Positioning method for improving positioning precision of RGV

Abstract

The invention discloses a positioning method for improving the positioning precision of an RGV. The positioning method comprises the following steps that S1, positioning equipment is prepared; s2, when feeding and discharging are needed, the step S3 is executed; when laser cleaning is needed, S4 is executed; when overturning is needed, the step S5 is executed; s3, loading and unloading positioning; s4, laser cleaning and positioning; s5, the tool is placed on the ground of the overturning station, and the tool is positioned; the tool is driven by the RGV to move to the position above the adjusting groove of the tool and the conical top of the ground positioning seat at the overturning station, and the tool is driven by the lifting platform to move downwards; when the adjusting groove makes contact with the conical top of the ground positioning base, the position of the tool is adjusted through the adjusting groove and the conical top of the ground positioning base, and positioning of the tool is achieved. Executing the next step; and S6, the workpiece is overturned and positioned. Positioning can be conducted in the feeding and discharging process, the cleaning process and the overturning process, and the positioning precision of feeding and discharging, cleaning and overturning is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning equipment, and in particular to a positioning method for improving the positioning accuracy of an RGV trolley. Background Art

[0002] When maintaining the bogie, it is often necessary to clean the mud, oil, paint, etc. on both sides, so the bogie needs to be flipped. The current flipping mechanism is mostly manually adjusted with a clamp to flip manually, which is time-consuming and labor-intensive, and because it is manually locked by personnel, safety cannot be guaranteed. The cleaning accuracy of the traditional automatic cleaning device is low. Although the laser cleaning mechanism has a high cleaning accuracy, it is necessary to ensure the accuracy of the position. In order to ensure the cleaning effect, the laser cleaning mechanism and the RGV trolley are combined to form a cleaning production line for cleaning. During the cleaning process, the bogie needs to be turned over, so the bogie cannot be fixed on the RGV trolley, which causes the bogie to be easily displaced during movement or flipping. And because the structures of the top and bottom of the bogie are different, the upper and lower surfaces are asymmetrical, and it is usually necessary to readjust the clamping position of the bogie fixing tooling after flipping, which is time-consuming and labor-intensive. In addition, the bogies have a variety of specifications, and it is difficult to adapt the fixture of the flipping mechanism to all bogies. Therefore, a positioning method that improves the positioning accuracy of the RGV trolley is urgently needed. Summary of the invention

[0003] The present invention aims to solve the technical problems existing in the prior art, and particularly innovatively proposes a positioning method for improving the positioning accuracy of the RGV trolley, thereby improving the positioning effect during cleaning, facilitating laser cleaning of the surface and bottom surface of the workpiece, and ensuring the cleaning accuracy.

[0004] In order to achieve the above object, the present invention provides a positioning method for improving the positioning accuracy of an RGV vehicle, comprising the following steps:

[0005] S1: Preparation of positioning equipment; the positioning equipment includes a plurality of ground positioning seats arranged on both sides of the tracks of the loading and unloading stations, the laser cleaning station and the flipping station, and a tooling for placing the workpiece is placed on the lifting platform of the RGV trolley, and the left and right sides of the tooling extend outside the RGV trolley, and the part of the tooling extending outside the RGV trolley is provided with a downwardly extending lower positioning column, the number and spacing of the lower positioning columns are set corresponding to the ground positioning seats, the top of each of the ground positioning seats is conical, and the bottom end of the lower positioning column is concavely provided with an adjustment groove matching the top of the ground positioning seat; a workpiece positioning structure is also provided on the tooling, and also includes a positioning sleeve for sleeved on the workpiece spring seat, and the top and bottom of the positioning sleeve are correspondingly provided with a positioning matching structure, and the positioning matching structure is used to cooperate with the workpiece positioning structure, and the front side of the front positioning sleeve is provided with a clamping positioning convex point for positioning the clamping tooling of the flipping station, and the rear side of the rear positioning sleeve is also provided with a clamping positioning convex point for positioning the clamping tooling of the flipping mechanism;

[0006] The loading and unloading station is provided with a loading and unloading robot, and the flipping station is provided with a flipping mechanism for flipping the workpiece; the laser cleaning station is provided with a laser cleaning robot and a truss for mounting the laser cleaning robot, the truss is arranged above the track, and the truss is provided with a moving mechanism for driving the laser cleaning robot to move forward and backward, left and right, and to adjust the height;

[0007] S2: When loading and unloading are required, execute S3; when laser cleaning is required, execute S4; when flipping is required, execute S5;

[0008] S3: Loading and unloading positioning; when loading is required, execute S3-1; when unloading is required, execute S3-2;

[0009] S3-1: Loading and positioning: Place the tooling on the floor of the loading and unloading station, and align the conical top of the ground positioning seat with the adjustment groove at the bottom of the tooling to achieve positioning of the tooling;

[0010] Put the positioning sleeve on the workpiece, then place the workpiece on the tooling by the loading and unloading robot, and realize the positioning of the workpiece and the tooling by the workpiece positioning structure and the positioning sleeve; execute S2;

[0011] S3-2: Positioning for material unloading; the RGV trolley drives the tooling to move above the conical top of the adjusting groove and the ground positioning seat at the loading and unloading station, and the lifting platform drives the tooling to move downward; when the adjusting groove contacts the conical top of the ground positioning seat, the position of the tooling is adjusted by adjusting the groove and the conical top of the ground positioning seat to achieve positioning of the tooling; after positioning of the tooling is completed, the loading and unloading robot removes the workpiece on the tooling;

[0012] Execute S2;

[0013] S4: Laser cleaning positioning; place the tooling on the floor of the laser cleaning station and position the tooling; drive the tooling to move above the conical top of its adjustment groove and the ground positioning seat at the laser cleaning station through the RGV trolley, and drive the tooling downward through the lifting platform; when the adjustment groove contacts the conical top of the ground positioning seat, adjust the position of the tooling by adjusting the groove and the conical top of the ground positioning seat;

[0014] Execute S2;

[0015] S5: Place the tooling on the ground of the flipping station and position the tooling; use the RGV trolley to move the tooling to above the conical top of the adjustment groove and the ground positioning seat at the flipping station, and use the lifting platform to drive the tooling to move downward; when the adjustment groove contacts the conical top of the ground positioning seat, adjust the position of the tooling by adjusting the groove and the conical top of the ground positioning seat to achieve positioning of the tooling; execute the next step;

[0016] S6: Flip and position the workpiece; remove the workpiece from the tooling through the flipping mechanism and flip it; after flipping, the flipping mechanism drives the workpiece to move above the tooling, and aligns the positioning sleeve on the tooling with the workpiece positioning structure. After alignment, the positioning between the tooling is achieved through the positioning sleeve and the workpiece positioning structure, and S2 is executed.

[0017] In the above scheme: the workpiece positioning structure described in step S1 includes a plurality of support columns vertically arranged on the top of the tooling, the top and bottom of the positioning sleeve are both provided with positioning grooves, and the top of the support column is provided with a positioning protrusion matching the positioning groove.

[0018] In the above scheme: a linear bearing adjuster is provided on the tooling corresponding to each support column, and the support column is fixedly mounted on the linear bearing adjuster;

[0019] The positioning groove is a convex ring arranged at the bottom of the positioning sleeve, and the positioning groove is formed by the middle area surrounded by the convex ring.

[0020] In the above scheme: the laser cleaning station in step S1 is provided with a cleaning room, and rolling shutter doors are provided on both the front and rear sides of the cleaning room.

[0021] In the above scheme: the two rolling shutter doors are respectively the front rolling shutter door and the rear rolling shutter door, the front rolling shutter door opening output end of the industrial computer is connected to one end of the front rolling shutter door opening relay winding, the other end of the front rolling shutter door opening relay winding is connected to the positive electrode of the power supply, the highest position end of the front rolling shutter motor of the front rolling shutter door is connected to one end of the normally open contact of the front rolling shutter door opening relay, and the other end of the normally open contact of the front rolling shutter door opening relay is connected to the common end of the front rolling shutter motor; one end of the upper limit normally open contact of the front rolling shutter motor is connected to the negative electrode of the power supply, and the other end of the upper limit normally open contact of the front rolling shutter motor is connected to the upper limit input end of the front rolling shutter door of the industrial computer;

[0022] The front rolling door closing output end of the industrial computer is connected to one end of the front rolling door closing relay winding, the other end of the front rolling door closing relay winding is connected to the positive electrode of the power supply, the lower end of the front rolling door motor is connected to one end of the normally open contact of the front rolling door closing relay, and the other end of the normally open contact of the front rolling door closing relay is connected to the common end of the front rolling door motor; one end of the lower limit normally open contact of the front rolling door motor is connected to the negative electrode of the power supply, and the other end of the lower limit normally open contact of the front rolling door motor is connected to the lower limit input end of the industrial computer;

[0023] The front rolling door stop output end of the industrial computer is connected to one end of the rolling door stop relay winding, the other end of the rolling door stop relay winding is connected to the positive pole of the power supply, the lowering end of the front rolling motor is connected to one end of the rolling door stop relay normally open contact, and the other end of the rolling door stop relay normally open contact is connected to the common end of the front rolling motor;

[0024] The rear rolling door opening output end of the industrial computer is connected to one end of the rear rolling door opening relay winding, the other end of the rear rolling door opening relay winding is connected to the positive electrode of the power supply, the highest position end of the rear rolling door motor of the rear rolling door is connected to one end of the normally open contact of the rear rolling door opening relay, and the other end of the normally open contact of the rear rolling door opening relay is connected to the common end of the rear rolling door motor; one end of the upper limit normally open contact of the rear rolling door motor is connected to the negative electrode of the power supply, and the other end of the upper limit normally open contact of the rear rolling door motor is connected to the upper limit input end of the industrial computer;

[0025] The rear roller shutter door closing output end of the industrial computer is connected to one end of the rear roller shutter door closing relay winding, the other end of the rear roller shutter door closing relay winding is connected to the positive pole of the power supply, the lower end of the rear roller shutter motor is connected to one end of the normally open contact of the rear roller shutter door closing relay, and the other end of the normally open contact of the rear roller shutter door closing relay is connected to the common end of the rear roller shutter motor; one end of the lower limit normally open contact of the rear roller shutter motor is connected to the negative pole of the power supply, and the other end of the lower limit normally open contact of the rear roller shutter motor is connected to the lower limit input end of the rear roller shutter door of the industrial computer;

[0026] The rear rolling door stop output end of the industrial computer is connected to one end of the rolling door stop relay winding, the other end of the rolling door stop relay winding is connected to the positive pole of the power supply, the descending end of the rear rolling motor is connected to one end of the normally open contact of the rolling door stop relay, and the other end of the normally open contact of the rolling door stop relay is connected to the common end of the rear rolling motor.

[0027] In the above scheme: a safety door is also provided on one side of the cleaning room, and a safety door solenoid valve and a safety door lock are provided on the safety door, the safety door drive output end of the industrial computer is connected to one end of the safety door solenoid valve winding, the other end of the safety door solenoid valve winding is connected to the positive electrode of the power supply, one end of the safety door lock winding is connected to the negative electrode of the power supply, the other end of the safety door lock winding is connected to one end of the normally open contact of the safety door solenoid valve, and the other end of the normally open contact of the safety door solenoid valve is connected to the positive electrode of the power supply;

[0028] One end of the winding of the robot emergency stop relay 1 and one end of the winding of the robot emergency stop relay 2 are connected to the negative pole of the power supply, the other end of the winding of the robot emergency stop relay 1 and the other end of the winding of the robot emergency stop relay 2 are connected to one end of the normally closed contact of the second emergency stop button, the other end of the normally closed contact of the second emergency stop button is connected to one end of the normally closed contact of the first emergency stop button, the other end of the normally closed contact of the first emergency stop button is connected to one end of the normally closed contact of the emergency stop button of the rear rolling door, the other end of the normally closed contact of the emergency stop button of the rear rolling door is connected to one end of the normally closed contact of the emergency stop button of the front rolling door, the other end of the normally closed contact of the emergency stop button of the front rolling door is connected to one end of the normally closed contact of the safety door emergency stop button of the safety door, the other end of the normally closed contact of the safety door emergency stop button is connected to one end of the normally closed contact of the emergency stop button of the operation box, and the other end of the normally closed contact of the emergency stop button of the operation box is connected to the positive pole of the power supply;

[0029] The laser cleaning robot includes a first robot and a second robot, the fifth end of the first robot controller is connected to one end of the normally open contact of the robot emergency stop relay 1, the other end of the normally open contact of the robot emergency stop relay 1 is connected to the sixth end of the first robot controller, the seventh end of the first robot controller is connected to one end of the normally open contact of the robot emergency stop relay 2, and the other end of the normally open contact of the robot emergency stop relay 2 is connected to the eighth end of the first robot controller; the fifth end of the second robot controller is connected to one end of the normally open contact of the robot emergency stop relay 1, the other end of the normally open contact of the robot emergency stop relay 1 is connected to the sixth end of the second robot controller, the seventh end of the second robot controller is connected to one end of the normally open contact of the robot emergency stop relay 2, and the other end of the normally open contact of the robot emergency stop relay 2 is connected to the eighth end of the second robot controller;

[0030] The upper limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the upper limit detection sensor of the first robot, the positive terminal of the upper limit detection sensor of the first robot is connected to the positive pole of the power supply, and the negative terminal of the upper limit detection sensor of the first robot is connected to the negative pole of the power supply; the lower limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the lower limit detection sensor of the first robot, the positive terminal of the lower limit detection sensor of the first robot is connected to the positive pole of the power supply, and the negative terminal of the lower limit detection sensor of the first robot is connected to the negative pole of the power supply; the left limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the left limit detection sensor of the first robot, the positive terminal of the left limit detection sensor of the first robot is connected to the positive pole of the power supply, and the negative terminal of the left limit detection sensor of the first robot is connected to the negative pole of the power supply; The right limit detection input end of the first robot of the industrial computer is connected to the detection signal output end of the right limit detection sensor of the first robot, the positive end of the right limit detection sensor of the first robot is connected to the positive pole of the power supply, and the negative end of the right limit detection sensor of the first robot is connected to the negative pole of the power supply; the front limit detection input end of the first robot of the industrial computer is connected to the detection signal output end of the front limit detection sensor of the first robot, the positive end of the front limit detection sensor of the first robot is connected to the positive pole of the power supply, and the negative end of the front limit detection sensor of the first robot is connected to the negative pole of the power supply; the rear limit detection input end of the first robot of the industrial computer is connected to the detection signal output end of the rear limit detection sensor of the first robot, the positive end of the rear limit detection sensor of the first robot is connected to the positive pole of the power supply, and the negative end of the rear limit detection sensor of the first robot is connected to the negative pole of the power supply;

[0031] The upper limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the upper limit detection sensor of the second robot, the positive terminal of the upper limit detection sensor of the second robot is connected to the positive pole of the power supply, and the negative terminal of the upper limit detection sensor of the second robot is connected to the negative pole of the power supply; the lower limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the lower limit detection sensor of the second robot, the positive terminal of the lower limit detection sensor of the second robot is connected to the positive pole of the power supply, and the negative terminal of the lower limit detection sensor of the second robot is connected to the negative pole of the power supply; the left limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the left limit detection sensor of the second robot, the positive terminal of the left limit detection sensor of the second robot is connected to the positive pole of the power supply, and the negative terminal of the left limit detection sensor of the second robot is connected to the negative pole of the power supply; The right limit detection input end of the second robot of the industrial computer is connected to the detection signal output end of the right limit detection sensor of the second robot, the positive end of the right limit detection sensor of the second robot is connected to the positive pole of the power supply, and the negative end of the right limit detection sensor of the second robot is connected to the negative pole of the power supply; the front limit detection input end of the second robot of the industrial computer is connected to the detection signal output end of the front limit detection sensor of the second robot, the positive end of the front limit detection sensor of the second robot is connected to the positive pole of the power supply, and the negative end of the front limit detection sensor of the second robot is connected to the negative pole of the power supply; the rear limit detection input end of the second robot of the industrial computer is connected to the detection signal output end of the rear limit detection sensor of the second robot, the positive end of the rear limit detection sensor of the second robot is connected to the positive pole of the power supply, and the negative end of the rear limit detection sensor of the second robot is connected to the negative pole of the power supply;

[0032] The anti-collision detection signal input end of the industrial computer is connected to the detection signal output end of the robot anti-collision sensor, the positive end of the robot anti-collision sensor is connected to the positive pole of the power supply, and the negative end of the robot anti-collision sensor is connected to the negative pole of the power supply;

[0033] The laser cleaning robot is also equipped with a laser cleaning machine, one end of the winding of the laser cleaning machine is connected to the laser output end of the industrial computer, and the other end of the winding of the laser cleaning machine is connected to the positive pole of the power supply.

[0034] In the above scheme: the cleaning room is also provided with a smoke exhaust system, one end of the smoke exhaust fan winding of the smoke exhaust system is connected to the smoke exhaust output end of the industrial computer, and the other end of the smoke exhaust fan winding is connected to the positive pole of the power supply. The dust and smoke generated during the laser cleaning process can be extracted through the smoke exhaust system.

[0035] In summary, the beneficial effects of the present invention are as follows: the set flipping mechanism can flip the workpiece, and combined with the laser cleaning robot, it can clean the surface and bottom surface of the workpiece, thereby improving the cleaning effect of the workpiece. During the cleaning process, from the loading and unloading station to the laser cleaning station, then to the flipping station, then from the flipping station back to the laser cleaning station, and finally back to the loading and unloading station for unloading, the moving route is set reasonably and the work is efficient. The set ground positioning seat is fixed on the ground of each station and can be used as a positioning standard. The conical top of the ground position seat can automatically return to its position when the tooling is put down when the tooling has an offset within a certain range, and adjust the position of the tooling, thereby ensuring the positioning of the workpiece and ensuring the accuracy of laser cleaning. The set positioning sleeve is used to be sleeved on the spring seat of the bogie, and can be fixed with the help of the characteristics of the elastic part of the bogie itself. It is suitable for bogies with side arms of different thicknesses, and the scope of application is improved. The clamping positioning convex point can be clamped by the clamping tool of the turning mechanism, and there is no need to set different clamping tools for the corresponding bogies, which is convenient for turning the bogies to meet the turning requirements of bogies of different specifications and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the present invention.

[0037] Figure 2 It is a schematic diagram of the laser cleaning station.

[0038] Figure 3 It is a three-dimensional diagram of the ground positioning seat.

[0039] Figure 4 It is a three-dimensional picture of the tooling.

[0040] Figure 5 It is a schematic diagram of the tooling, locating sleeve and locating seat.

[0041] Figure 6 yes Figure 5 Cross-sectional view at AA in the middle.

[0042] Figure 7 It is a three-dimensional diagram of the positioning sleeve.

[0043] Figure 8 It is a three-dimensional diagram of the flip mechanism.

[0044] Fig. 9 yes Figure 8 A magnified schematic diagram of point B in the middle.

[0045] Fig.10 It is a cross-sectional view of the upper clamping unit and the flip bracket.

[0046] Fig.11 It is a front view of the upper clamping unit.

[0047] Fig.12 It is a three-dimensional diagram of the fixing frame.

[0048] Fig.13 It is a system diagram of the present invention.

[0049] Fig.14 The circuit of the present invention Figure 1 .

[0050] Fig.15 The circuit of the present invention Figure 2 .

[0051] Fig.16 The circuit of the present invention Figure 3 .

[0052] Fig.17 The circuit of the present invention Figure 4 .

[0053] Fig.18 The circuit of the present invention Figure 5 . DETAILED DESCRIPTION

[0054] The present invention will be further described below by way of embodiments and in conjunction with the accompanying drawings:

[0055] like Figures 1 to 18 As shown, a positioning method for improving the positioning accuracy of the RGV vehicle includes the following steps:

[0056] S1: Preparation of positioning equipment, wherein the positioning equipment is suitable for a bogie;

[0057] The track 2 of the RGV trolley 1 has loading and unloading stations, a laser cleaning station 4 and a flipping station 5 arranged in sequence along the extension direction of the track 2. The loading and unloading stations are provided with loading and unloading robots, the laser cleaning station 4 is provided with a laser cleaning robot 46, and the flipping station 5 is provided with a flipping mechanism.

[0058] The positioning equipment includes a loading and unloading station, a laser cleaning station 4 and a flipping station 5, all of which are provided with a plurality of ground positioning seats 3 located on both sides of the track 2. A tooling 6 for placing workpieces is placed on the lifting platform of the RGV trolley 1, and the left and right sides of the tooling 6 extend outside the RGV trolley 1. The part of the tooling 6 extending outside the RGV trolley 1 is provided with a downwardly extending lower positioning column 61. The number and spacing of the lower positioning columns 61 are set corresponding to the ground positioning seats 3. The top of each ground positioning seat 3 is conical, and the bottom end of the lower positioning column 61 is recessed with an adjustment groove matching the top of the ground positioning seat 3.

[0059] The tooling 6 is provided with a workpiece positioning structure, which includes a positioning sleeve 7 provided for each spring seat of the workpiece. The positioning sleeve 7 is used to be sleeved on the spring seat, and the elasticity of the spring seat is used to counteract the inner wall of the sleeve hole of the positioning sleeve 7 to achieve the fixation between the workpiece and the positioning sleeve 7. And it can be applicable to positioning sleeves of different specifications. It also includes a plurality of support columns 62 vertically arranged on the top of the tooling 6, and the number of the support columns 62 is consistent with the number of the positioning sleeves 7. And the top and bottom of the positioning sleeve 7 are provided with positioning grooves 71, and the top of the support column 62 is provided with a positioning protrusion matching the positioning groove 71. The front side of the front positioning sleeve 7 is provided with a clamping positioning convex point 72, and the rear side of the rear positioning sleeve 7 is provided with a clamping positioning convex point 72. The positioning convex point 72 is used for clamping and positioning by the clamping end 54a of the external clamping cylinder.

[0060] Since the positioning sleeve 7 is movably installed and can be adjusted according to the position of the spring seat, it can be suitable for different workpieces. If the support column 62 needs to be adjusted accordingly, a linear bearing adjuster 63 is provided on the tooling 6 corresponding to each support column 62, and the support column 62 is fixedly installed on the linear bearing adjuster 63.

[0061] The positioning groove 71 is a convex ring arranged at the bottom of the positioning sleeve 7 , and the positioning groove 71 is formed by the middle area surrounded by the convex ring.

[0062] The laser cleaning station 4 is provided with a cleaning room 41, and rolling shutter doors are provided on the front and rear sides of the cleaning room 41. The track 2 passes through the cleaning room 41. A truss 45 for installing a laser cleaning robot 46 is provided in the cleaning room 41, and the truss 45 is provided with guide rails for driving the laser cleaning robot 46 to move forward, backward, left and right.

[0063] It also includes a control system, which includes an industrial computer. The industrial computer is connected to the transport trolley PLC of the RGV trolley 1 and the PLC of the turning mechanism through a switch.

[0064] The two rolling shutter doors are the front rolling shutter door 44 and the rear rolling shutter door 43. The output end of the front rolling shutter door opening of the industrial computer is connected to one end of the winding of the front rolling shutter door opening relay 80K4, and the other end of the winding of the front rolling shutter door opening relay 80K4 is connected to the positive pole of the power supply. The highest opening position end of the front rolling shutter motor 30M2 of the front rolling shutter door 44 is connected to one end of the normally open contact of the front rolling shutter door opening relay 80K4, and the other end of the normally open contact of the front rolling shutter door opening relay 80K4 is connected to the common end of the front rolling shutter motor 30M2. One end of the upper limit normally open contact of the front rolling shutter motor 30M2 is connected to the negative pole of the power supply, and the other end of the upper limit normally open contact of the front rolling shutter motor 30M2 is connected to the upper limit input end of the industrial computer.

[0065] The front roller shutter door closing output end of the industrial computer is connected to one end of the front roller shutter door closing relay 80K5 winding, the other end of the front roller shutter door closing relay 80K5 winding is connected to the positive pole of the power supply, the lower end of the front roller shutter motor 30M2 is connected to one end of the front roller shutter door closing relay 80K5 normally open contact, the other end of the front roller shutter door closing relay 80K5 normally open contact is connected to the common end of the front roller shutter motor 30M2. One end of the lower limit normally open contact of the front roller shutter motor 30M2 is connected to the negative pole of the power supply, and the other end of the lower limit normally open contact of the front roller shutter motor 30M2 is connected to the lower limit input end of the industrial computer.

[0066] The front rolling door stop output end of the industrial computer is connected to one end of the rolling door stop relay 81K1 winding, the other end of the rolling door stop relay 81K1 winding is connected to the positive pole of the power supply, the descending end of the front rolling motor 30M2 is connected to one end of the normally open contact of the rolling door stop relay 81K1, and the other end of the normally open contact of the rolling door stop relay 81K1 is connected to the common end of the front rolling motor 30M2.

[0067] The output end of the rear rolling door opening of the industrial computer is connected to one end of the winding of the rear rolling door opening relay 80K6, and the other end of the winding of the rear rolling door opening relay 80K6 is connected to the positive electrode of the power supply. The highest opening position end of the rear rolling door motor 30M3 of the rear rolling door 43 is connected to one end of the normally open contact of the rear rolling door opening relay 80K6, and the other end of the normally open contact of the rear rolling door opening relay 80K6 is connected to the common end of the rear rolling door motor 30M3. One end of the upper limit normally open contact of the rear rolling door motor 30M3 is connected to the negative electrode of the power supply, and the other end of the upper limit normally open contact of the rear rolling door motor 30M3 is connected to the upper limit input end of the industrial computer.

[0068] The rear roller shutter door closing output end of the industrial computer is connected to one end of the rear roller shutter door closing relay 80K7 winding, the other end of the rear roller shutter door closing relay 80K7 winding is connected to the positive pole of the power supply, the lower end of the rear roller shutter motor 30M3 is connected to one end of the normally open contact of the rear roller shutter door closing relay 80K7, and the other end of the normally open contact of the rear roller shutter door closing relay 80K7 is connected to the common end of the rear roller shutter motor 30M3. One end of the lower limit normally open contact of the rear roller shutter motor 30M3 is connected to the negative pole of the power supply, and the other end of the lower limit normally open contact of the rear roller shutter motor 30M3 is connected to the lower limit input end of the industrial computer rear roller shutter door.

[0069] The rear rolling door stop output end of the industrial computer is connected to one end of the rolling door stop relay 81K1 winding, the other end of the rolling door stop relay 81K1 winding is connected to the positive pole of the power supply, the descending end of the rear rolling motor 30M3 is connected to one end of the normally open contact of the rolling door stop relay 81K1, and the other end of the normally open contact of the rolling door stop relay 81K1 is connected to the common end of the rear rolling motor 30M3.

[0070] A safety door is also provided on one side of the cleaning room 41, and a safety door solenoid valve 80K3 and a safety door lock 41Y1 are provided on the safety door. The safety door drive output end of the industrial computer is connected to one end of the winding of the safety door solenoid valve 80K3, and the other end of the winding of the safety door solenoid valve 80K3 is connected to the positive pole of the power supply, one end of the winding of the safety door lock 41Y1 is connected to the negative pole of the power supply, and the other end of the winding of the safety door lock 41Y1 is connected to one end of the normally open contact of the safety door solenoid valve 80K3, and the other end of the normally open contact of the safety door solenoid valve 80K3 is connected to the positive pole of the power supply.

[0071] One end of the robot emergency stop relay 141K3 winding and one end of the robot emergency stop relay 241K4 winding are connected to the negative pole of the power supply, the other end of the robot emergency stop relay 141K3 winding and the other end of the robot emergency stop relay 241K4 winding are connected to one end of the second emergency stop button 61S9 normally closed contact, the other end of the second emergency stop button 61S9 normally closed contact is connected to one end of the first emergency stop button 61S8 normally closed contact, and the other end of the first emergency stop button 61S8 normally closed contact is connected to the rear shutter door emergency stop One end of the normally closed contact of button 61S7 and the other end of the normally closed contact of the rear rolling door emergency stop button 61S7 are connected to one end of the normally closed contact of the front rolling door emergency stop button 61S6, the other end of the normally closed contact of the front rolling door emergency stop button 61S6 is connected to one end of the normally closed contact of the safety door emergency stop button 61S5 of the safety door, the other end of the normally closed contact of the safety door emergency stop button 61S5 is connected to one end of the normally closed contact of the operation box emergency stop button 60S1, and the other end of the normally closed contact of the operation box emergency stop button 60S1 is connected to the positive pole of the power supply.

[0072] The laser cleaning robot 46 includes a first robot and a second robot. The fifth end of the first robot controller is connected to one end of the normally open contact of the robot emergency stop relay 141K3, and the other end of the normally open contact of the robot emergency stop relay 141K3 is connected to the sixth end of the first robot controller. The seventh end of the first robot controller is connected to one end of the normally open contact of the robot emergency stop relay 241K4, and the other end of the normally open contact of the robot emergency stop relay 241K4 is connected to the eighth end of the first robot controller. The fifth end of the second robot controller is connected to one end of the normally open contact of the robot emergency stop relay 141K3, and the other end of the normally open contact of the robot emergency stop relay 141K3 is connected to the sixth end of the second robot controller. The seventh end of the second robot controller is connected to one end of the normally open contact of the robot emergency stop relay 241K4, and the other end of the normally open contact of the robot emergency stop relay 241K4 is connected to the eighth end of the second robot controller.

[0073] The upper limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the upper limit detection sensor 60B1 of the first robot, the positive terminal of the upper limit detection sensor 60B1 of the first robot is connected to the positive pole of the power supply, and the negative terminal of the upper limit detection sensor 60B1 of the first robot is connected to the negative pole of the power supply. The lower limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the lower limit detection sensor 60B2 of the first robot, the positive terminal of the lower limit detection sensor 60B2 of the first robot is connected to the positive pole of the power supply, and the negative terminal of the lower limit detection sensor 60B2 of the first robot is connected to the negative pole of the power supply. The left limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the left limit detection sensor 60B3 of the first robot, the positive terminal of the left limit detection sensor 60B3 of the first robot is connected to the positive pole of the power supply, and the negative terminal of the left limit detection sensor 60B3 of the first robot is connected to the negative pole of the power supply. The right limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the right limit detection sensor 60B4 of the first robot, the positive terminal of the right limit detection sensor 60B4 of the first robot is connected to the positive pole of the power supply, and the negative terminal of the right limit detection sensor 60B4 of the first robot is connected to the negative pole of the power supply. The front limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the front limit detection sensor 60B5 of the first robot, the positive terminal of the front limit detection sensor 60B5 of the first robot is connected to the positive pole of the power supply, and the negative terminal of the front limit detection sensor 60B5 of the first robot is connected to the negative pole of the power supply. The rear limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the rear limit detection sensor 60B6 of the first robot, the positive terminal of the rear limit detection sensor 60B6 of the first robot is connected to the positive pole of the power supply, and the negative terminal of the rear limit detection sensor 60B6 of the first robot is connected to the negative pole of the power supply.

[0074] The upper limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the upper limit detection sensor 60B7 of the second robot, the positive terminal of the upper limit detection sensor 60B7 of the second robot is connected to the positive pole of the power supply, and the negative terminal of the upper limit detection sensor 60B7 of the second robot is connected to the negative pole of the power supply. The lower limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the lower limit detection sensor 60B8 of the second robot, the positive terminal of the lower limit detection sensor 60B8 of the second robot is connected to the positive pole of the power supply, and the negative terminal of the lower limit detection sensor 60B8 of the second robot is connected to the negative pole of the power supply. The left limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the left limit detection sensor 60B9 of the second robot, the positive terminal of the left limit detection sensor 60B9 of the second robot is connected to the positive pole of the power supply, and the negative terminal of the left limit detection sensor 60B9 of the second robot is connected to the negative pole of the power supply. The right limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the right limit detection sensor 60B10 of the second robot, the positive terminal of the right limit detection sensor 60B10 of the second robot is connected to the positive pole of the power supply, and the negative terminal of the right limit detection sensor 60B10 of the second robot is connected to the negative pole of the power supply. The front limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the front limit detection sensor 60B11 of the second robot, the positive terminal of the front limit detection sensor 60B11 of the second robot is connected to the positive pole of the power supply, and the negative terminal of the front limit detection sensor 60B11 of the second robot is connected to the negative pole of the power supply. The rear limit detection input terminal of the second robot of the industrial computer is connected to the detection signal output terminal of the rear limit detection sensor 60B12 of the second robot, the positive terminal of the rear limit detection sensor 60B12 of the second robot is connected to the positive pole of the power supply, and the negative terminal of the rear limit detection sensor 60B12 of the second robot is connected to the negative pole of the power supply.

[0075] The anti-collision detection signal input end of the industrial computer is connected to the detection signal output end of the robot anti-collision sensor 60B13, the positive end of the robot anti-collision sensor 60B13 is connected to the positive pole of the power supply, and the negative end of the robot anti-collision sensor 60B13 is connected to the negative pole of the power supply.

[0076] The laser cleaning robot 46 is also equipped with a laser cleaning machine 80K2. One end of the winding of the laser cleaning machine 80K2 is connected to the laser output end of the industrial computer, and the other end of the winding of the laser cleaning machine 80K2 is connected to the positive pole of the power supply.

[0077] The cleaning room 41 is also provided with a smoke exhaust system 42. One end of the winding of the smoke exhaust fan 80K1 of the smoke exhaust system 42 is connected to the smoke exhaust output end of the industrial computer, and the other end of the winding of the smoke exhaust fan 80K1 is connected to the positive pole of the power supply.

[0078] The turning station 5 is provided with a turning bracket 51 mounted on the track 2 and fixed brackets 52 located at the left and right ends of the turning bracket 51, and a lifting mechanism is provided on the fixed brackets 52 on both sides. A lifting base 56 is provided on the lifting mechanism, and a turntable 55 is provided on the side of the lifting base 56 close to the turning bracket 51. The turning bracket 51 is fixed on the turntable 55, and the turntable 55 is equipped with a rotating motor 55a for driving the same to rotate.

[0079] The flip bracket 51 is frame-shaped, and a circle of clamping mechanisms is arranged on the flip bracket 51. The clamping mechanisms include upper and lower clamping mechanisms 53 and external clamping mechanisms 54, and each of the upper and lower clamping mechanisms 53 includes an upper clamping unit and a lower clamping unit arranged correspondingly above and below. The upper clamping unit and the lower clamping unit each include a clamping fixing seat installed on the flip bracket 51, and a telescopic structure is arranged on the clamping fixing seat, and a clamping cylinder 53a is arranged at the end of the telescopic structure.

[0080] The telescopic structure includes a limiting sleeve 53b and a telescopic rod 53d sleeved in the limiting sleeve 53b. The limiting sleeve 53b is fixed on the flip bracket 51, and the sleeve hole of the limiting sleeve 53b is extended forward and backward. A rack 53e extending forward and backward is provided on one side of the telescopic rod 53d. The rack 53e is meshed with a gear 53g. A telescopic motor 53h for driving the gear 53g is provided on the limiting sleeve 53b. The output end of the telescopic motor 53h passes through the limiting sleeve 53b, extends into the sleeve hole, and is fixed to the gear 53g.

[0081] A groove extending forward and backward is provided on one side of the telescopic rod 53d, and the rack 53e and the gear 53g are installed in the groove.

[0082] The external clamping mechanism 54 includes a pair of external clamping cylinders respectively arranged at the front and rear sides outside the frame of the flip bracket 51. The flip bracket 51 is provided with a through hole for the external clamping cylinder to pass through. The clamping end 54a of the external clamping cylinder extends into the frame of the flip bracket 51.

[0083] The clamping seat is slidably connected to the flip bracket 51, and a push cylinder 57 fixed to the flip bracket 51 is provided on one side of the clamping seat, and the push cylinder 57 drives the clamping seat to move left and right, so as to move to a position convenient for clamping. An anti-drop structure is provided between the clamping seat and the flip bracket 51.

[0084] The anti-drop structure includes an anti-drop skirt 53c and an anti-drop hook 53f respectively arranged on the clamping fixing seat, close to the outside and inside of the frame, and a buckle strip 51a buckled on the anti-drop skirt 53c is arranged on the flip bracket 51. The hook portion of the anti-drop hook 53f is bent toward the flip bracket 51, and the inner side of the frame of the flip bracket 51 is provided with an anti-drop edge for the anti-drop hook 53f to hook.

[0085] The fixed frame 52 is a door-shaped frame, and the lifting base 56 is arranged between two legs of the door-shaped frame. The lifting mechanism includes a screw nut mechanism 52a arranged on the two legs of the fixed frame 52, and both ends of the lifting base 56 are respectively fixed on the two screw nut mechanisms 52a.

[0086] The screw-nut mechanism 52a on the same fixed frame 52 shares a lifting motor 52b, which is fixed to the top of the crossbeam of the fixed frame 52. Horizontally extending output rods are arranged on both sides of the lifting motor 52b. The screws of the screw-nut mechanism 52a pass through the crossbeam of the fixed frame 52 and extend to the top of the fixed frame 52, and are connected to the output rod through a coupling 52c, and the coupling 52c is fixed to the fixed frame 52.

[0087] A large gear 55c is coaxially connected to one side of the turntable 55 near the lifting base 56. The large gear 55c is meshed with a small gear 55b, and the small gear 55b is fixedly connected to the output end of the rotating motor 55a. The large gear 55c and the small gear 55b are equipped with a gear cover. The large gear 55c and the small gear 55b are covered by the gear cover at the same time to prevent objects from being stuck between the large gear 55c and the small gear 55b, thereby improving the connection stability.

[0088] S2: When loading and unloading are required, execute S3; when laser cleaning is required, execute S4; when flipping is required, execute S5;

[0089] S3: Loading and unloading positioning; when loading is required, execute S3-1; when unloading is required, execute S3-2;

[0090] S3-1: Loading and positioning; placing the tool 6 on the ground of the loading and unloading station, and aligning the conical top of the ground positioning seat 3 with the adjustment groove at the bottom of the tool 6 to achieve positioning of the tool 6;

[0091] The positioning sleeve 7 is put on the workpiece, and then the workpiece is placed on the tooling 6 by the loading and unloading robot, and the workpiece and the tooling 6 are positioned by the workpiece positioning structure and the positioning sleeve 7;

[0092] S3-2: Positioning for material unloading; the RGV trolley 1 drives the tool 6 to move above the conical top of the adjusting groove and the ground positioning seat 3 at the loading and unloading station, and the lifting platform drives the tool 6 to move downward; when the adjusting groove contacts the conical top of the ground positioning seat 3, the position of the tool 6 is adjusted by adjusting the groove and the conical top of the ground positioning seat 3 to achieve positioning of the tool 6; after positioning of the tool 6 is completed, the loading and unloading robot removes the workpiece on the tool 6;

[0093] The adjustment groove of the tool 6 is disengaged from the conical top of the ground positioning seat 3 by the lifting platform of the RGV trolley 1, and the tool 6 is moved to the laser cleaning station 4; S2 is executed;

[0094] S4: Laser cleaning positioning; place the tool 6 on the ground of the laser cleaning station 4 and position the tool 6; drive the tool 6 to move above the conical top of the ground positioning seat 3 at the laser cleaning station 4 by the RGV trolley 1, and drive the tool 6 to move downward by the lifting platform; when the adjusting groove contacts the conical top of the ground positioning seat 3, adjust the position of the tool 6 by adjusting the groove and the conical top of the ground positioning seat 3;

[0095] After the tooling 6 is placed stably, the workpiece is cleaned by the laser cleaning robot 46. After cleaning, the adjustment groove of the tooling 6 is driven by the lifting platform to disengage the conical top of the ground positioning seat 3, and the tooling 6 is driven by the RGV trolley 1 to move to the flipping station 5; execute S2;

[0096] S5: Place the tool 6 on the ground of the flipping station 5 and position the tool 6; drive the tool 6 to move above the conical top of the adjusting groove and the ground positioning seat 3 at the flipping station 5 through the RGV trolley 1, and drive the tool 6 to move downward through the lifting platform; when the adjusting groove contacts the conical top of the ground positioning seat 3, adjust the position of the tool 6 by adjusting the groove and the conical top of the ground positioning seat 3 to achieve positioning of the tool 6; execute the next step;

[0097] S6: Flip and position the workpiece; remove the workpiece from the tooling 6 through the flipping mechanism and flip it; after flipping, the flipping mechanism drives the workpiece to move above the tooling 6, and aligns the positioning sleeve 7 on the tooling 6 with the workpiece positioning structure. After alignment, the positioning between the tooling 6 and the workpiece positioning structure is achieved through the positioning sleeve 7 and the workpiece positioning structure, and S2 is executed.

Claims

1. A positioning method for improving the positioning accuracy of an RGV vehicle, characterized in that: The following steps are involved: S1: Preparation of positioning equipment; the positioning equipment comprises a plurality of ground positioning seats (3) arranged on both sides of the track (2) of the loading and unloading station, the laser cleaning station (4) and the flipping station (5), and a tool (6) for placing the workpiece is placed on the lifting platform of the RGV trolley (1), and the left and right sides of the tool (6) extend outside the RGV trolley (1), and the part of the tool (6) extending outside the RGV trolley (1) is provided with a downwardly extending lower positioning column (61), the number and spacing of the lower positioning columns (61) are arranged corresponding to the ground positioning seats (3), and the top of each of the ground positioning seats (3) is conical, The bottom end of the lower positioning column (61) is concavely provided with an adjustment groove matching the top of the ground positioning seat (3); the tooling (6) is also provided with a workpiece positioning structure, and also includes a positioning sleeve (7) for sleeved on the workpiece spring seat, and the top and bottom of the positioning sleeve (7) are correspondingly provided with positioning matching structures, and the positioning matching structures are used to match with the workpiece positioning structure, and the front side of the front positioning sleeve (7) is provided with a clamping positioning convex point (72) for positioning the clamping tooling of the flipping station (5), and the rear side of the rear positioning sleeve (5) is also provided with a clamping positioning convex point (72) for positioning the clamping tooling of the flipping mechanism; The loading and unloading station is provided with a loading and unloading robot, and the flipping station (5) is provided with a flipping mechanism for flipping the workpiece; the laser cleaning station (4) is provided with a laser cleaning robot (46) and a truss (45) for mounting the laser cleaning robot (46), the truss (45) is mounted above the track (2), and the truss (45) is provided with a moving mechanism for driving the laser cleaning robot (46) to move forward and backward, left and right, and to adjust the height; S2: When loading and unloading are required, execute S3; when laser cleaning is required, execute S4; when flipping is required, execute S5; S3: Loading and unloading positioning; when loading is required, execute S3-1; when unloading is required, execute S3-2; S3-1: Loading and positioning; placing the tool (6) on the floor of the loading and unloading station, and aligning the conical top of the ground positioning seat (3) with the adjustment groove at the bottom of the tool (6) to achieve positioning of the tool (6); Put the positioning sleeve (7) on the workpiece, then place the workpiece on the tooling (6) by using the loading and unloading robot, and realize the positioning of the workpiece and the tooling (6) by using the workpiece positioning structure and the positioning sleeve (7); execute S2; S3-2: unloading and positioning; the tooling (6) is driven by the RGV trolley (1) to move above the conical top of the adjusting groove and the ground positioning seat (3) at the loading and unloading station, and the tooling (6) is driven downward by the lifting platform; when the adjusting groove contacts the conical top of the ground positioning seat (3), the position of the tooling (6) is adjusted by adjusting the groove and the conical top of the ground positioning seat (3) to achieve positioning of the tooling (6); after positioning of the tooling (6) is completed, the workpiece on the tooling (6) is removed by the loading and unloading robot; Execute S2; S4: laser cleaning positioning; placing the tool (6) on the floor of the laser cleaning station (4) and positioning the tool (6); driving the tool (6) to move above the conical top of the ground positioning seat (3) at the laser cleaning station (4) by the RGV trolley (1), and driving the tool (6) to move downward by the lifting platform; when the adjusting groove contacts the conical top of the ground positioning seat (3), adjusting the position of the tool (6) by adjusting the groove and the conical top of the ground positioning seat (3); Execute S2; S5: placing the tooling (6) on the ground of the flipping station (5) and positioning the tooling (6); driving the tooling (6) to move above the conical top of the ground positioning seat (3) at the flipping station (5) through the RGV trolley (1), and driving the tooling (6) to move downward through the lifting platform; when the adjusting groove contacts the conical top of the ground positioning seat (3), adjusting the position of the tooling (6) through the adjusting groove and the conical top of the ground positioning seat (3) to achieve positioning of the tooling (6); executing the next step; S6: flipping and positioning the workpiece; removing the workpiece from the tooling (6) through the flipping mechanism and flipping it; after flipping, the flipping mechanism drives the workpiece to move above the tooling (6), and aligns the positioning sleeve (7) on the tooling (6) with the workpiece positioning structure. After alignment, the positioning sleeve (7) and the workpiece positioning structure are used to achieve positioning between the tooling (6) and the tooling (6), and S2 is executed.

2. A positioning method for improving the positioning accuracy of an RGV vehicle according to claim 1, characterized in that: The workpiece positioning structure described in step S1 includes a plurality of support columns (62) vertically arranged on the top of the tooling (6), the top and bottom of the positioning sleeve (7) are both provided with positioning grooves (71), and the top of the support column (62) is provided with a positioning protrusion matching the positioning groove (71).

3. A positioning method for improving the positioning accuracy of an RGV vehicle according to claim 2, characterized in that: A linear bearing adjuster (63) is provided on the tooling (6) corresponding to each support column (62), and the support column (62) is fixedly mounted on the linear bearing adjuster (63); The positioning groove (71) is a convex ring arranged at the bottom of the positioning sleeve (7), and the positioning groove (71) is formed by the middle area surrounded by the convex ring.

4. A positioning method for improving the positioning accuracy of an RGV vehicle according to claim 1, characterized in that: The laser cleaning station (4) in step S1 is provided with a cleaning room (41), and rolling doors are provided on both the front and rear sides of the cleaning room (41).

5. A positioning method for improving the positioning accuracy of an RGV vehicle according to claim 4, characterized in that: The two rolling shutter doors are respectively a front rolling shutter door (44) and a rear rolling shutter door (43); the front rolling shutter door opening output end of the industrial computer is connected to one end of the winding of the front rolling shutter door opening relay (80K4); the other end of the winding of the front rolling shutter door opening relay (80K4) is connected to the positive electrode of the power supply; the highest opening position end of the front rolling shutter motor (30M2) of the front rolling shutter door (44) is connected to one end of the normally open contact of the front rolling shutter door opening relay (80K4); the other end of the normally open contact of the front rolling shutter door opening relay (80K4) is connected to the common end of the front rolling shutter motor (30M2); one end of the upper limit normally open contact of the front rolling shutter motor (30M2) is connected to the negative electrode of the power supply; the other end of the upper limit normally open contact of the front rolling shutter motor (30M2) is connected to the upper limit input end of the front rolling shutter door of the industrial computer; The front rolling door closing output end of the industrial computer is connected to one end of the winding of the front rolling door closing relay (80K5), the other end of the winding of the front rolling door closing relay (80K5) is connected to the positive electrode of the power supply, the lower end of the front rolling door motor (30M2) is connected to one end of the normally open contact of the front rolling door closing relay (80K5), and the other end of the normally open contact of the front rolling door closing relay (80K5) is connected to the common end of the front rolling door motor (30M2); one end of the lower limit normally open contact of the front rolling door motor (30M2) is connected to the negative electrode of the power supply, and the other end of the lower limit normally open contact of the front rolling door motor (30M2) is connected to the lower limit input end of the front rolling door of the industrial computer; The front rolling door stop output end of the industrial computer is connected to one end of the winding of the rolling door stop relay (81K1), the other end of the winding of the rolling door stop relay (81K1) is connected to the positive electrode of the power supply, the lowering end of the front rolling motor (30M2) is connected to one end of the normally open contact of the rolling door stop relay (81K1), and the other end of the normally open contact of the rolling door stop relay (81K1) is connected to the common end of the front rolling motor (30M2); The rear rolling door opening output terminal of the industrial computer is connected to one end of the winding of the rear rolling door opening relay (80K6), the other end of the winding of the rear rolling door opening relay (80K6) is connected to the positive electrode of the power supply, the highest opening position end of the rear rolling door motor (30M3) of the rear rolling door (43) is connected to one end of the normally open contact of the rear rolling door opening relay (80K6), and the other end of the normally open contact of the rear rolling door opening relay (80K6) is connected to the common end of the rear rolling door motor (30M3); one end of the upper limit normally open contact of the rear rolling door motor (30M3) is connected to the negative electrode of the power supply, and the other end of the upper limit normally open contact of the rear rolling door motor (30M3) is connected to the upper limit input terminal of the rear rolling door of the industrial computer; The rear rolling door closing output end of the industrial computer is connected to one end of the winding of the rear rolling door closing relay (80K7), the other end of the winding of the rear rolling door closing relay (80K7) is connected to the positive electrode of the power supply, the lower end of the rear rolling door motor (30M3) is connected to one end of the normally open contact of the rear rolling door closing relay (80K7), and the other end of the normally open contact of the rear rolling door closing relay (80K7) is connected to the common end of the rear rolling door motor (30M3); one end of the lower limit normally open contact of the rear rolling door motor (30M3) is connected to the negative electrode of the power supply, and the other end of the lower limit normally open contact of the rear rolling door motor (30M3) is connected to the lower limit input end of the rear rolling door of the industrial computer; The rear rolling door stop output end of the industrial computer is connected to one end of the winding of the rolling door stop relay (81K1), the other end of the winding of the rolling door stop relay (81K1) is connected to the positive pole of the power supply, the descending end of the rear rolling motor (30M3) is connected to one end of the normally open contact of the rolling door stop relay (81K1), and the other end of the normally open contact of the rolling door stop relay (81K1) is connected to the common end of the rear rolling motor (30M3).

6. A positioning method for improving the positioning accuracy of an RGV vehicle according to claim 5, characterized in that: A safety door is also provided on one side of the cleaning room (41), and a safety door solenoid valve (80K3) and a safety door lock (41Y1) are provided on the safety door. The safety door drive output end of the industrial computer is connected to one end of the winding of the safety door solenoid valve (80K3), and the other end of the winding of the safety door solenoid valve (80K3) is connected to the positive electrode of the power supply. One end of the winding of the safety door lock (41Y1) is connected to the negative electrode of the power supply, and the other end of the winding of the safety door lock (41Y1) is connected to one end of the normally open contact of the safety door solenoid valve (80K3), and the other end of the normally open contact of the safety door solenoid valve (80K3) is connected to the positive electrode of the power supply. One end of the winding of the robot emergency stop relay 1 (41K3) and one end of the winding of the robot emergency stop relay 2 (41K4) are connected to the negative electrode of the power supply, the other end of the winding of the robot emergency stop relay 1 (41K3) and the other end of the winding of the robot emergency stop relay 2 (41K4) are connected to one end of the normally closed contact of the second emergency stop button (61S9), the other end of the normally closed contact of the second emergency stop button (61S9) is connected to one end of the normally closed contact of the first emergency stop button (61S8), and the other end of the normally closed contact of the first emergency stop button (61S8) is connected to the rear rolling door One end of the normally closed contact of the emergency stop button (61S7) and the other end of the normally closed contact of the rear shutter door emergency stop button (61S7) are connected to one end of the normally closed contact of the front shutter door emergency stop button (61S6), and the other end of the normally closed contact of the front shutter door emergency stop button (61S6) is connected to one end of the normally closed contact of the safety door emergency stop button (61S5) of the safety door, and the other end of the normally closed contact of the safety door emergency stop button (61S5) is connected to one end of the normally closed contact of the operation box emergency stop button (60S1), and the other end of the normally closed contact of the operation box emergency stop button (60S1) is connected to the positive pole of the power supply; The laser cleaning robot (46) comprises a first robot and a second robot, the fifth end of the first robot controller is connected to one end of the normally open contact of the robot emergency stop relay 1 (41K3), the other end of the normally open contact of the robot emergency stop relay 1 (41K3) is connected to the sixth end of the first robot controller, the seventh end of the first robot controller is connected to one end of the normally open contact of the robot emergency stop relay 2 (41K4), and the other end of the normally open contact of the robot emergency stop relay 2 (41K4) is connected to the eighth end of the first robot controller; the fifth end of the second robot controller is connected to one end of the normally open contact of the robot emergency stop relay 1 (41K3), the other end of the normally open contact of the robot emergency stop relay 1 (41K3) is connected to the sixth end of the second robot controller, the seventh end of the second robot controller is connected to one end of the normally open contact of the robot emergency stop relay 2 (41K4), and the other end of the normally open contact of the robot emergency stop relay 2 (41K4) is connected to the eighth end of the second robot controller; The upper limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the upper limit detection sensor (60B1) of the first robot, the positive terminal of the upper limit detection sensor (60B1) of the first robot is connected to the positive pole of the power supply, and the negative terminal of the upper limit detection sensor (60B1) of the first robot is connected to the negative pole of the power supply; the lower limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the lower limit detection sensor (60B2) of the first robot, the positive terminal of the lower limit detection sensor (60B2) of the first robot is connected to the positive pole of the power supply, and the negative terminal of the lower limit detection sensor (60B2) of the first robot is connected to the negative pole of the power supply; the left limit detection input terminal of the first robot of the industrial computer is connected to the detection signal output terminal of the left limit detection sensor (60B3) of the first robot, the positive terminal of the left limit detection sensor (60B3) of the first robot is connected to the positive pole of the power supply, and the negative terminal of the left limit detection sensor (60B3) of the first robot is connected to the negative pole of the power supply; The first robot right limit detection input terminal of the industrial computer is connected to the detection signal output terminal of the first robot right limit detection sensor (60B4), the positive terminal of the first robot right limit detection sensor (60B4) is connected to the positive pole of the power supply, and the negative terminal of the first robot right limit detection sensor (60B4) is connected to the negative pole of the power supply; the first robot front limit detection input terminal of the industrial computer is connected to the detection signal output terminal of the first robot front limit detection sensor (60B5), the positive terminal of the first robot front limit detection sensor (60B5) is connected to the positive pole of the power supply, and the negative terminal of the first robot front limit detection sensor (60B5) is connected to the negative pole of the power supply; the first robot rear limit detection input terminal of the industrial computer is connected to the detection signal output terminal of the first robot rear limit detection sensor (60B6), the positive terminal of the first robot rear limit detection sensor (60B6) is connected to the positive pole of the power supply, and the negative terminal of the first robot rear limit detection sensor (60B6) is connected to the negative pole of the power supply; The second robot upper limit detection input terminal of the industrial computer is connected to the detection signal output terminal of the second robot upper limit detection sensor (60B7), the positive terminal of the second robot upper limit detection sensor (60B7) is connected to the positive pole of the power supply, and the negative terminal of the second robot upper limit detection sensor (60B7) is connected to the negative pole of the power supply; the second robot lower limit detection input terminal of the industrial computer is connected to the detection signal output terminal of the second robot lower limit detection sensor (60B8), the positive terminal of the second robot lower limit detection sensor (60B8) is connected to the positive pole of the power supply, and the negative terminal of the second robot lower limit detection sensor (60B8) is connected to the negative pole of the power supply; the second robot left limit detection input terminal of the industrial computer is connected to the detection signal output terminal of the second robot left limit detection sensor (60B9), the positive terminal of the second robot left limit detection sensor (60B9) is connected to the positive pole of the power supply, and the negative terminal of the second robot left limit detection sensor (60B9) is connected to the negative pole of the power supply; the industrial computer The right limit detection input end of the second robot of the industrial computer is connected to the detection signal output end of the right limit detection sensor (60B10) of the second robot, the positive end of the right limit detection sensor (60B10) of the second robot is connected to the positive pole of the power supply, and the negative end of the right limit detection sensor (60B10) of the second robot is connected to the negative pole of the power supply; the front limit detection input end of the second robot of the industrial computer is connected to the detection signal output end of the front limit detection sensor (60B11) of the second robot, the positive end of the front limit detection sensor (60B11) of the second robot is connected to the positive pole of the power supply, and the negative end of the front limit detection sensor (60B11) of the second robot is connected to the negative pole of the power supply; the rear limit detection input end of the second robot of the industrial computer is connected to the detection signal output end of the rear limit detection sensor (60B12) of the second robot, the positive end of the rear limit detection sensor (60B12) of the second robot is connected to the positive pole of the power supply, and the negative end of the rear limit detection sensor (60B12) of the second robot is connected to the negative pole of the power supply; The anti-collision detection signal input end of the industrial computer is connected to the detection signal output end of the robot anti-collision sensor (60B13), the positive end of the robot anti-collision sensor (60B13) is connected to the positive pole of the power supply, and the negative end of the robot anti-collision sensor (60B13) is connected to the negative pole of the power supply; The laser cleaning robot (46) is also equipped with a laser cleaning machine (80K2), one end of the winding of the laser cleaning machine (80K2) is connected to the laser output end of the industrial computer, and the other end of the winding of the laser cleaning machine (80K2) is connected to the positive pole of the power supply.

7. A positioning method for improving the positioning accuracy of an RGV vehicle according to claim 5, characterized in that: The cleaning room (41) is also provided with a smoke exhaust system (42), one end of the winding of the smoke exhaust fan (80K1) of the smoke exhaust system (42) is connected to the smoke exhaust output end of the industrial computer, and the other end of the winding of the smoke exhaust fan (80K1) is connected to the positive pole of the power supply.

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