0048] Step four, switch turnout one 4 to curved rail, control the standby trolley 8 to retreat to the upper piece station two 9 for use;

[0049] Step five, switch turnout one 4 to straight rail, and make the self-propelled trolley 1 at the lower piece station 2 retreat to the upper piece station one 6; thus completing the switching of the self-propelled trolley 1 with fault at the upper piece station two 9 to the maintenance station 7, and quickly realizing equipment replacement.

[0050] The second case: when the self-propelled trolley 1 at the upper piece station two 9 has a fault;

[0051] The first case: when the self-propelled trolley 1 at the upper piece station one 6 has a fault;

[0052] Step one, first switch the turnout one 4 to straight rail, the self-propelled trolley 1 at the operation site one 6 goes to the piece-down station 2, switches the turnout one 4 to curved rail, and the self-propelled trolley 1 at the piece-down station 2 retreats to the waiting position two and waits;

[0053] Step two, switch the turnout two 11 to straight rail, switch the turnout one 4 to straight rail, control the standby trolley 8 to go to the piece-down station 2 and wait;

[0054] Step three, switch the turnout one 4 to curved rail, operate the self-propelled trolley 1 at the waiting position two to stay in the production line track 3 between the turnout one 4 and the piece-down station 2;

[0055] Step four, switch the turnout one 4 to straight rail, operate the self-propelled trolley 1 to retreat to the maintenance station 7, control the standby trolley 8 to retreat to the piece-up station one 6 and work, thus completing the switching of the self-propelled trolley 1 at the piece-up station one 6 to the maintenance station 7, and realizing the replacement of equipment quickly.

[0056] The second case: when the self-propelled trolley 1 at the piece-up station two 9 fails;

[0057] Step one, first switch the turnout one 4 to curved rail, operate the self-propelled trolley 1 at the piece-up station two 9 to go to the piece-down station 2, switch the turnout one 4 to straight rail, operate the self-propelled trolley 1 at the piece-down station 2 to retreat to the waiting position one and wait;

[0058] Step two, switch the turnout two 11 to curved rail, switch the turnout one 4 to curved rail, control the standby trolley 8 to go to the piece-down station 2 and wait;

[0059] Step three, switch the turnout one 4 to straight rail, operate the self-propelled trolley 1 at the waiting position one to go to the production line track 3 between the turnout one 4 and the piece-down station 2 and stay;

[0060] Step four, switch the turnout one 4 to curved rail, operate the self-propelled trolley 1 to retreat to the maintenance station 7, control the standby trolley 8 to retreat to the piece-up station two 9 and work, thus completing the switching of the self-propelled trolley 1 at the piece-up station two 9 to the maintenance station 7, and realizing the replacement of equipment quickly.

[0061] The beneficial effects of the present application are as follows:

[0062] The present application adopts double sets of self-propelled suspension trolleys to realize the alternating bidirectional reciprocating operation between the piece-up station and the piece-down station on the aerial rail, and the walking path planning occupies a relatively small area, saving space.

[0063] The conveying system of the present application has two piece-up ports at the piece-up station, realizes the alternating piece-up of the two piece-up ports by matching with the vehicle type production queue plan issued by the main welding line, meets the mass flexible production of various vehicle types, and has the advantage of high production flexibility.

[0064] The present application realizes self-walking trolley position closed-loop control by connecting the ruler positioning code reader on the control system to read the two-dimensional code ruler position value installed on the walking path in real time, and meets the precise positioning requirements at the workpiece loading station and the workpiece unloading station.

[0065] The self-walking trolley has a lifting function, and meets the control requirements of multiple degrees of freedom of the equipment.

[0066] The present application has a fault redundancy function, and a spare self-walking trolley is reserved at a maintenance station, so that when the self-walking trolley in operation fails, the spare self-walking trolley can be quickly switched to the working position, thereby reducing the loss of production line downtime. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the contents of the embodiments of the present application and the drawings.

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

[0069] Figure 2 It is a schematic diagram of the overall structure of the self-walking trolley of the present application;

[0070] Figure 3 It is a schematic diagram of the walking driving mechanism of the self-walking trolley of the present application;

[0071] Figure 4 It is a schematic diagram of the frame of the self-walking trolley of the present application;

[0072] Figure 5 It is a schematic diagram of the lifting frame of the self-walking trolley of the present application;

[0073] Figure 6 It is a schematic diagram of the side wall locking tool assembly of the self-walking trolley of the present application;

[0074] Figure 7 It is a schematic diagram of the side wall locking tool assembly of the self-walking trolley of the present application;

[0075] Figure 8 It is a schematic diagram of the guide wheel of the self-walking trolley of the present application;

[0076] Figure 9 It is a schematic diagram of the belt hanging point and belt breakage detection structure of the self-walking trolley of the present application;

[0077] Figure 10 It is a schematic diagram of the balance rail of the self-walking trolley of the present application;

[0078] Figure 11 The side wall working schematic diagram of the self-propelled trolley of the present application.

[0079] Wherein: 1 self-propelled trolley, 2 lower piece station, 3 production line track, 4 turnout one, 5 waiting position switch one, 6 upper piece station one, 7 maintenance station, 8 spare trolley, 9 upper piece station two, 10 waiting position switch two, 11 turnout two, 101 walking main drive assembly, 102 connecting rod, 103 positioning rod, 104 lifting drive motor and speed reducer, 105 coupling, 106 pin shaft, 107 walking driven assembly, 108 ruler positioning code reader, 109 hinged seat, 110 hoist arm, 111 frequency converter brake resistor box, 112 lifting frame, 113 belt hoisting point assembly, 114 lifting drive belt pulley, 115 self-propelled trolley frame, 116 self-propelled trolley balance support wheel, 117 belt guide wheel, 118 lifting drive belt, 119 self-propelled trolley PLC control box, 121 self-propelled trolley balance rail, 122 balance rail hoist arm, 123 inclined support arm, 124 balance rail hoisting beam, 1011 walking main drive motor and speed reducer, 1012 walking main drive wheel, 1013 clutch operating lever, 1014 main drive frame, 1015 main drive mechanism rail guide wheel, 1016 carbon brush mounting cover plate, 1017 cover plate lock pin, 1018 carbon brush, 1071 driven frame, 1072 driven mechanism rail guide wheel, 1073 grounding electrode carbon brush, 1074 walking driven wheel, 1151 buffer limiter, 1152 guide rod, 1153 rising overtravel switch, 1121 tank chain support, 1122 tank chain, 1123 lock side wall tool assembly, 112301 lock side wall tool assembly drive motor and speed reducer, 112302 pin shaft, 112303 sliding bearing and bearing seat, 112304 latch, 112305 limit slot, 112306 floating head, 112307 lock nut, 112308 connecting block and linear slide rail slide shoe, 112309 joint bearing one, 112310 connecting rod, 112311 joint bearing two, 112312 linear slide rail, 112313 side wall tool locking in-place switch, 112314 induction plate, 112315 induction plate, 112316 swing arm, 112317 side wall tool loosening in-place switch, 112318 pin shaft, 1124 first guide wheel mechanism, 1125 side wall sensor support, 1126 side wall detection photoelectric sensor, 1127 second 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 clamping plate, 1132 lifting eye, 1133 travel switch, 1134 travel switch mounting support, 1135 guide sleeve, 1136 nut, 1137 gasket, 1138 screw rod. DETAILED DESCRIPTION

[0080] The application will be further described below in conjunction with the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not to be used to limit the application. In addition, it is to be understood that, for ease of description, only the parts related to the application are shown in the drawings.

[0081] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0082] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0083] In the description of the embodiments, the terms "upper", "lower", "left", "right" and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0084] Embodiment 1

[0085] A main welding line side wall member conveying system, such as Figures 1-11As shown, including the trolley 1, the lower piece station 2, the production line track 3, the turnout one 4, the upper piece station one 6, the upper piece station two 9, the maintenance station 7, the spare trolley 8, the turnout two 11; wherein the lower piece station 2, the upper piece station one 6, the maintenance station 7 and the upper piece station two 9 are respectively provided with the production line track 3, and the trolley 1 can be connected to any one of the production line track 3, the production line track 3 on the maintenance station 7 is connected with the spare trolley 8, the production line track 3 on the maintenance station 7 is connected with the production line track 3 on the upper piece station two 9 and the upper piece station one 6, the other end of the production line track 3 on the upper piece station two 9 and the upper piece station one 6 is connected with the production line track 3 on the lower piece station 2, the trolley balance rail 121 arranged left and right is installed on the lower piece station 2, the upper piece station one 6 and the upper piece station two 9; the production line track 3 between the lower piece station 2 and the upper piece station two 9 is provided with the waiting position switch two 10, and the production line track 3 between the lower piece station 2 and the upper piece station one 6 is provided with the waiting position switch one 5;

[0086] The trolley 1 and the spare trolley 8 are the same structure, both including the walking main drive assembly 101, the connecting rod 102, the lifting drive motor and the speed reducer 104, the walking driven assembly 107, the lifting arm 110, the lifting frame 112, the belt lifting point assembly 113, the lifting drive belt pulley 114, the trolley frame 115, the trolley balance support wheel 116 and the belt guide wheel 117; wherein the walking main drive assembly 101 and the walking driven assembly 107 are hinged on the lifting arm 110 through the connecting rod 102, the lifting arm 110 is fixed on the trolley frame 115, the middle part of the trolley frame 115 between the lifting arms 110 is fixed with the lifting drive motor and the speed reducer 104 and the lifting drive belt pulley 114, the trolley frame 115 outside the lifting arm 110 is fixed with the belt guide wheel 117, the concentric output shafts on the left and right sides of the lifting drive motor and the speed reducer 104 are respectively connected with the corresponding lifting drive belt pulley 114 through the shaft coupling 105, and the lifting drive belt pulley 114 can be driven to rotate; the lifting drive belt 118 is wound on the lifting drive belt pulley 114, and the two ends of the lifting drive belt 118 are connected to the corresponding belt lifting 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 for connecting with the production line track 3, so that the trolley 1 can slide along the production line track 3;

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

[0088] The lifting frame 112 is fixed with a lock side wall tool assembly 1123, a first guide wheel mechanism 1124 and a side wall sensor support 1125, wherein the bottom of the side wall sensor support 1125 is provided with a side wall detection photoelectric sensor 1126, a guide rod 1152 is inserted into the first guide wheel mechanism 1124 to realize the guide connection between the lifting frame 112 and the self-propelled trolley frame 115 (when the lifting frame 112 rises and falls, the guide rod 1152 is used for guiding), and the lifting frame 112 is further provided with a second guide wheel mechanism 1127 used for cooperating with a groove-shaped vertical column guide rail on the ground of the corresponding station.

[0089] The lock side wall tool assembly 1123 comprises a lock side wall tool assembly driving motor and a reducer 112301, a swing arm 112316, a linear slide rail mechanism 112308, a floating head 112306, a latch 112304, a limiting clamping groove 112305 and a joint mechanism; wherein the lock side wall tool assembly driving motor and the reducer 112301 are fixed on the lifting frame 112, and a swing arm 112316 is sleeved on the output shaft of the lock side wall tool assembly driving motor and the reducer 112301 (the swing arm 112316 comprises a ground plate and four branch arms fixed on the ground plate), the linear slide rail mechanisms 112308 are arranged on the left and right sides of the front and rear ends of the lock side wall tool assembly driving motor and the reducer 112301, and the linear slide rail mechanisms 112308 are fixed on the lifting frame 112; each branch arm of the swing arm 112316 is connected with a joint mechanism, the other end of the joint mechanism is connected to the sliding block of the corresponding linear slide rail mechanism 112308 through a pin shaft 112302, a connecting plate with a threaded hole is arranged on the sliding block, a threaded rod at one end of the floating head 112306 is connected in the threaded hole of the connecting plate, and the other end is connected in a T-shaped groove at the tail of the latch 112304 in a matched mode, the latch 112304 is connected to the lifting frame 112 through a sliding bearing and a bearing seat 112303, and the limiting clamping groove 112305 is fixed on the outer side of the lifting frame 112, and the latch 112304 can be aligned with the through hole of the limiting clamping groove 112305.

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

[0091] Further comprising the inductive plate one 112314, the inductive plate two 112315, the side wall tool locking in place switch 112313, the side wall tool unlocking in place switch 112317, wherein the side wall tool locking in place switch 112313 and the side wall tool unlocking in place switch 112317 are fixed on the lifting frame 112, the inductive plate one 112314 and the inductive plate two 112315 are respectively fixed on the two adjacent branch arms of the swing arm 112316, and are respectively used for triggering the side wall tool locking in place switch 112313 and the side wall tool unlocking in place switch 112317.

[0092] The lifting frame 112 comprises a door type frame, wherein two horizontal rods are fixed in the middle position inside the door type frame, a support rod is respectively fixed on the outer side of the two horizontal rods, the side wall tool locking assembly driving motor and reducer 112301 and the first guide wheel mechanism 1124 are fixed between the two horizontal rods, the linear slide rail 112312, the sliding bearing and bearing seat 112303, the limiting clamping groove 112305, the side wall tool locking in place switch 112313 and the side wall tool unlocking in place switch 112317 are all installed on the lower surface of the two horizontal rods. The side wall sensor support 1125 is fixed on the outer side of one of the horizontal rods, and the cam bearing mounting seat 11278 is fixed on the outer side end of the two end frame bodies of the door type frame.

[0093] The guide rod first 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 connected with the four guide wheels.

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

[0095] The belt hanging point assembly 113 comprises a clamping plate 1131, a hanging ring 1132, a guide sleeve 1135, a nut 1136 and a screw rod 1138. The bottom of the hanging ring 1132 is fixed with the screw rod 1138, the screw rod 1138 is sleeved in the guide sleeve 1135, the guide sleeve 1135 passes through the hanging point mounting hole on the transverse rod of the edge of the lifting frame 112, is fastened on the transverse rod of the edge of the lifting frame 112 through the nut 1136, the end of the lifting drive belt 118 is folded upward and sleeved outside the cylinder of the hanging ring 1132, and the folded part is fixed and clamped in the clamping plate 1131.

[0096] The gasket 1137 is arranged between the lifting frame 112 and the nut 1136.

[0097] The hanging ring 1132 comprises a U-shaped frame and a cylinder, the cylinder is fixed in the U-shaped frame, the screw rod 1138 is fixed at the bottom of the U-shaped frame, and wedge blocks are fixed on the side surfaces of the U-shaped frame and contact the travel switch 1133 fixed on the lifting frame 112.

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

[0099] 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 rail guide wheel 1015. The walking main drive motor and reducer 1011 and the walking main drive wheel 1012 are respectively arranged on the two sides above the vertical plate of the main drive frame 1014, the transmission shaft of the walking main drive motor and reducer 1011 is connected with the walking main drive wheel 1012, the walking main drive wheel 1012 can be controlled to rotate, the guide wheel 1015 is arranged on the bottom plate of the main drive frame 1014, the bottom of the bottom plate is fixed above one end of the connecting rod 102 through a pin shaft, the connecting rod 102 is connected on the hinged seat 109 through a pin shaft 106, the hinged seat 109 is fixed on the hanging arm 110; the carbon brush mounting cover plate 1016 is movably arranged on the back of the main drive frame 1014, the carbon brush device 1018 is arranged on the inner side of the carbon brush mounting cover plate 1016, one side of the carbon brush device 1018 is in contact with the slide wire arranged on the side of the production line rail 3 to pick up electric energy, the other end is connected with a cable for transmitting electric energy, the electric energy is transmitted to the motor of the walking main drive motor and reducer 1011, the PLC controller in the PLC control box of the self-propelled trolley, the frequency converter and other electrical elements.

[0100] The walking driven assembly 107 includes a driven frame 1071, a driven mechanism track guide wheel 1072, a ground pole 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, 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 through a pin shaft, the ground pole carbon brush 1073 is installed on the inner side of the driven frame 1071 for ground connection; the main drive frame 1014 and the driven frame 1071 are sleeved outside the corresponding production line track 3, so that the walking main drive 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 the guide wheel 1015 and the driven mechanism track guide wheel 1072 are respectively matched on the guide surfaces on the sides of the production line track 3 and slide in contact with the guide surfaces.

[0101] Two rows of guide wheels 1015 are installed on the bottom plate of the main drive frame 1014 and are respectively matched on the guide surfaces on the outer sides of the two 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 are respectively matched on the guide surfaces on the outer sides of the two 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 an upstroke overtravel switch 1153 are installed on the bottom of the self-propelled trolley frame 115. The buffer limiters 1151 are used to prevent impact collision between the lifting frame 112 and the self-propelled trolley frame 115 when the lifting frame 112 is overtraveling upward.

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

[0105] The self-propelled trolley 1 can be connected to the turnout one 4 or the turnout two 11.

[0106] The ruler positioning code reader 108 is connected with the self-propelled trolley PLC control system.

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

[0108] The self-propelled trolley balance rail 121 is installed on the balance rail hanger arm 122, the balance rail hanger arm 122 is fixed on the balance rail hanger 124 through the inclined 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 overhead production line rail 3 above the lower piece station 2, the upper piece station two 9 and the upper piece station one 6 is respectively provided with an occupancy switch for detecting whether the self-propelled trolley 1 is in position.

[0110] Embodiment 2

[0111] A main welding line side wall part conveying system, comprising: a self-propelled trolley 1, a lower piece station 2, a production line rail 3, a turnout one 4, a waiting position switch one 5, an upper piece station one 6, a waiting position switch two 10, an upper piece station two 9, a maintenance station 7, a standby trolley 8, a turnout two 11, and a main control PLC control system and a self-propelled trolley PLC control system.

[0112] There are two self-propelled trolleys 1 working in the system, which alternately pick up side walls at the upper piece station one 6 and the upper piece station two 9, and are conveyed to the lower piece station 2 through the production line rail 3. The path of the production line rail 3 is controlled by the turnout. Two turnouts are provided in the system, which are respectively used for working path switching and standby trolley 8 path switching at the maintenance station 7. The lower piece station 2 is above the main welding line pre-assembly station. After the self-propelled trolley 1 lowers the side wall, the robot grabs and performs the operation of assembling the vehicle, and then the self-propelled trolley 1 returns to the upper piece station from the lower piece station 2, and waits to pick up the next side wall. When any self-propelled trolley 1 in work fails, the standby trolley 8 can be quickly switched to the corresponding working position to work, and the self-propelled trolley 1 that fails is switched to the maintenance station 7, thereby reducing the loss of stoppage.

[0113] Overall structure of the self-propelled trolley 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 an integral whole. The slide wire is installed on the side of the production line track 3, which is used to supply power to the power supply system of the trolley control system. The ruler positioning code reader 108 is installed beside the walking main drive assembly 101, which is used to identify the two-dimensional code ruler position information installed on the entire track of the conveying system. The ruler positioning code reader 108 is connected with the trolley PLC control system to realize the closed-loop positioning control of the trolley 1 on the track working position. The positioning rod 103 is installed on the connecting rod 102, and when the trolley 1 runs to the position, the positioning rod 103 is clamped by the air cylinder clampers arranged on each working position, so that the mechanical positioning locking of the trolley 1 is realized during the lifting operation of the trolley 1, and the stability of the trolley 1 is maintained.

[0114] The connecting rod 102 is connected with the lifting arm 110 through the pin shaft 106 and the hinge seat 109. The lifting arm 110 is connected with the trolley frame 115 as an integral whole. The lifting drive motor and the speed reducer 104, the shaft coupling 105, the lifting drive belt pulley 114, the belt guide wheel 117, the trolley PLC control box 119, the frequency converter brake resistor box 111, the lifting drive belt 118, and the four trolley balance support wheels 116 are installed on the trolley frame 115. The trolley frame 115 is provided with an upward position stop switch and an upward position deceleration switch, and the lifting frame 112 is provided with a downward position stop switch and a downward position deceleration switch. The lifting drive motor and the speed reducer 104 of the trolley 1 drive the lifting drive belt 118 to run through the shaft coupling 105 and the lifting drive belt pulley 114. The lifting drive belt 118 is connected with the lifting frame 112 through the belt guide wheel 117 arranged on the four positions of the trolley frame 115 and the four belt hanging point assemblies 113. When the lifting drive motor and the speed reducer 104 run in forward and reverse directions, the shaft coupling 105 and the lifting drive belt pulley 114 also run in forward and reverse directions. The lifting drive belt 118 housed in the lifting drive belt pulley 114 is driven to run. The lifting drive belt 118 outputs the upward and downward movement through the belt guide wheel 117 and the four belt hanging point assemblies 113 connected with the lifting frame 112, and realizes the lifting movement of the lifting frame 112.

[0115] The walking main drive assembly 101 is composed of Figure 3As shown, mainly includes: walking main drive motor and reducer 1011, walking main drive wheel 1012, main drive frame 1014, main drive mechanism rail guide wheel 1015. Among them, walking main drive motor and reducer 1011, walking main drive wheel 1012 are installed on the main drive frame 1014, and the walking main drive wheel 1012 is in contact with the upper surface of the production line track 3, serving as the driving force source of the whole self-propelled trolley 1. Four guide wheels 1015 are installed on the bottom of the main drive frame 1014, and the guide wheels 1015 are located on the guide surfaces on both sides of the production line track 3, used for guiding the self-propelled trolley 1 when walking on the production line track 3, and preventing the main drive frame 1014 from overturning on the production line track 3. A carbon brush mounting cover plate 1016 is installed on the back of the main drive frame 1014, which can be turned over and opened, locked and clamped by a cover lock pin 1017, and a carbon brush device 1018 is installed in the carbon brush mounting cover plate 1016, which is in contact with the slide wire installed on the side of the production line track 3 to pick up electric energy. A clutch operating lever 1013 is provided on the walking main drive motor and reducer 1011, which is used to disconnect the motor brake resistance, and can temporarily manually push and pull the self-propelled trolley 1 to walk on the production line track 3 when a fault occurs.

[0116] The walking driven assembly 107 includes: a driven frame 1071, a driven mechanism rail guide wheel 1072, a grounding carbon brush 1073, and a walking driven wheel 1074. The walking driven wheel 1074 is installed on the driven frame 1071 and located on the upper surface of the production line track 3; four driven mechanism rail guide wheels 1072 are installed on the bottom of the driven frame 1071, and the driven mechanism rail guide wheels 1072 are also located on the guide surfaces on both sides of the production line track 3, used for guiding the self-propelled trolley when walking and preventing the driven frame 1071 from overturning on the production line track 3. The grounding carbon brush 1073 is installed on the inner side of the driven frame 1071, used for grounding connection of the self-propelled trolley system.

[0117] The belt lifting point assembly 113 includes Figure 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 is folded and installed on the clamping plate 1131 after passing through the lifting ring 1132, the lifting ring 1132 is connected with two screws 1138, the screw 1138 passes through the lifting point mounting hole on the lifting frame 112 together with the guide sleeve 1135, and then is fastened by the nut 1136 and the gasket 1137. The wedge block on the lifting ring 1132 is in contact with the travel switch 1133, when the lifting drive belt 118 is loose or broken, the lifting ring 1132 drives the wedge block to descend under the action of gravity, touches the travel switch 1133, realizes belt breakage detection, and ensures the safety of the equipment.

[0118] Four buffer limiters 1151, one overtravel switch 1153, and two guide rods 1152 are installed on the underside of the self-propelled trolley frame 115. Left and right lateral self-propelled trolley balance rails 121 are installed at the lower workstation 2, upper workstation 1 6, and upper workstation 2 9, respectively. Figure 2 The four balance support wheels 116 mounted on the self-propelled trolley frame 115 are in contact with each other, used for the overall balance of the self-propelled trolley 1 when it is in the working position, such as... Figure 10 As shown, the self-propelled trolley balance rail 121 is installed on the balance rail boom 122, the diagonal brace boom 123, and the balance rail crane 124.

[0119] Lifting frame 112 Figure 5 As shown, the lifting frame 112 is equipped with two sets of side sensor brackets 1125. A side sensor photoelectric sensor 1126 is installed at the lower end of each side sensor bracket 1125 to detect and identify whether a side panel is present on the side panel fixture. Two sets of guide rod first guide wheel mechanisms 1124 are installed on both sides of the center of the lifting frame 112. Each set of first guide wheel mechanisms 1124 has four circumferentially arranged guide wheels, forming a hollow guide mechanism. Guide rods 1152 are inserted into this hollow guide mechanism. The first guide wheel mechanism 1124 cooperates with the two guide rods 1152 on the self-propelled trolley frame 115, playing a guiding and positioning role in the upper half of the lifting stroke of the lifting frame 112. The lower half of the lifting stroke of the lifting frame 112 relies on the second guide wheel mechanism 1127 and the grooved column guide rail installed on the ground for guidance. In the second guide wheel mechanism 1127, guide wheels one 11271, guide wheel two 11273, and guide wheel five 11276 mate with the inner bottom surface of the grooved guide rail, restricting the degree of freedom perpendicular to the inner bottom surface of the grooved guide rail and the degree of freedom of overturning rotation; guide wheel four 11275 mates with the inner surfaces of both sides of the groove of the grooved guide rail, and guide wheel three 11274 mates 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 mounted on the cam bearing mounting seat 11278, and cam bearing one 11272 and cam bearing two 11279 respectively mate with the inner surfaces of both sides of the groove of the grooved guide rail; guide wheels four 11275, guide wheel three 11274, cam bearing one 11272, and cam bearing two 11279 together restrict the degree of freedom perpendicular to the two sides of the groove of the grooved guide rail and the degree of freedom of overturning rotation. The second guide wheel mechanism 1127 is mounted on the lifting frame 112 via the guide support 11277. A tank chain bracket 1121 and a tank chain 1122 are mounted on the crossbar of the portal frame of the lifting frame 112. Signal cables and power cables are installed inside the tank chain 1122. 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 side panel tooling drive motor 112301 and the side panel detection sensor 1126.

[0120] A locking side panel tooling assembly 1123 is installed in the middle of the lifting frame 112, such as...Figure 6 and Figure 7 The output shaft of the lock side body tool assembly driving motor and reducer 112301 is connected with the swing arm 112316, which contains four branch arms. The joint bearing one 112309 and the joint bearing two 112311 are connected with the connecting rod 112310 through threads and nuts. The swing arm 112316 is connected with the joint shaft 112311 through the pin shaft 112318. The joint bearing 112309 is connected with the linear slide rail mechanism 112308 through the pin shaft 112302. One end of the floating head 112306 is a threaded rod structure, which is connected with the threaded hole of the linear slide rail mechanism 112308 and fastened with the locking nut 112307. The other end of the floating head 112306 is embedded with the T-shaped slot of the tail of the latch 112304, forming a floating connection. The latch 112304 penetrates through the sliding bearing and bearing seat 112303 and can slide linearly therein. The limiting clamping groove 112305 is provided with a through hole, and the latch 112304 can be inserted into the hole when it is extended, and the slot structure of the limiting clamping groove 112305 is used for guiding the side body tool lifting lug during the descent of the lifting frame 112. The induction plates 112314 and 112315 are installed on two adjacent branch arms of the swing arm 112316 and are used for triggering the side body tool locking in place switch 112313 and the side body tool loosening in place switch 112317, respectively. The swing arm 112316 converts the rotary motion of the motor into the linear motion of the four groups of latch 112304 with the same structure. When the lock side body tool assembly driving motor and reducer 112301 rotates forward, the swing arm 112316 rotates, which drives the linear slide rail mechanism 112308 to slide outward along the linear slide rail 112312 through the joint bearing one 112309, the connecting rod 112310 and the joint bearing two 112311, and further drives the floating head 112306 and the latch 112304 to penetrate through the sliding bearing and bearing seat 112303, the side body tool lifting lug and the limiting clamping groove 112305. After the latch 112304 is extended and locked in place, the side body tool locking in place switch 112313 is triggered by the induction plate 112314. When the lock side body tool assembly driving motor and reducer 112301 reverses, the swing arm 112316 rotates, which drives the linear slide rail mechanism 112308 to slide inward along the linear slide rail 112312 through the joint bearing one 112309, the connecting rod 112310 and the joint bearing two 112311, and further drives the floating head 112306 and the latch 112304 to penetrate through the sliding bearing and bearing seat 112303 inwardly and away from the side body tool lifting lug and the limiting clamping groove 112305. After the latch 112304 is retracted and loosened in place, the side body tool loosening in place switch 112317 is triggered by the induction plate 112315.

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

[0122] The whole control system is composed of a main control PLC control system and a trolley PLC control system. The main control PLC control system includes a main control PLC controller, an HMI operation picture system and a remote IO. The main control PLC controller is responsible for the overall operation control of the conveying system, simultaneously monitors and identifies the state of the remote IO signal, implements logical judgment and issues instructions. The remote IO signals include: trolley upper piece position one in position detection (signal collected by the occupying switch arranged on the upper piece position one 6), trolley upper piece position two in position detection (signal collected by the occupying switch arranged on the upper piece position two 9), trolley waiting position one in position detection (signal collected by the waiting position switch one 5), trolley waiting position two in position detection (signal collected by the waiting position switch two 10), trolley lower piece position in position detection (signal collected by the occupying switch arranged on the lower piece position 2), upper piece position one positioning clamping in position, upper piece position one positioning releasing in position, upper piece position two positioning releasing in position, upper piece position two positioning clamping in position, upper piece position two positioning releasing in position, lower piece position positioning releasing in position, and lower piece position positioning clamping in position (signals collected by the in-position sensing sensors on the cylinder clamping device of the positioning clamping rod 103 arranged on the upper piece position one 6, upper piece position two 9 and lower piece position 2, respectively).

[0123] The trolley PLC control system is composed of a trolley PLC controller, a horizontal walking frequency converter, a walking main drive motor and a reducer 1011, a vertical lifting frequency converter, a lifting drive motor and a speed reducer 104, a lock side wall tool driving motor and a reducer 112301, a remote IO, a remote controller and a ruler positioning code reader 108. Among them, the trolley PLC controller, the horizontal walking frequency converter and the vertical lifting frequency converter are installed on the trolley body, and the walking main drive motor and the reducer 1011, the lifting drive motor and the speed reducer 104, the lock side wall tool driving motor and the reducer 112301, the remote IO, the remote controller and the ruler positioning code reader 108 are installed on the trolley body. Figure 2The 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 a driving unit of the motor, and realizes the speed regulation of the motor. The remote IO collects the state of the trolley, and the self-propelled trolley PLC controller implements operation process control according to the state condition. The remote IO signals include: up-to-position deceleration detection, up-to-position stop detection, up-to-position overtravel detection, belt breakage detection (signals collected by the travel switch 1133), side wall piece detection (signals collected by the side wall detection photoelectric sensor 1126), side wall tool locking detection, side wall tool unlocking detection, down-to-position deceleration detection, and down-to-position stop detection. The closed-loop control of the trolley horizontal walking to the position stop is realized through the ruler positioning code reader 108, and the precise positioning function is achieved. Manual operation control of the trolley can be realized through the remote controller.

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

[0125] Up-to-position deceleration detection: when the lifting frame 112 reaches the triggering distance during the lifting process, the up-to-position deceleration switch installed on the self-propelled trolley frame 115 is triggered, and the up-to-position deceleration switch sends a deceleration signal.

[0126] Up-to-position stop detection: when the lifting frame 112 is lifted to the position, the up-to-position stop switch installed on the self-propelled trolley frame 115 is triggered, and a to-position signal is sent.

[0127] Up-to-position overtravel detection: when the lifting frame 112 is lifted to the overtravel position, the up-to-position overtravel switch 1153 installed on the self-propelled trolley frame 115 is triggered, and an overtravel signal is sent.

[0128] Side wall tool locking detection and side wall tool unlocking detection: the side wall tool locking to position switch 112313 and the side wall tool unlocking to position switch 112317 installed on the lifting frame 112 detect whether the bolt 112304 is in the extended locking state or in the retracted unlocking state.

[0129] Down-to-position deceleration detection: when the lifting frame 112 is lowered to the position requiring deceleration, the down-to-position deceleration switch installed on the lifting frame 112 is triggered, and a deceleration signal is sent.

[0130] Down-to-position stop detection: when the lifting frame 112 is lowered to the lowest target position, the down-to-position stop switch installed on the lifting frame 112 is triggered, and a down-to-position signal is sent.

[0131] The signal interaction is carried out between the master PLC controller and the self-propelled trolley PLC controller arranged on the self-propelled trolley 1 through a wireless signal coupler. Two pairs of wireless signal couplers are arranged at each station, and each pair of wireless signal couplers is composed of a sending end and a receiving end. The master PLC controller sends the rising, falling, advancing, retreating, enabling, station safety and other operation control instructions to the self-propelled trolley receiving end through the sending end. After the self-propelled trolley receiving end receives the corresponding operation control instruction, the self-propelled trolley PLC controller controls the self-propelled trolley 1 to realize the corresponding action function. Meanwhile, the self-propelled trolley 1 can send the retreat-to-position, advance-to-position, rise-to-position, fall-to-position, fault and other working state information to the master PLC receiving end through the wireless signal coupler sending end. The retreat-to-position signal is detected by the occupancy switch installed on the upper piece station to determine whether the self-propelled trolley is in position, and the advance-to-position signal is detected by the occupancy switch installed on the lower piece station to determine whether the self-propelled trolley is in position. In the waiting position, the master PLC controller and the self-propelled trolley 1 interact through photoelectric signals to realize the waiting position stop command and the advance-to-lower-piece-station command of the master PLC controller to the self-propelled trolley PLC controller. Specifically:

[0132] The master PLC sends a "rise command", and after the self-propelled trolley PLC controller receives the "rise command", it sends a driving instruction to the vertical lifting frequency converter. The lifting drive motor and the speed reducer 104 are driven in forward rotation, the coupling 105 and the lifting drive pulley 114 are driven in forward rotation, the lifting drive belt 118 stored in the lifting drive pulley 114 is driven in reverse rotation, and the lifting frame 112 is lifted through the belt guide wheel 117 and the four belt hanging point assemblies 113.

[0133] After the self-propelled trolley PLC controller of the self-propelled trolley 1 receives the "fall command", it sends a driving instruction to the vertical lifting frequency converter. The lifting drive motor and the speed reducer 104 are driven in reverse rotation, the coupling 105 and the lifting drive pulley 114 are driven in reverse rotation, the lifting drive belt 118 stored in the lifting drive pulley 114 is driven to rotate out of the lifting drive pulley 114, and the lifting frame 112 is lowered through the belt guide wheel 117 and the four belt hanging point assemblies 113. The lifting mechanism descends to the low position, triggering the falling-to-position deceleration switch and the falling-to-position stop switch. The "falling-to-position deceleration detection" and "falling-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 frequency converter to stop running.

[0134] The master PLC controller sends an "advance command" to the self-propelled trolley 1, and the self-propelled trolley PLC controller receives the "advance command" through the wireless signal coupler. The self-propelled trolley PLC controller sends a driving instruction to the walking frequency converter. The walking main drive motor and the speed reducer 1011 are driven in forward rotation, and the walking main drive wheel 1012 is driven to run on the production line track 3.

[0135] The host PLC controller sends a "back command", and after the self-propelled trolley PLC controller receives the "back command" through the wireless signal coupler, it sends a driving instruction to the walking frequency converter, controls the walking main drive motor and the speed reducer 1011 to reverse operation, and drives the walking main drive wheel 1012 to run on the production line track 3.

[0136] After the "enable" instruction is received by the self-propelled trolley PLC controller, it is sent to the "vertical lifting frequency converter" and "walking frequency converter" to make them in a standby running state.

[0137] The "station safety" instruction will make logical judgment on the relevant safety signals collected by the host PLC, and send it to the self-propelled trolley PLC controller. Only when the safety conditions are met, the self-propelled trolley can run.

[0138] Conveying system control process:

[0139] Step one, initially, two self-propelled trolleys 1 (self-propelled trolley one and self-propelled trolley two) are waiting at the upper part station one 6 and the upper part station two 9 respectively;

[0140] Step two, the host PLC controller receives the vehicle model queue sent by the main welding line, and sends the current vehicle model to the built-in upper part station one 6 corresponding vehicle model information storage variable, while moving the side wall tooling into the lower part of the upper part station one 6, so that the lifting lug of the side wall tooling is located between the sliding bearing and bearing seat 112303 and the limiting slot 112305, the host PLC controller sends a "lower command" to the self-propelled trolley one through the wireless coupler at the upper part station one 6, and the self-propelled trolley PLC controller of the self-propelled trolley one receives the "lower command" and sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and the speed reducer 104 to reverse drive, 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 rotate out of the lifting drive pulley 114, passes through the belt guide wheel 117 and the four belt lifting point assemblies 113 to drive the lifting frame 112 to descend under the guidance of the guide rod 1152, when the lifting frame 112 descends to the low position, the descending position reduction switch on the lifting frame 112 is triggered, the lifting drive motor and the speed reducer 104 are controlled to operate at a reduced speed, and when the descending position stop switch on the lifting frame 112 is triggered, the lifting drive motor and the speed reducer 104 are controlled to stop running; the "lower position reduction detection" and "lower 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 frequency converter to stop running.

[0141] Step three, the self-propelled trolley PLC controller controls the lock side wall tooling assembly drive motor and reducer 112301 to rotate, and then drives the latch 112304 to pass through the lifting lug hole of the side wall tooling and insert into the limiting slot 112305, to pick up the side wall tooling; whether the rotation driving of the lock side wall tooling assembly drive motor and reducer 112301 is completed is identified through the "side wall tooling locking in place" and "side wall tooling opening in place" signals triggered by the side wall tooling locking in place switch 112313 and the side wall tooling opening in place switch 112317 on the remote IO. If the side wall tooling locking in place switch 112313 is triggered, it indicates that the side wall tooling is locked in place, the lock side wall tooling assembly drive motor and reducer 112301 stops rotating, the driving is completed, and the next step is entered;

[0142] Step four, after picking up the side wall tooling, whether the side wall tooling is in place is detected by the side wall detection photoelectric sensor 1126. After detecting that the side wall tooling is in place, when the "side wall has a piece detection" signal on the remote IO is normal, the self-propelled trolley PLC feeds back the "has a piece" signal to the main control PLC through the wireless signal coupler, the main control PLC sends an "ascending command", and the self-propelled trolley PLC controller receives the "ascending command" and sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and reducer 104 to drive in the forward direction, 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 four belt lifting point assemblies 113. When the ascending in place deceleration switch on the self-propelled trolley frame 115 is triggered, the lifting drive motor and reducer 104 are controlled to run at a reduced speed. When the ascending in place stop switch is triggered, the lifting drive motor and reducer 104 are controlled to stop running. The "ascending in place deceleration detection" and "ascending 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 frequency converter to stop running. The lifting mechanism lifts the side wall piece to the high position, and the self-propelled trolley one feeds back the "ascending in place" 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 one, the self-propelled trolley PLC controller receives the "forward command" through the wireless signal coupler, sends a driving instruction to the walking frequency converter, and then controls the walking main drive motor and reducer 1011 to run in the forward direction. The walking main drive wheel 1012 runs on the production line track 3, so that the self-propelled trolley 1 in the piece loading station one 6 carries the side wall piece and drives away from the piece loading station one 6 area until Figure 1 The waiting position switch one 5 is triggered, and the self-propelled trolley 1 reaches the waiting position one and waits;

[0143] Step five, the occupying switch is installed in the lower piece station 2, the upper piece station one 6, the upper piece station two 9, and is connected with the remote IO of the main control PLC control system, the trolley lower piece station in position detection, the trolley upper piece station one in position detection and the trolley upper piece station two in position detection signal feedback is given to the main control PLC, and the main control PLC controller identifies whether the self-propelled car 1 is in position in each station. By the logic judgment of the main control PLC controller, when the signal of the occupying switch on the lower piece station 2, the occupying switch on the upper piece station two 9 and the waiting position switch two 10 is judged to satisfy that the lower piece station 2 has no car and the upper piece station two 9 or the waiting position two has a car, the self-propelled car one is sent with the photoelectric switch “forward to the lower piece station 2 command”, and the turnout one 4 is switched to the straight rail, after the self-propelled car PLC controller receives “forward to the lower piece station 2 command”, the driving instruction is sent to the walking frequency converter, the walking main drive motor and the speed reducer 1011 in the upper piece station one 6 are controlled to rotate forward, the driving walking main drive wheel 1012 is driven to run on the production line rail 3, the position value of the self-propelled car 1 horizontal walking is read through the ruler positioning reader 108, when driving to the lower piece station 2, the self-propelled car PLC controller controls the self-propelled car 1 to stop positioning (i.e. the walking main drive motor and the speed reducer 1011 stop running) according to the position value read by the ruler positioning reader 108, and the “forward to position” signal is fed back to the main control PLC through the wireless signal coupler by the self-propelled car PLC controller.At this time, the main control PLC transmits the current vehicle model number stored in the storage variable corresponding to the vehicle model information of the upper part station 1-6 to the storage variable corresponding to the vehicle model information of the lower part station 2, and performs program logic comparison with the vehicle model number in the storage variable corresponding to the vehicle model information of the main welding line preloading station. When the vehicle model number in the storage variable of the lower part station 2 is not equal to the vehicle model number in the storage variable of the main welding line preloading station, the main control PLC controller issues an inconsistent error alarm. When the vehicle model number in the storage variable of the lower part station 2 is equal to the vehicle model number in the storage variable of the main welding line preloading station, the main control PLC controller issues a vehicle model comparison consistent signal. When the main control PLC controller issues the vehicle model comparison consistent signal, and the main control PLC controller receives the non-interference signal sent by the main welding line, the main control PLC controller sends a "lowering command" to the self-propelled trolley PLC controller through the wireless signal coupler at the lower part station 2. After the self-propelled trolley PLC controller receives the "lowering command", it sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and speed reducer 104 of the self-propelled trolley 1 in the lower part station 2 to reverse drive, and the coupling 105 and lifting drive pulley 114 follow the reverse operation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to operate, and the lifting frame 112 is lowered through the belt guide wheel 117 and the four belt hanging point assemblies 113. The lifting mechanism descends to the low position until the lowering position reduction switch and the position stop switch are triggered. The "lowering position reduction detection" and "lowering position stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller, and the self-propelled trolley PLC controller controls the vertical lifting frequency converter to stop running. The lifting drive motor and speed reducer 104 stop running, and the lifting frame 112 descends to the position, delivering the side wall tool to the main welding line robot grabbing position. After the robot completes the grabbing, it sends a grabbing completion signal to the main control PLC controller, and the main control PLC controller sends an "ascending command" to the self-propelled trolley PLC controller through the wireless signal coupler at the lower part station 2. After the self-propelled trolley PLC controller receives the "ascending command", it sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and speed reducer 104 to drive in the positive direction, and the coupling 105 and lifting drive pulley 114 follow the positive rotation. The lifting drive belt 118 stored in the lifting drive pulley 114 is driven to operate, and the lifting frame 112 is lifted through the belt guide wheel 117 and the four belt hanging point assemblies 113. The lifting mechanism rises to the high position until the ascending position reduction switch and the ascending position stop switch on the self-propelled trolley frame 115 are triggered. The lifting drive motor and speed reducer 104 stop running, and the "ascending position reduction detection" and "ascending position stop detection" signals on the remote IO are fed back to the self-propelled trolley PLC controller. The PLC controller controls the vertical lifting frequency converter to stop running. After the lifting mechanism rises to the high position, the self-propelled trolley sends an "ascending position" signal to the main control PLC controller.The host PLC controller sends a "back command", and after the self-propelled trolley PLC controller receives the "back command" through the wireless signal coupler, it sends a driving instruction to the walking frequency converter, controls the walking main drive motor and the speed reducer 1011 to reverse operation, drives the walking main drive wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 in the lower part position 2 returns to the upper part position 1 6, and waits to pick up the next side wall part.

[0144] In this process, after the rising to position stop switch on the self-propelled trolley frame 115 is triggered, it indicates that the rising is in position, and if it continues to rise due to other factors, the rising overtravel switch 1153 will be triggered, and then the lifting drive motor and the speed reducer 104 are stopped, and the rising overtravel switch 1153 serves as a secondary protection function;

[0145] Step six: After the current vehicle model stored in the corresponding vehicle information storage variable of the upper part position 1 6 is transmitted to the corresponding vehicle information storage variable of the lower part position 2, the next vehicle model is sent to the corresponding vehicle information storage variable of the upper part position 2 9 as the current vehicle model of the upper part position 2 9. At this time, the tool with the side wall is moved into the lower part of the upper part position 2 9, and the host PLC sends a "lower command" to the self-propelled trolley 2 through the wireless coupler at the upper part position 2 9. After the PLC controller of the self-propelled trolley 2 receives the "lower command", it sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and the speed reducer 104 of the self-propelled trolley 1 at the upper part position 2 9 to reverse drive, the shaft 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, passes through the belt guide wheel 117 and the four belt hanging point assemblies 113 to drive the lifting frame 112 to descend, when the lifting frame 112 descends to the lower position, the descending to position deceleration switch and the to position stop switch on it are triggered, the lifting drive motor and the speed reducer 104 are stopped, the "descending to position deceleration detection" and "descending 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 frequency converter to stop running. The self-propelled trolley PLC controller controls the lock side wall tool assembly drive motor and the speed reducer 112301 to rotate, and then drives the latch 112304 to pass through the ear hole of the side wall tool and insert into the limiting slot 112305, to pick up the side wall tool; whether the rotation driving of the lock side wall tool assembly drive motor and the speed reducer 112301 is completed is identified through the "side wall tool locking to position" and "side wall tool opening to position" signals triggered by the side wall tool locking to position switch 112313 and the side wall tool opening to position switch 112317 on the remote IO, if the side wall tool locking to position switch 112313 is triggered, it indicates that the side wall tool is locked in position, the lock side wall tool assembly drive motor and the speed reducer 112301 are controlled to stop rotating, the driving is completed, and the next step is entered.

[0146] Step seven, pick up the side body tooling, side body detection photoelectric sensor 1126 detects whether the side body tooling is in place, if the detection side body tooling is in place, when the remote IO "side body has piece detection" signal is normal, the trolley PLC feedbacks "has piece" signal to the main control PLC through the wireless signal coupler, the main control PLC sends "up command", the trolley PLC controller receives "up command" and sends driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and speed reducer 104 of the trolley 1 at the second up piece station 9 to drive in positive direction, the coupling 105, lifting drive pulley 114 run in positive direction, the lifting drive belt 118 in the lifting drive pulley 114 is driven to run, through the belt guide wheel 117, four belt hanging point assemblies 113 drive the lifting frame 112 to rise, when the up-to-position deceleration switch and up-to-position stop switch are triggered, control the lifting drive motor and speed reducer 104 to stop running, through the remote IO "up-to-position deceleration detection" "up-to-position stop detection" signal feedback to the trolley PLC controller, the PLC controller controls the vertical lifting frequency converter to stop running. The lifting mechanism lifts the side body to high position, the trolley two feedbacks "up-to-position" signal to the main control PLC through the wireless signal coupler. The main control PLC sends "forward command" to the trolley two, the trolley PLC receives "forward command" through the wireless signal coupler and sends driving instruction to the walking frequency converter, controls the walking main drive motor and speed reducer 1011 of the trolley 1 to run in positive direction, drives the walking main drive wheel 1012 to run on the production line track 3, the trolley 1 carries the side body and drives away from the second up piece station 9 area until reaches the waiting position two position where the waiting position switch two 10 is located to wait; The down piece station 2, the first up piece station 6 and the second up piece station 9 are all installed with occupying switch, which is connected with the remote IO of the main control PLC, and whether the trolley is in place is identified through the "trolley down piece station in place detection" "trolley up piece station one in place detection" "trolley up piece station two in place detection" signal feedback to the main control PLC.The master PLC makes logical judgment, when the trolley is not in the second unloading station 2 and the trolley is in the first loading station 6 or the waiting station 1, the photoelectric switch sends the "advance to the second unloading station 2 command" to the second trolley, and the turnout 4 is switched to the curved track. After the trolley PLC controller of the second trolley receives the "advance to the second unloading station 2 command", the driving instruction is sent to the walking frequency converter, the walking main drive motor and the speed reducer 1011 of the first trolley in the second waiting station are controlled to rotate forward, the walking main drive wheel 1012 is driven to run on the production line track 3, the position value of the horizontal walking of the first trolley is read by the ruler positioning reader 108, when the first trolley reaches the second unloading station, the walking main drive motor and the speed reducer 1011 of the first trolley are stopped; the trolley PLC controller controls the first trolley to stop positioning according to the position value read by the ruler positioning reader 108, and the trolley PLC controller feeds back the "advance to the position" signal to the master PLC through the wireless signal coupler.

[0147] Step eight, at this time the main control PLC program will the current vehicle model number stored in the storage variable corresponding to the vehicle information in the second 9 of the upper part of the work station to the corresponding vehicle information storage variable in the second of the lower part of the work station, and the vehicle model number in the corresponding vehicle information storage variable in the main welding line preloading work station is compared with the program logic, when the vehicle model number in the storage variable in the second of the lower part of the work station is not equal to the vehicle model number in the storage variable in the main welding line preloading work station, the main control PLC program issues an inconsistent error alarm; when the vehicle model number in the storage variable in the second of the lower part of the work station is equal to the vehicle model number in the storage variable in the main welding line preloading work station, the main control PLC program issues a vehicle model comparison consistent signal; when the main control PLC program issues a vehicle model comparison consistent signal, the main control PLC receives a non-interference signal sent by the main welding line, and the main control PLC sends a "lowering command" to the self-propelled trolley PLC controller through the wireless signal coupler at the second of the lower part of the work station, the self-propelled trolley PLC controller receives the "lowering command" and sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and speed reducer 104 of the self-propelled trolley 1 at the second of the lower part of the work station to drive in reverse, the coupling 105 and the lifting drive pulley 114 follow the reverse operation, the lifting drive belt 118 received in the lifting drive pulley 114 is driven to operate, passes through the belt guide wheel 117 and the four belt hanging point assemblies 113 to output to drive the lifting frame 112 to descend, until the lowering in-place deceleration switch and the in-place stop switch are triggered, the "lowering in-place deceleration detection" and "lowering 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 frequency converter to stop running. After the lifting mechanism descends to the position, the lifting drive motor and speed reducer 104 stop running, the side wall is sent to the main welding line robot grabbing position, the robot takes the part, sends a "part taking completion" signal to the main control PLC, the main control PLC sends an "ascending command" to the self-propelled trolley PLC controller through the wireless signal coupler at the second of the lower part of the work station, the self-propelled trolley PLC controller receives the "ascending command" and sends a driving instruction to the vertical lifting frequency converter, controls the lifting drive motor and speed reducer 104 of the self-propelled trolley 1 to drive in forward rotation, the coupling 105 and the lifting drive pulley 114 follow the forward rotation, the lifting drive belt 118 received in the lifting drive pulley 114 is driven to operate, passes through the belt guide wheel 117 and the four belt hanging point assemblies 113 to drive the lifting frame 112 to ascend, until the ascending in-place deceleration switch and the ascending in-place stop switch are triggered, the lifting drive motor and speed reducer 104 stop running, the "ascending in-place deceleration detection" and "ascending 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 frequency converter to stop running. After the lifting mechanism ascends to the high position, the self-propelled trolley two feeds back an "ascending in-place" signal to the main control PLC.The main control PLC sends a "back command", and after the self-propelled trolley two PLC controller receives the "back command" through the wireless signal coupler, sends a driving instruction to the walking frequency converter, controls the reverse operation of the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 at the lower part positioning station 2, drives the walking main drive wheel 1012 to run on the production line track 3, so that the self-propelled trolley 1 at the lower part positioning station 2 returns to the upper part positioning station two 9, and waits to pick up the next side wall part.

[0148] Step nine, repeat steps one to eight to realize multi-model batch flexible production.

[0149] The standby trolley switching method one is divided into two cases.

[0150] The first case: when the self-propelled trolley 1 at the upper part positioning station one 6 fails;

[0151] Step one, first switch the turnout one 4 to a curved track, control the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 at the upper part positioning station two 9 to run, drive the walking main drive wheel 1012 to run on the production line track 3, and move the normal self-propelled trolley 1 at the upper part positioning station two 9 to the lower part positioning station 2;

[0152] Step two, switch the turnout two 11 to a curved track, control the walking main drive motor and the speed reducer 1011 of the standby trolley 8 to run, drive the walking main drive wheel 1012 to run on the production line track 3, and make the standby trolley 8 move to the production line track 3 between the turnout one 4 and the lower part positioning station 2 and wait;

[0153] Step three, switch the turnout two 11 to a straight track, control the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 at the upper part positioning station one 6 to run, drive the walking main drive wheel 1012 to run on the production line track 3, and make the self-propelled trolley 1 at the upper part positioning station one 6 fail to retreat to the maintenance station 7;

[0154] Step four, switch the turnout one 4 to a straight track, control the walking main drive motor and the speed reducer 1011 of the standby trolley 8 to run, drive the walking main drive wheel 1012 to run on the production line track 3, and make the standby trolley 8 retreat to the upper part positioning station one 6 for use;

[0155] Step five, switch the turnout one 4 to a curved track, control the walking main drive motor and the speed reducer 1011 of the self-propelled trolley 1 at the lower part positioning station 2 to run, drive the walking main drive wheel 1012 to run on the production line track 3, and make the self-propelled trolley 1 at the lower part positioning station 2 retreat to the upper part positioning station two 9; thus, the self-propelled trolley 1 at the upper part positioning station one 6 that fails is switched to the maintenance station 7, the equipment replacement is quickly realized, and the loss of downtime is reduced;

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

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

[0158] Step two, switch the turnout 11 to straight rail, and control the standby trolley 8 to move forward to the production line track 3 between the turnout 4 and the unloading station 2 to wait;

[0159] Step three, switch the turnout 11 to curved rail, and control the self-propelled trolley 1 at the second loading station 9 that fails to retreat to the maintenance station 7;

[0160] Step four, switch the turnout 4 to curved rail, and control the standby trolley 8 to retreat to the second loading station 9 for use;

[0161] Step five, switch the turnout 4 to straight rail, and make the self-propelled trolley 1 at the unloading station 2 retreat to the first loading station 6; thus, the self-propelled trolley 1 at the second loading station 9 that fails is switched to the maintenance station 7, the equipment replacement is quickly realized, and the loss of stopping the train is reduced.

[0162] The second standby trolley switching method is divided into two cases:

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

[0164] Step one, first switch the turnout 4 to straight rail, and make the self-propelled trolley 1 at the first loading station 6 move forward to the unloading station 2, then switch the turnout 4 to curved rail, and make the self-propelled trolley 1 at the unloading station 2 retreat to the waiting position 10 to wait;

[0165] Step two, switch the turnout 11 to straight rail, and switch the turnout 4 to straight rail, and control the standby trolley 8 to move forward to the unloading station 2 to wait;

[0166] Step three, switch the turnout 4 to curved rail, and make the self-propelled trolley 1 at the waiting position 10 move forward to the production line track 3 between the turnout 4 and the unloading station 2 to stay;

[0167] Step four, switch the turnout 4 to straight rail, and make the self-propelled trolley 1 retreat to the maintenance station 7; control the standby trolley 8 to retreat to the first loading station 6 for work; thus, the self-propelled trolley 1 at the first loading station 6 that fails is switched to the maintenance station 7, the equipment replacement is quickly realized, and the loss of stopping the train is reduced;

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

[0169] Step one, first switch turnout one 4 to curved rail, the self-propelled trolley 1 at operation station two 9 goes to the piece-down station 2, switches turnout one 4 to straight rail, and the self-propelled trolley 1 at piece-down station 2 retreats to waiting position one 5 and waits;

[0170] Step two, switch turnout two 11 to curved rail, switch turnout one 4 to curved rail, control standby trolley 8 to go to piece-down station 2 and wait;

[0171] Step three, switch turnout one 4 to straight rail, and the self-propelled trolley 1 at waiting position one 5 goes to the production line track 3 between turnout one 4 and piece-down station 2 and stays;

[0172] Step four, switch turnout one 4 to curved rail, and operate the self-propelled trolley 1 to retreat to the maintenance station 7; control standby trolley 8 to retreat to piece-up station two 9 and put into work, thus completing the switching of the self-propelled trolley 1 at piece-up station two 9 to the maintenance station 7, quickly realizing equipment replacement, and reducing the loss of stopping.

[0173] The application has two piece-up ports at the piece-up station, the main PLC control system of the conveying system receives the vehicle type production plan queue issued by the main welding line, controls the self-propelled trolleys of the two piece-up ports to alternately piece up, the self-propelled trolleys match the vehicle type of the pre-assembly station of the main welding line again when reaching the piece-down station, and the side wall assembly is grabbed by the main welding line robot for vehicle combination operation after successful matching. The conveying system can satisfy the flexible production of a plurality of vehicle types in large quantities.

[0174] The main control PLC and the PLC of the self-propelled trolley interact signals through wireless coupling sensors at the piece-up station and the piece-down station, and realize the scheduling control of the whole conveying system.

[0175] The preferred embodiments of the application are described in detail above with reference to the drawings, but the protection scope of the application is not limited to the specific details in the above-described embodiments. Within the technical concept range of the application, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the application within the technical range disclosed by the application, and these simple changes all belong to the protection scope of the application.

[0176] In addition, it should be noted that various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, various possible combinations are not described again by the application.

[0177] In addition, various different embodiments of the application can also be combined in any manner, as long as it does not deviate from the idea of the application, and it should be considered as disclosed by the application.

Claims

1. A main body side wall inner member conveying system characterized by comprising: The device comprises a self-propelled trolley (1), a lower piece station (2), a production line track (3), a turnout (4), an upper piece station (6), an upper piece station (9), a turnout (11), a maintenance station (7), and a spare trolley (8). The lower piece station (2), the upper piece station (6), the maintenance station (7), and the upper piece station (9) are respectively provided with the 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) of the maintenance station (7) is connected with the spare trolley (8). The production line track (3) of the maintenance station (7) is connected with one end of the production line track (3) of the upper piece station (9) and the upper piece station (6). The other end of the production line track (3) of the upper piece station (9) and the upper piece station (6) is connected with the production line track (3) of the lower piece station (2). The lower piece station (2), the upper piece station (6), and the upper piece station (9) are respectively provided with a self-propelled trolley balance rail (121). The production line track (3) between the lower piece station (2) and the upper piece station (9) is provided with a waiting position switch (10). The production line track (3) between the lower piece station (2) and the upper piece station (6) is provided with a waiting position switch (5). The self-propelled trolley (1) and the spare trolley (8) have the same structure, which comprises a walking main drive assembly (101), a connecting rod, a lifting drive motor and a speed reducer (104), a walking driven assembly (107), a lifting arm (110), a lifting frame (112), a belt lifting point assembly (113), a lifting drive belt pulley (114), a self-propelled trolley frame (115), a self-propelled trolley balance support wheel (116), and a belt guide wheel (117). The walking main drive assembly (101) and the walking driven assembly (107) are hinged to the lifting arm (110) through the connecting rod. The lifting arm (110) is fixed to the self-propelled trolley frame (115). The self-propelled trolley frame (115) is fixed with the lifting drive motor and the speed reducer (104) and the lifting drive belt pulley (114) in the middle. The self-propelled trolley frame (115) outside the lifting arm (110) is fixed with the belt guide wheel (117). The concentric output shafts on the left and right sides of the lifting drive motor and the speed reducer (104) are respectively connected with the corresponding lifting drive belt pulleys (114), which can drive the lifting drive belt pulleys (114) to rotate. The lifting drive belt (118) is wound on the lifting drive belt pulley (114). The two ends of the lifting drive belt (118) are connected to the corresponding belt lifting point assemblies (113) after passing through the corresponding belt guide wheels (117). The walking main drive assembly (101) and the walking driven assembly (107) are used for connecting with the production line track (3), so that the self-propelled trolley (1) can slide along the production line track (3). The bottom of the self-propelled trolley frame (115) is fixed with a guide rod (1152), and a balance support wheel (116) penetrates through the self-propelled trolley frame (115) and is connected on the corresponding self-propelled trolley balance rail (121); The lifting frame (112) is fixed with a lock side wall tool assembly (1123), a first guide wheel mechanism (1124) and a side wall sensor support (1125), wherein the bottom of the side wall sensor support (1125) is provided with a side wall detection photoelectric sensor (1126), the guide rod (1152) is inserted into the first guide wheel mechanism (1124) to realize the guide connection between the lifting frame (112) and the self-propelled trolley frame (115); and the lifting frame (112) is further provided with a second guide wheel mechanism (1127) for cooperating with the groove-shaped column guide rail on the ground of the corresponding station.

2. A main weld line side body member conveying system according to claim 1, wherein, The lock side wall tool assembly (1123) comprises a lock side wall tool assembly driving motor and a reducer (112301), a swing arm (112316), a linear slide rail mechanism (112308), a floating head (112306), a latch (112304), a limiting clamping groove (112305) and a joint mechanism; wherein the lock side wall tool assembly driving motor and the reducer (112301) are fixed on the lifting frame (112), and a swing arm (112316) is sleeved on the output shaft of the lock side wall tool assembly driving motor and the reducer (112301); the left and right sides of the lock side wall tool assembly driving motor and the reducer (112301) at the front and rear ends are respectively provided with a linear slide rail mechanism (112308), and the linear slide rail mechanism (112308) is fixed on the lifting frame (112); each branch arm of the swing arm (112316) is connected with a joint mechanism, the other end of the joint mechanism is connected with the sliding block of the corresponding linear slide rail mechanism (112308) through a pin shaft, a connecting plate with a threaded hole is arranged on the sliding block, one end of the floating head (112306) is connected in the connecting plate, and the other end is connected in the T-shaped groove at the tail of the latch (112304); the latch (112304) is connected on the lifting frame (112) through a sliding bearing and a bearing seat (112303), and the limiting clamping groove (112305) is fixed on the outer side of the lifting frame (112), and the latch (112304) can be aligned with the through hole of the limiting clamping groove (112305); The joint mechanism comprises a joint bearing one (112309), a joint bearing two (112311) and a connecting rod, wherein one end of the joint bearing one (112309) and the joint bearing two (112311) are respectively fixed at both ends of the connecting rod, the other end of the joint bearing two (112311) is connected with the corresponding branch arm of the swing arm (112316) through a pin shaft, and the other end of the joint bearing one (112309) is connected with the sliding block of the linear slide rail mechanism (112308) through a pin shaft.

3. A main weld line side body member conveying system according to claim 2, wherein Also includes induction plate one (112314), induction plate two (112315), side wall tool locking in place switch (112313), side wall tool loosening in place switch (112317), wherein the side wall tool locking in place switch (112313), side wall tool loosening in place switch (112317) are fixed on the lifting frame (112), the induction plate one (112314) and the induction plate two (112315) are respectively fixed on the two adjacent branch arms of the swing arm (112316), and are respectively used for triggering the side wall tool locking in place switch (112313) and the side wall tool loosening in place switch (112317).

4. A main weld line side body member conveying system according to claim 1, wherein The first guide wheel mechanism (1124) comprises four guide wheels and a connecting plate, wherein the connecting plate is fixed on the lifting frame (112), and 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; The second guide wheel mechanism (1127) comprises a guide wheel one (11271), a cam bearing one (11272), a guide wheel two (11273), a guide wheel three (11274), a guide wheel four (11275), a guide wheel five (11276), a guide support (11277), a cam bearing mounting seat (11278) and a cam bearing two (11279), wherein the guide wheel one (11271) is fixed above the guide support (11277), the cam bearing one (11272) and the cam bearing two (11279) are fixed on the guide support (11277) below the guide wheel one (11271), the guide wheel two (11273) is fixed on the guide support (11277) below the cam bearing two (11279), the guide wheel three (11274) and the guide wheel four (11275) are fixed on the guide support (11277) below the guide wheel two (11273), the guide wheel five (11276) is fixed on the guide support (11277) below the guide wheel four (11275), and the guide support (11277) is fixed on the outer side end of the lifting frame (112).

5. A main body side wall member conveying system according to claim 1, characterized by The belt hanging point assembly (113) comprises a clamping plate (1131), a lifting ring (1132), a guide sleeve (1135), a nut (1136) and a screw rod (1138), wherein the bottom of the lifting ring (1132) is fixed with the screw rod (1138), the screw rod (1138) is sleeved in the guide sleeve (1135), the guide sleeve (1135) passes through the lifting point mounting hole on the lifting frame (112), and is fastened on the lifting frame (112) through the nut (1136), the end of the lifting drive belt (118) is folded upwards and sleeved outside the cylinder of the lifting ring (1132), and the folded part is fixed and clamped in the clamping plate (1131).

6. A main body side wall assembly conveyor system as defined in claim 1, wherein, The walking main drive assembly (101) comprises a walking main drive motor and a reducer (1011), a walking main drive wheel (1012), a main drive frame (1014), and a main drive mechanism track guide wheel (1015). The walking main drive motor and the 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 the reducer (1011) is connected with the walking main drive wheel (1012) to control the rotation of the walking main drive wheel (1012). The guide wheel (1015) is installed on the bottom plate of the main drive frame (1014) and is fixed above one end of the connecting rod, and the connecting rod is connected to the hinged seat (109) through a pin shaft, and the hinged seat (109) is fixed on the boom (110).

7. A main body side wall assembly conveyor system as defined in claim 6, wherein, The walking driven assembly (107) comprises a driven frame (1071), a driven mechanism track guide wheel (1072), and a walking driven wheel (1074). 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. The main drive frame (1014) and the driven frame (1071) are sleeved on the corresponding production line track (3) to make the walking main drive wheel (1012) and the walking driven wheel (1074) respectively cooperate with the upper surface of the production line track (3) to roll along the production line track (3), and the guide wheel (1015) and the driven mechanism track guide wheel (1072) respectively cooperate with the guide surface on the side of the production line track (3) to slide with the guide surface.

8. A main body side wall assembly conveyor system as defined in claim 1 wherein, The lower piece work station (2), the upper piece work station one (6), the maintenance work station (7), and the upper piece work station two (9) are respectively provided with a production line track (3). The end of the production line track (3) on the maintenance work station (7) is connected with one port of the turnout two (11), and the other two ports of the turnout two (11) are respectively connected with one end of the production line track (3) on the upper piece work station two (9) and the upper piece work station one (6). The other end of the production line track (3) on the upper piece work station two (9) and the upper piece work station one (6) is respectively connected with two ports of the turnout one (4), and the other port of the turnout one (4) is connected with the production line track (3) on the lower piece work station (2).

9. A main body side wall member conveying system according to claim 1, wherein The self-propelled trolley frame (115) is provided with an ascending in-place stop switch and an ascending in-place deceleration switch, and the lifting frame (112) is provided with a descending in-place stop switch and a descending in-place deceleration switch. The lower piece work station (2), the upper piece work station two (9), and the upper piece work station one (6) are respectively provided with an occupancy switch for detecting whether the self-propelled trolley (1) is in place. The bottom of the self-propelled trolley frame (115) is provided with a buffer limiter (1151) and an ascending over-travel switch (1153).

10. A method of conveying a main weld line side body member using the main weld line side body member conveying system of claim 3, wherein, The following contents are included: Step one, initially, two self-propelled vehicles (1) are waiting at the upper part of the work station one (6) and the upper part of the work station two (9) respectively; the vehicle model is sent to the upper part of the work station one (6) corresponding to the vehicle model information storage variable; Step two, the side wall tooling is moved into the upper part of the work station one (6) below, the lifting lug of the side wall tooling is located between the sliding bearing and bearing seat (112303) and the limiting slot (112305), the lifting drive motor and speed reducer (104) are controlled to reverse drive, the shaft coupling (105) and the lifting drive pulley (114) are followed by reverse rotation, the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to rotate out of the lifting drive pulley (114), passes through the belt guide wheel (117), the belt lifting point assembly (113) drives the lifting frame (112) to descend under the guidance of the guide rod (1152), when the lifting frame (112) descends to the low position, the descending position reduction switch on the lifting frame (112) is triggered, the lifting drive motor and speed reducer (104) are controlled to run at a reduced speed, the descending position stop switch on the lifting frame (112) is triggered, the lifting drive motor and speed reducer (104) are stopped running; Step three, the lock side wall tooling assembly drive motor and speed reducer (112301) are controlled to rotate, and then the latch (112304) is driven to pass through the lifting lug hole of the side wall tooling and insert into the limiting slot (112305), the side wall tooling is picked up; if the side wall tooling locking in place switch (112313) is triggered, it indicates that the side wall tooling is locked in place, the lock side wall tooling assembly drive motor and speed reducer (112301) are controlled to stop rotating, the driving is completed, and the next step is entered; Step four, after picking up the side wall tooling, whether the side wall tooling is in place is detected by the side wall detection photoelectric sensor (1126), after detecting that the side wall tooling is in place, the lifting drive motor and speed reducer (104) are controlled to drive in forward rotation, the shaft coupling (105) and the lifting drive pulley (114) are followed by forward rotation, the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to run in reverse, passes through the belt guide wheel (117), the belt lifting point assembly (113) drives the lifting frame (112) to rise; when the rising position reduction switch on the self-propelled vehicle frame (115) is triggered, the lifting drive motor and speed reducer (104) are controlled to run at a reduced speed, when the rising position stop switch is triggered, the lifting drive motor and speed reducer (104) are stopped running, then the walking main drive motor and speed reducer (1011) are controlled to run in forward rotation, the walking main drive wheel (1012) is driven to run on the production line track (3), so that the self-propelled vehicle (1) in the upper part of the work station one (6) carries the side wall part and drives away from the upper part of the work station one (6) area, until the waiting position switch one (5) is triggered, the self-propelled vehicle (1) reaches the waiting position one position to wait; Step five, when the signals of the occupying switch on the lower piece station (2), the occupying switch on the upper piece station two (9) and the waiting position switch two (10) are judged to meet the conditions of no vehicle on the lower piece station (2) and vehicle on the upper piece station two (9) or the waiting position two, the switch one (4) is switched to the straight rail, the walking main drive motor and the reducer (1011) of the self-propelled trolley (1) at the waiting position one are controlled to rotate in the positive direction, the walking main drive wheel (1012) is driven to run on the production line track (3), when it runs to the lower piece station (2), the current vehicle model number stored in the upper piece station one (6) corresponding vehicle model information storage variable is transmitted to the lower piece station (2) corresponding vehicle model information storage variable, and the vehicle model number in the main welding line preloading station corresponding vehicle model information storage variable is compared; when the vehicle model number in the lower piece station (2) storage variable is not equal to the vehicle model number in the main welding line preloading station storage variable, an error alarm is sent; when the vehicle model number in the lower piece station (2) storage variable is equal to the vehicle model number in the main welding line preloading station storage variable, it is indicated that the vehicle model comparison is consistent, then the lifting drive motor and the reducer (104) of the self-propelled trolley (1) in the lower piece station (2) are controlled to reverse drive, the coupling (105) and the lifting drive belt pulley (114) follow the reverse operation, the lifting drive belt (118) stored in the lifting drive belt pulley (114) is driven to operate, the lifting frame (112) is lowered through the belt guide wheel (117) and the belt hanging point assembly (113); until the lowering position reduction switch and the position stop switch are triggered, the lifting drive motor and the reducer (104) stop operating, the lifting frame (112) is lowered to the position, the side wall tool is sent to the main welding line robot grabbing position; after the robot takes the piece, the lifting drive motor and the reducer (104) are controlled to rotate in the positive direction, the coupling (105) and the lifting drive belt pulley (114) follow the positive rotation, the lifting drive belt (118) stored in the lifting drive belt pulley (114) is driven to operate, the lifting frame (112) is lifted through the belt guide wheel (117) and the belt hanging point assembly (113); until the lifting frame (115) on the self-propelled trolley frame (115) triggers the lifting position reduction switch and the lifting position stop switch, the lifting drive motor and the reducer (104) stop operating, the walking main drive motor and the reducer (1011) are controlled to rotate in the reverse direction, the walking main drive wheel (1012) is driven to run on the production line track (3), so that the self-propelled trolley (1) in the lower piece station (2) returns to the upper piece station one (6), and waits to pick up the next side wall piece; In this process, after the lifting position stop switch on the self-propelled trolley frame (115) is triggered, it is indicated that the lifting position is reached, if it continues to rise due to other factors, the lifting overtravel switch (1153) will be triggered, then the lifting drive motor and the reducer (104) are controlled to stop operating, the lifting overtravel switch (1153) plays a secondary protection role. Step six, the current vehicle model stored in the corresponding vehicle information storage variable of the upper station one (6) is transmitted to the corresponding vehicle information storage variable of the lower station (2), and the next vehicle model is sent to the corresponding vehicle information storage variable of the upper station two (9) as the current vehicle model of the upper station two (9); At this time, the side wall tool is moved into the lower part of the upper station two (9), the lifting drive motor and the speed reducer (104) of the self-propelled trolley (1) at the upper station two (9) are reversely driven, the coupling (105) and the lifting drive belt pulley (114) are reversely operated, the lifting drive belt (118) stored in the lifting drive belt pulley (114) is driven to operate, the lifting frame (112) is lowered through the belt guide wheel (117) and the belt hanging point assembly (113), when the lifting frame (112) is lowered to the lower position, the lowering in-place deceleration switch and the in-place stop switch on it are triggered, the lifting drive motor and the speed reducer (104) are stopped, the lock side wall tool assembly drive motor and the speed reducer (112301) are controlled to rotate, and then the latch (112304) is driven to pass through the lifting lug hole of the side wall tool and insert into the limiting slot (112305), so as to pick up the side wall tool; If the side wall tool locking in-place switch (112313) is triggered, it indicates that the side wall tool is locked in place, the lock side wall tool assembly drive motor and the speed reducer (112301) are stopped, the driving is completed, and the next step is entered; Step seven, after picking up the side wall tool, whether the side wall tool is in place is detected by the side wall detection photoelectric sensor (1126), if the side wall tool is in place, the lifting drive motor and the speed reducer (104) of the self-propelled trolley (1) at the upper station two (9) are forwardly driven, the coupling (105) and the lifting drive belt pulley (114) are forwardly operated, the lifting drive belt (118) stored in the lifting drive belt pulley (114) is driven to operate, the lifting frame (112) is lifted through the belt guide wheel (117) and the belt hanging point assembly (113), when the lifting in-place deceleration switch and the lifting in-place stop switch are triggered, the lifting drive motor and the speed reducer (104) are stopped, the main drive motor and the speed reducer (1011) of the self-propelled trolley (1) are forwardly operated, the main drive wheel (1012) is driven to run on the production line track (3), the self-propelled trolley (1) carrying the side wall part drives away from the upper station two (9) area, and waits at the waiting position two position where the waiting position two switch (10) is located; When there is no vehicle in the lower station (2) and there is a vehicle in the upper station one (6) or the waiting position one, the turnout one (4) is switched to the curved track, the main drive motor and the speed reducer (1011) of the self-propelled trolley (1) at the waiting position two are forwardly operated, and the main drive wheel (1012) is driven to run on the production line track (3), and when it drives to the lower station (2), the main drive motor and the speed reducer (1011) of the self-propelled trolley (1) are stopped. Step eight, the current vehicle model number stored in the corresponding vehicle model information storage variable of the second upper station (9) is transmitted to the corresponding vehicle model information storage variable of the lower station (2), and is compared with the vehicle model number in the corresponding vehicle model information storage variable of the main welding line preloading station. When the vehicle model number in the storage variable of the lower station (2) is not equal to the vehicle model number in the storage variable of the main welding line preloading station, an error alarm is given. When the vehicle model number in the storage variable of the lower station (2) is equal to the vehicle model number in the storage variable of the main welding line preloading station, it indicates that the vehicle model comparison is consistent. The lifting drive motor and speed reducer (104) of the self-propelled trolley (1) at the lower station (2) are reversely driven, the coupling (105) and the lifting drive pulley (114) are reversely operated, the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to operate, the lifting frame (112) is lowered through the belt guide wheel (117) and the belt hanging point assembly (113), until the lowering position reduction switch and the position stop switch are triggered, the lifting drive motor and speed reducer (104) stop operating, the side wall is sent to the main welding line robot grabbing position, after the robot takes the part, the lifting drive motor and speed reducer (104) of the self-propelled trolley (1) are forwardly driven, the coupling (105) and the lifting drive pulley (114) are forwardly operated, the lifting drive belt (118) stored in the lifting drive pulley (114) is driven to operate, the lifting frame (112) is lifted through the belt guide wheel (117) and the belt hanging point assembly (113), until the lifting position reduction switch and the lifting position stop switch are triggered, the lifting drive motor and speed reducer (104) stop operating, the walking main drive motor and speed reducer (1011) of the self-propelled trolley (1) at the lower station (2) are reversely operated, the walking main drive wheel (1012) is driven to operate on the production line track (3), so that the self-propelled trolley (1) at the lower station (2) returns to the second upper station (9) to wait for picking up the next side wall part; Step nine, repeat steps one to eight to realize multi-vehicle model batch flexible production.

11. The method of claim 10, wherein: The spare trolley switching method one is divided into two cases: The first case: when the self-propelled trolley (1) at the first upper station (6) fails; Step one, first switch the turnout one (4) to the curved track, control the walking main drive motor and speed reducer (1011) of the self-propelled trolley (1) at the second upper station (9) to operate, drive the walking main drive wheel (1012) to operate on the production line track (3), move the normal self-propelled trolley (1) at the second upper station (9) to the lower station (2) to wait; Step two, switch the turnout two (11) to the curved track, control the walking main drive motor and speed reducer (1011) of the spare trolley (8) to operate, drive the walking main drive wheel (1012) to operate on the production line track (3), so that the spare trolley (8) moves to the production line track (3) between the turnout one (4) and the lower station (2) to wait; Step three, switch the turnout two (11) to straight rail, control the walking main drive motor and reducer (1011) of the self-propelled trolley (1) at the upper station one (6) to run, drive the walking main drive wheel (1012) to run on the production line track (3), so that the self-propelled trolley (1) at the upper station one (6) retreats to the maintenance station (7); Step four, switch the turnout one (4) to straight rail, control the walking main drive motor and reducer (1011) of the standby trolley (8) to run, drive the walking main drive wheel (1012) to run on the production line track (3), so that the standby trolley (8) retreats to the upper station one (6) for use; Step five, switch the turnout one (4) to curved rail, control the walking main drive motor and reducer (1011) of the self-propelled trolley (1) at the lower station (2) to run, drive the walking main drive wheel (1012) to run on the production line track (3), so that the self-propelled trolley (1) at the lower station (2) retreats to the upper station two (9); thus, the self-propelled trolley (1) at the upper station one (6) is switched to the maintenance station (7), and equipment replacement is quickly realized; The second case: when the self-propelled trolley (1) at the upper station two (9) malfunctions; Step one, first switch the turnout one (4) to straight rail, and make the normal self-propelled trolley (1) at the upper station one (6) advance to the lower station (2) to wait; Step two, switch the turnout two (11) to straight rail, and control the standby trolley (8) to advance to the production line track (3) between the turnout one (4) and the lower station (2) to wait; Step three, switch the turnout two (11) to curved rail, and control the self-propelled trolley (1) at the upper station two (9) to retreat to the maintenance station (7); Step four, switch the turnout one (4) to curved rail, and control the standby trolley (8) to retreat to the upper station two (9) for use; Step five, switch the turnout one (4) to straight rail, and make the self-propelled trolley (1) at the lower station (2) retreat to the upper station one (6); thus, the self-propelled trolley (1) at the upper station two (9) is switched to the maintenance station (7), and equipment replacement is quickly realized; The second case: when the self-propelled trolley (1) at the upper station two (9) malfunctions; Step one, first switch the turnout one (4) to straight rail, and make the normal self-propelled trolley (1) at the upper station one (6) advance to the lower station (2) to wait; Step two, switch the turnout two (11) to straight rail, and control the standby trolley (8) to advance to the production line track (3) between the turnout one (4) and the lower station (2) to wait; Step three, switch the turnout one (4) to curved rail, and control the self-propelled trolley (1) at the lower station (2) to retreat to the waiting position two; Step four, switch the turnout two (11) to straight rail, and control the standby trolley (8) to advance to the production line track (3) between the turnout one (4) and the lower station (2) to wait; Step three, switch the turnout one (4) to curved rail, and control the self-propelled trolley (1) at the lower station (2) to retreat to the waiting position two; Step four, switch the turnout one (4) to straight rail, operate the self-propelled trolley (1) to retreat to the maintenance station (7); control the backup trolley (8) to retreat to the upper piece station one (6) to put into work, thus complete the self-propelled trolley (1) at the upper piece station one (6) to switch to the maintenance station (7), quickly realize the equipment replacement; The second case: when the self-propelled trolley (1) at the upper piece station two (9) appears fault; Step one, first switch the turnout one (4) to curved rail, the self-propelled trolley (1) at the upper piece station two (9) advances to the lower piece station (2), switch the turnout one (4) to straight rail, operate the self-propelled trolley (1) at the lower piece station (2) to retreat to the waiting position one to wait; Step two, switch the turnout two (11) to curved rail, switch the turnout one (4) to curved rail, control the backup trolley (8) to advance to the lower piece station (2) to wait; Step three, switch the turnout one (4) to straight rail, operate the self-propelled trolley (1) at the waiting position one to advance to the production line track (3) between the turnout one (4) and the lower piece station (2) to stop; Step four, switch the turnout one (4) to curved rail, operate the self-propelled trolley (1) to retreat to the maintenance station (7); control the backup trolley (8) to retreat to the upper piece station two (9) to put into work, thus complete the self-propelled trolley (1) at the upper piece station two (9) to switch to the maintenance station (7), quickly realize the equipment replacement.

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