Tool vehicle positioning device and feeding equipment

Abstract

The invention relates to a tool vehicle positioning device and a feeding device.The tool vehicle positioning device is used for positioning a tool vehicle and comprises a guiding structure, a positioning opening communicating with a guiding space and a positioning structure, the guiding space is provided with two guiding walls oppositely arranged in the second direction, and the positioning opening is communicated with the guiding space; the two guide walls are used for guiding the motion of the tool car; and the locking structure is arranged on the guide structure and comprises a locking state and a releasing state. When the tool trolley is completely located in the guiding space and the locking structure is in the locking state, at least part of the locking structure is located on the side, facing the positioning opening, of the tool trolley, and the tool trolley is prevented from leaving the guiding space. Therefore, when the tool trolley slides under the action of external force in the guide space, the locking structure can also prevent the tool trolley from leaving the guide space, so that the accuracy of the position of the tool trolley is ensured, normal taking of parts is ensured, and the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile manufacturing technology, and in particular to a tool vehicle positioning device and a loading device. Background Art

[0002] With the development of the manufacturing industry, in order to achieve the goal of lightweighting automobiles and improving production efficiency, most automobile manufacturing industries have begun to adopt integrated die-casting technology. Integrated die-casting technology is becoming an important trend in the automobile manufacturing industry, especially in the field of new energy vehicles.

[0003] At present, after the parts are formed by integrated die-casting technology, they are usually transported to the work area manually, and the loading and unloading operations are performed by robots. However, the manual transportation of parts to the work area not only consumes a lot of manpower, but also has a high degree of danger. Therefore, in order to reduce the labor intensity of workers, save labor costs and improve work efficiency, the automation field has begun to use transportation equipment such as tooling vehicles for transportation.

[0004] After the parts are transported to the designated location by the tooling vehicle, the robot will automatically take the parts from the tooling and transport them to the next processing step. Therefore, if the tooling vehicle cannot be accurately and stably parked at the designated location, the robot will not be able to accurately grab the parts on the material vehicle, thus affecting production efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a tooling vehicle positioning device and loading equipment to address the problem that the tooling vehicle cannot accurately and stably stop at the designated position, resulting in the robot arm being unable to accurately grasp the parts on the material vehicle, thereby affecting production efficiency.

[0006] A tool vehicle positioning device is used to position a tool vehicle, and the tool vehicle positioning device comprises:

[0007] A guide structure, comprising a guide space and a positioning opening communicated with the guide space, wherein the positioning opening is provided at one end of the guide space in a first direction, and the guide space comprises two guide walls arranged opposite to each other in a second direction, wherein the two guide walls are used to guide the movement of the tooling vehicle along the first direction and to limit the movement of the tooling vehicle in the second direction;

[0008] A locking structure is provided on the guide structure and includes a locking state and a release state. When the locking structure is in the release state, the tool vehicle can enter or leave the guide space through the positioning opening. When the tool vehicle is completely located in the guide space and the locking structure is in the locking state, at least a portion of the locking structure is located on a side of the tool vehicle facing the positioning opening and prevents the tool vehicle from leaving the guide space.

[0009] In one embodiment, when the tooling vehicle is completely located in the guide space and the locking structure is in a locked state, one end of the tooling vehicle in the first direction can abut against the guide structure, and the other end of the tooling vehicle in the first direction can abut against the locking structure.

[0010] In one embodiment, the guide structure includes an intermediate connecting member and two side wall guide members, the intermediate connecting member extends longitudinally along the second direction, one end of the two side wall guide members in the first direction is arranged at two opposite ends of the intermediate connecting member in the second direction, the two side wall guide members form the positioning opening at the other end of the first direction, the intermediate connecting member and the two side wall guide members are arranged to form the guide space, and the sides of the two side wall guide members facing each other form the guide wall;

[0011] The locking structures include two, and the two locking structures are respectively arranged on one end of the two side wall guides away from the middle connecting member.

[0012] In one of the embodiments, a position sensor is provided on the intermediate connecting member, and the position sensor is used to sense whether the tooling vehicle is in contact with the intermediate connecting member or itself.

[0013] In one embodiment, each of the side wall guide members includes a straight line guide portion and an inclined guide portion, each of the straight line guide portions extends longitudinally along the first direction, one end of the inclined guide portion is arranged at an end of the straight line guide portion away from the intermediate connecting member, and the other ends of the two inclined guide portions extend in a direction gradually away from each other.

[0014] In one embodiment, the locking structure comprises a mounting plate and a clamp, wherein the mounting plate is mounted on the guide structure, and one end of the clamp is rotatably mounted on the mounting plate around a locking axis, and the direction of the locking axis intersects both the second direction and the first direction;

[0015] When the tooling vehicle is completely located in the guide space, during the rotation of one end of the clamp, the other end of the clamp can abut against or move away from the tooling vehicle.

[0016] In one of the embodiments, the locking structure further includes a driving handle, which is movably mounted on the mounting plate and is transmission-connected to the clamp. When the driving handle is moved, the clamp rotates around the locking axis.

[0017] A loading device comprises a tooling vehicle and the tooling vehicle positioning device as described in the above item, wherein the tooling vehicle is used to carry parts and can enter the guide space through the positioning opening.

[0018] In one embodiment, the tooling vehicle includes a frame and guide structures arranged on opposite sides of the frame in a third direction, each of the guide structures includes at least one guide wheel, each of the guide wheels is rotatable around a rolling axis, and during the movement of the tooling vehicle in the guide space, the third direction is parallel to the second direction, the direction of the rolling axis intersects with both the first direction and the second direction, and each of the guide wheels is capable of rolling along one of the guide walls.

[0019] In one of the embodiments, the positions of all the guide wheels relative to the frame in the third direction are adjustable.

[0020] In one embodiment, the tooling vehicle further includes a fixed plate, a movable plate and fixing screws, the fixed plate being mounted on the vehicle frame, a waist-shaped hole longitudinally extending along the third direction being provided on the upper edge of the movable plate, a fixing threaded hole being provided on the fixed plate, the fixing screw being passed through the waist-shaped hole and being threadedly connected to the fixing threaded hole, the fixing screw having a fixing portion, and when the fixing screw moves relative to the fixing threaded hole, the fixing portion can be against or separated from the movable plate, and the guide wheel is mounted on the movable plate.

[0021] In one embodiment, the tooling vehicle further includes an adjusting block and an adjusting screw. The adjusting block is mounted on the fixed block and is located on a side of the movable plate away from the guide wheel. An adjusting threaded hole extending longitudinally along a third direction is provided on the adjusting block. The adjusting screw is threadedly connected to the adjusting threaded hole. The adjusting screw can abut against the movable plate during movement relative to the adjusting threaded hole.

[0022] In one of the embodiments, a positioning structure is provided on the tooling vehicle, and the positioning structure includes a positioning member, and the positioning member can cooperate with the part located at a limited position.

[0023] In one embodiment, the positioning members include a plurality of members, some of which can be inserted into the limiting holes of the part, and some of which are provided with positioning grooves, and the raising blocks of the part can be arranged in the positioning grooves.

[0024] In one embodiment, at least two of the positioning members are provided with positioning grooves, and at least two of the positioning grooves have different widths;

[0025] The component comprises at least two padding blocks with different widths, and each of the padding blocks is arranged in one of the positioning grooves.

[0026] In one of the embodiments, one of the positioning members provided with the positioning groove is also provided with a limiting groove, and the edge of the part is arranged in the limiting groove.

[0027] In one embodiment, the positioning structure further comprises a positioning plate, and all the positioning members are arranged on the positioning plate and are spaced apart from each other;

[0028] All of the positioning grooves and all of the padding blocks are located at the bottom of the part.

[0029] In one embodiment, the positioning member inserted into the limiting hole is a positioning pin, and the cross-section of the positioning pin is a polygon.

[0030] In one embodiment, the tooling vehicle is further provided with a limiting structure, the limiting structure comprising a limiting cushion block and side limiting blocks provided on opposite sides of the limiting cushion block in a fourth direction intersecting with the third direction;

[0031] The limiting pad blocks limit the movement of the component in the third direction, and the component is arranged between the two side limiting blocks.

[0032] In one of the embodiments, the part is placed on the limiting pad at one end of the third direction.

[0033] In one of the embodiments, the loading equipment further includes a loading device, and the loading device is configured to be able to pick up the parts on the tooling vehicle located in the guide space.

[0034] In one embodiment, the tooling vehicle comprises a frame, the frame comprises a bottom structure and a plurality of side structures, the plurality of side structures are sequentially connected and arranged around the circumference of the top structure, a loading opening is formed between the first side structure and the last side structure, all the side structures and the bottom structure are surrounded to form a loading space, and the loading buckle is connected to the loading space;

[0035] The parts include a plurality of parts, all of which are arranged in the loading space, and the loading device is constructed to be able to enter the loading space through the loading opening and take each of the parts in turn.

[0036] In one of the embodiments, the side structure arranged opposite to the loading opening is detachably connected to the two adjacent side structures, and when the side structure is separated from the two adjacent side structures, an adjustment opening is formed between the two side structures, and the loading device is constructed to be able to enter the loading space through the adjustment opening and take each of the parts in turn.

[0037] In one embodiment, the entire side structure includes a first side, a second side and a third side, the first side, the second side and the third side are connected in sequence, and the first side and the third side are arranged at intervals along the third direction, the second side is respectively connected to one end of the first side and the third side in a fourth direction, and the first side and the other end of the third side in the fourth direction form the loading opening;

[0038] The second side portion is detachably connected to the first side portion and the third side portion, and when the second side portion is separated from the first side portion and the third side portion, the adjustment opening is formed between the first side portion and the third side portion.

[0039] In one embodiment, the second side portion includes a plurality of connecting rods, and both ends of each of the connecting rods are detachably connected to the first side portion and the third side portion.

[0040] In one embodiment, the tooling vehicle further includes a plurality of running wheels, and all of the running wheels jointly support the tooling vehicle to move.

[0041] In the tooling vehicle positioning device, when the tooling vehicle is completely located in the guide space and the locking structure is in a locked state, at least part of the locking structure is located on the side of the tooling vehicle facing the positioning opening, and prevents the tooling vehicle from leaving the guide space. In this way, the tooling vehicle is prevented from moving in the front and back and left and right directions by the cooperation of the locking structure and the guide structure, thereby ensuring the accuracy of the tooling vehicle position. Moreover, even when the tooling vehicle is subjected to external force and slides in the guide space, the locking structure can prevent the tooling vehicle from leaving the guide space, thereby ensuring the normal removal of parts and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG. 1 is a schematic diagram of the structure of a feeding device in some embodiments of the present application.

[0043] FIG. 2 is a schematic diagram of the structure of a tool vehicle positioning device for positioning a tool vehicle in some embodiments of the present application.

[0044] FIG. 3 is a schematic diagram of the structure of a tool vehicle positioning device in some embodiments of the present application.

[0045] FIG. 4 is a schematic structural diagram of the tooling vehicle positioning device in the embodiment of FIG. 3 from another perspective.

[0046] FIG. 5 is a schematic structural diagram of the locking structure of the tooling vehicle positioning device in the embodiment of FIG. 3 .

[0047] FIG6 is a schematic diagram of the structure of a tooling vehicle transporting parts in some embodiments of the present application.

[0048] FIG. 7 is a schematic structural diagram of a tool vehicle positioning structure 220 in some embodiments of the present application.

[0049] FIG8 is a schematic diagram of the structure of the tooling vehicle in the embodiment of FIG6 when it is unloaded.

[0050] FIG. 9 is an enlarged view of point A in FIG. 8 .

[0051] FIG. 10 is a schematic structural diagram of the tooling vehicle in the embodiment of FIG. 6 from another perspective.

[0052] FIG. 11 is an enlarged view of point B in FIG. 10 .

[0053] FIG. 12 is a schematic diagram of the structure of parts in some embodiments of the present application.

[0054] Description of reference numerals:

[0055] Work vehicle positioning device 100;

[0056] Guide structure 110; guide space 111; positioning opening 112; guide wall 113; intermediate connecting member 114; side wall guide member 115; in-position sensor 116;

[0057] Locking structure 120; mounting plate 121; clamp 122; driving handle 123;

[0058] Straight guide portion 130; inclined guide portion 131;

[0059] Tool vehicle 200; vehicle frame 201; bottom structure 202; side structure 203; loading opening 204; first side 206; second side 207; third side 208; connecting rod 209;

[0060] Guide wheel 210; fixed plate 211; movable plate 212; fixing screw 213; waist-shaped hole 214; adjustment block 215; adjustment screw 216;

[0061] Positioning structure 220; positioning member 221; positioning slot 222; limiting slot 223; positioning pin 224; positioning plate 225;

[0062] Limiting structure 230; limiting pad 231; side limiting block 232

[0063] Traveling wheels 240;

[0064] Loading device 300; Loading space 310;

[0065] Part 400; limiting hole 410; spacer block 420;

[0066] The first direction is x, the second direction is y, the third direction is x, and the fourth direction is y. DETAILED DESCRIPTION

[0067] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0068] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0069] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0071] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0072] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0073] Referring to Figures 1, 2, 3 and 4, a loading device provided in an embodiment of the present application includes a tooling vehicle 200, a tooling vehicle positioning device 100 and a loading device 300. The tooling vehicle 200 is used to carry and position a part 400, so that the tooling vehicle 200 can be used to stably transport the part 400, and can also cooperate with the loading device to ensure the normal loading of the part 400. The tooling vehicle positioning device 100 is used to position the tooling vehicle 200 so that the tooling vehicle 200 can accurately move to a specified position. When the tooling vehicle 200 moves to a specified position, the loading device 300 takes the part 400 on the tooling vehicle 200, thereby completing the loading step of the part 400. Optionally, the loading device is a manipulator.

[0074] The tool vehicle positioning device 100 includes a guide structure 110, which has a guide space 111 and a positioning opening 112 connected to the guide space 111, and the positioning opening 112 is provided at one end of the guide space 111 in the first direction Y. The guide space 111 has two guide walls 113 arranged opposite to each other in the second direction X, and the two guide walls 113 are used to guide the movement of the tool vehicle 200.

[0075] The tooling vehicle 200 can enter the guide space 111 through the positioning opening 112 and can move in the guide space 111. When the tooling vehicle 200 moves along the guide space 111, the two opposite sides of the tooling vehicle 200 in the second direction X can contact each other with the guide walls 113, so that the movement of the tooling vehicle 200 in the first direction Y is guided by the two guide walls 113, and the movement of the tooling vehicle 200 in the second direction X is restricted, and finally the tooling vehicle 200 accurately moves to the designated position under the action of the guide walls 113. In addition, after the tooling vehicle 200 enters the guide space 111, since the tooling vehicle 200 has been positioned by the guide walls 113, the loading device 300 can accurately pick up the parts 400 on the tooling vehicle 200 in the guide space 111. Specifically in the embodiment of FIG. 4, the first direction Y is the up-down direction, and the second direction X is the left-right direction.

[0076] Among them, after the tooling vehicle 200 moves into the guide space 111 through the positioning opening 112, the tooling vehicle 200 may be subjected to force and slide during the process of the loading device 300 picking up the part 400, or the tooling vehicle 200 may slide under the action of other external forces. The sliding tooling vehicle 200 will leave the guide space 111 through the positioning opening 112, thereby causing the loading device 300 to be unable to pick up the part 400 normally.

[0077] To this end, the tool vehicle positioning device 100 further includes a locking structure 120, which is disposed on the guide structure 110 and includes a locking state and a release state. When the locking structure 120 is in the release state, the tool vehicle 200 can enter or leave the guide space 111 through the positioning opening 112. When the locking structure 120 is switched to the locking state, the staff can deliver the tool vehicle 200 loaded with the part 400 into the limited space, or remove the empty tool vehicle 200 from the limited space after the loading device 300 takes the part 400.

[0078] When the tooling vehicle 200 is completely located in the guide space 111 and the locking structure 120 is in a locked state, at least part of the locking structure 120 is located on the side of the tooling vehicle 200 facing the positioning opening 112, and prevents the tooling vehicle 200 from leaving the guide space 111. In this way, the tooling vehicle is prevented from moving in the front and back and left and right directions through the cooperation of the locking structure and the guide structure, thereby ensuring the accuracy of the tooling vehicle position. Moreover, even when the tooling vehicle 200 is subjected to external force and slides in the guide space 111, the locking structure 120 can prevent the tooling vehicle 200 from leaving the guide space 111, thereby ensuring the normal removal of the parts 400 and improving production efficiency.

[0079] In some embodiments of the present application, when the tooling cart 200 is entirely located within the guiding space 111 and the locking structure 120 is in the locked state, one end of the tooling cart 200 in the first direction Y can abut against the guiding structure 110, and the other end of the tooling cart 200 in the first direction Y can abut against the locking structure 120. Thus, the tooling cart 200 is limited by the guiding structure 110 and the locking structure 120 on both sides in the first direction Y respectively, and at the same time, the tooling cart 200 can be limited by the two guiding walls 113 of the guiding structure 110 on both sides in the second direction X, so that the tooling cart 200 is in a fixed state as a whole. When the feeding device 300 picks up the part 400 on the tooling cart 200, the position of the tooling cart 200 is not likely to be displaced, further ensuring the accuracy of the position of the tooling cart 200 and ensuring the normal picking up of the part 400.

[0080] In some embodiments of the present application, the guiding structure 110 includes an intermediate connecting piece 114 and two side wall guiding pieces 115. The intermediate connecting piece 114 extends longitudinally along the second direction X. The two side wall guiding pieces 115 are arranged at opposite ends of the intermediate connecting piece 114 in the second direction X at one end in the first direction Y. The two side wall guiding pieces 115 form a positioning opening 112 at the other end in the first direction Y. The intermediate connecting piece 114 and the two side wall guiding pieces 115 enclose to form the guiding space 111 and the positioning opening 112, and the sides of the two side wall guiding pieces 115 facing each other form the guiding walls 113.

[0081] Thus, an approximately "U"-shaped structure is formed by enclosing the intermediate connecting piece 114 and the side wall guiding pieces 115. The positioning opening 112 is formed at the end of the two side wall guiding pieces 115 away from the intermediate connecting piece 114. The tooling cart 200 can enter between the two side wall guiding pieces 115, that is, into the guiding space 111, through the positioning opening 112.

[0082] Among them, there are two locking structures 120, and the two locking structures 120 are respectively arranged at the ends of the two side wall guiding pieces 115 away from the intermediate connecting piece 114, so as to limit the tooling cart 200 located in the guiding space 111 by the two locking structures 120 at the same time, avoiding the situation that the tooling cart 200 in the guiding space 111 slides, resulting in abnormal feeding.

[0083] In some embodiments, an in-position sensor 116 is provided on the intermediate connecting member 114. The in-position sensor 116 is used to sense whether the tooling vehicle 200 is in contact with the intermediate connecting member 114. When the in-position sensor 116 senses that the tooling vehicle 200 is in contact with the intermediate connecting member 114, a signal can be sent to the staff to inform the staff that the tooling vehicle 200 has moved to the extreme position in the guide space 111. At this time, the staff can switch the locking structure 120 to the locking state, so that the other side of the tooling vehicle 200 away from the intermediate connecting member 114 is limited by the locking structure 120, so that the tooling vehicle 200 as a whole is in a fixed state. At the same time, the staff can also start the loading device 300 to take the part 400.

[0084] It is understandable that the in-position sensor 116 can also be used to sense whether the tool vehicle 200 is in contact with itself. Since the in-position sensor 116 is provided on the intermediate connecting member 114, when the tool vehicle 200 is in contact with the in-position sensor 116, it can also be indicated that the tool vehicle 200 has moved to the limit position in the guide space 111. Optionally, the in-position sensor 116 can be a contact sensor or a distance sensor.

[0085] In some embodiments, each side wall guide 115 includes a straight guide portion (130) and an inclined guide portion 131, each straight guide portion (130) extends longitudinally along the first direction Y, one end of the inclined guide portion 131 is arranged at one end of the straight guide portion (130) away from the intermediate connecting member 114, and the other ends of the two inclined guide portions 131 extend in a direction away from each other. When the tooling vehicle 200 needs to enter the limited space through the positioning opening 112, the two inclined guide portions 131 can roughly guide the movement direction of the tooling vehicle 200, and guide the tooling vehicle 200 to the positioning opening 112, so that the tooling vehicle 200 can enter the positioning opening 112.

[0086] In some embodiments of the present application, referring to Figure 5, the locking structure 120 includes a mounting plate 121 and a clamp 122, the mounting plate 121 is installed on one end of the side guide portion of the guide structure 110 away from the middle guide portion, and one end of the clamp 122 is rotatably installed on the mounting plate 121 around a locking axis, and the direction of the locking axis intersects with both the second direction X and the first direction Y. During the rotation of one end of the clamp 122, the other end of the clamp 122 can enter or leave the positioning opening 112, so that when the tooling vehicle 200 is completely located in the guide space 111, during the rotation of one end of the clamp 122, the other end of the clamp 122 can be against or away from the tooling vehicle 200.

[0087] Thus, when the end of the clamp 122 away from the mounting plate 121 enters the positioning opening 112, the locking structure 120 is in a locked state, and the end of the clamp 122 away from the mounting plate 121 abuts against and limits the side of the tooling vehicle 200 away from the intermediate connector 114 in the limiting space, thereby ensuring the stability of the tooling vehicle 200. When the end of the clamp 122 away from the mounting plate 121 is away from the positioning opening 112, the locking structure 120 is in a released state, and the tooling vehicle 200 can enter or leave the guide space 111 through the positioning opening 112.

[0088] Furthermore, in order to facilitate the operation of the clamp 122, the locking structure 120 also includes a driving handle 123, which is movably mounted on the mounting plate 121 and is transmission-connected to the clamp 122. When the driving handle 123 is moved, the clamp 122 rotates around the locking axis, and the operator can indirectly operate the rotation of the clamp 122 by operating the driving handle 123.

[0089] Furthermore, the locking structure 120 also includes a locking sensor, which is used to detect the state of the locking structure 120. When the locking structure 120 is in a locked state, the locking sensor is triggered. The staff knows that the tooling vehicle 200 has been clamped based on the data of the locking sensor, and the loading device 300 can be started for loading.

[0090] In some embodiments of the present application, referring to FIG. 6 , FIG. 7 and FIG. 8 , the tooling vehicle 200 includes a vehicle frame 201 and guide structures disposed on opposite sides of the vehicle frame 201 in a third direction x, and each guide structure includes at least one guide wheel 210. In actual use, two, three or more guide wheels 210 may be provided according to the length of the vehicle frame 201.

[0091] Each guide wheel 210 is rotatable around a rolling axis. When the tooling vehicle 200 moves in the guide space 111, the third direction x is parallel to the second direction X, and the rolling axis direction of the guide wheel 210 intersects with both the first direction Y and the second direction X, so that each guide wheel 210 can roll along one of the guide walls 113. In this way, by the guide wheels 210 arranged on both sides of the vehicle frame 201 cooperating with the two guide walls 113, the tooling vehicle 200 is subjected to less resistance when moving between the two side guides, so that the tooling vehicle 200 moves more smoothly.

[0092] At the same time, the two inclined guide parts 131 facing each other can also roll with the two guide wheels 210. When the tooling vehicle 200 is close to the positioning opening 112, the guide wheel 210 on one side can be in contact with the surface of one of the inclined guide parts 131. Under the action of the inclined guide part 131 and the guide wheel 210, the tooling vehicle 200 will be gradually guided to the positioning opening 112, so that the tooling vehicle 200 can quickly enter the positioning opening 112.

[0093] It should be noted that the third direction x is a direction with reference to the vehicle frame 201. Only when the tooling vehicle 200 is located in the limited space and both sides of the tooling vehicle 200 are limited by two side guides, the third direction x is parallel to the second direction X. After the tooling vehicle 200 drives out of the tooling vehicle positioning device 100, the third direction x is not necessarily parallel to the second direction X. The third direction x is related to the position of the vehicle frame 201.

[0094] In some embodiments, the positions of all guide wheels 210 relative to the vehicle frame 201 in the third direction x are adjustable, and by adjusting the position of at least one of the guide wheels 210 in the third direction x, the width of the tooling vehicle 200 in the third direction x can be adjusted. In actual use, by adjusting the width of the tooling vehicle 200, both guide wheels 210 can be in contact with the guide walls 113 on the two side guide members, ensuring that the two side guide members can effectively limit the tooling vehicle 200, and the tooling vehicle 200 will not shake in the guide space 111, thereby avoiding errors caused by processing and improving the fault tolerance rate.

[0095] Specifically in some embodiments, the tooling vehicle 200 also includes a fixed plate 211, a movable plate 212 and a fixing screw 213. The fixed plate 211 is installed on the frame 201. A waist-shaped hole 214 extending along the third direction x is opened on the upper edge of the movable plate 212. A fixing threaded hole is opened on the fixed plate 211. The fixing screw 213 is passed through the waist-shaped hole 214 and is threadedly connected to the fixing threaded hole. The fixing screw 213 has a fixing part. When the fixing screw 213 moves relative to the fixed threaded hole, the fixing part can be against the movable plate 212. The guide wheel 210 is installed on the movable plate 212.

[0096] Among them, when the fixed part is separated from the movable plate 212, the movable plate 212 can move in the third direction x through the fixing screws 213 and the waist-shaped holes 214, so as to adjust the position of the guide wheel 210. When the fixed part is against the movable plate 212, due to the friction between the fixed part and the movable plate 212, the movable plate 212 cannot move easily, so as to fix the position of the guide wheel 210.

[0097] Furthermore, the tooling vehicle 200 further includes an adjustment block 215 and an adjustment screw 216. The adjustment block 215 is mounted on the fixed block and is located on the side of the movable plate 212 away from the guide wheel 210. The adjustment block 215 is provided with an adjustment threaded hole extending longitudinally along the third direction x. The adjustment screw 216 is threadedly connected to the adjustment threaded hole. The adjustment screw 216 can abut against the movable plate 212 during the relative movement of the adjustment threaded hole. In this way, when the fixed portion is separated from the movable plate 212 and the adjustment screw 216 abuts against the movable plate 212, if the adjustment screw 216 is continuously rotated, the adjustment screw 216 will drive the movable plate 212 to move, thereby accurately adjusting the position of the guide wheel 210.

[0098] In some embodiments of the present application, referring to FIG. 9 , FIG. 10 and FIG. 11 , the position of the tooling vehicle 200 can be accurately positioned by the tooling vehicle positioning device 100 , but the part 400 may shake relative to the tooling vehicle 200 during the movement with the tooling vehicle 200 , resulting in an inaccurate position of the part 400 on the tooling vehicle 200 . The inaccurate position of the part 400 will also affect the loading device 300 to take the part 400 , affecting the loading efficiency. For this reason, a positioning structure 220 is provided on the tooling vehicle 200 , and the positioning structure 220 includes a positioning member 221 , and the positioning member 221 can cooperate with the position limiter located at the part 400 , thereby fixing the part 400 on the tooling vehicle 200 , avoiding displacement of the part 400 and affecting the loading efficiency.

[0099] In some embodiments, the positioning member 221 includes a plurality of positioning members 221, some of which can be inserted into the limiting holes 410 of the part 400, and some of which are provided with positioning grooves 222, and the padding blocks 420 of the part 400 can be arranged in the positioning grooves 222. In this way, the positioning of multiple parts of the part 400 is performed by using multiple positioning members 221, further ensuring the accuracy of the position of the part 400.

[0100] At least two positioning members 221 are provided with positioning grooves 222, and at least two positioning grooves 222 have different widths, and the part 400 includes at least two padding blocks 420 with different widths, and each padding block 420 is arranged in one of the positioning grooves 222. In this way, by providing positioning grooves 222 with different widths for the padding blocks 420 with different widths on the part 400, the part 400 can be fixed on the tooling vehicle 200 more stably.

[0101] Furthermore, one of the positioning members 221 having the positioning groove 222 is also provided with a limiting groove 223, and the edge of the part 400 is arranged in the limiting groove 223, so that the edge of the part 400 is fixed by the limiting groove 223, further enabling the part 400 to remain stable and not shake during transportation.

[0102] Furthermore, the cross section of the limiting hole 410 is a polygon. In order to match the limiting hole 410, the positioning member 221 inserted into the limiting hole 410 is a positioning pin 224, and the cross section of the positioning pin is a polygon. Each side wall of the positioning pin 224 can fit with each inner wall in the limiting hole 410, thereby achieving the effect of limiting the part 400. Optionally, the cross sections of the limiting hole 410 and the positioning pin are both quadrilateral, that is, the positioning pin is a structure approximately in the shape of a rectangular parallelepiped.

[0103] In some embodiments, a limiting structure 230 is also provided on the work vehicle 200, and the limiting structure 230 includes a limiting pad 231 and side limiting blocks 232 arranged on opposite sides of the limiting pad 231 in the fourth direction y, the fourth direction y intersects with the third direction x, and the limiting pad 231 can abut against one end of the part 400 in the third direction x to limit the movement of the part 400 in the third direction x through the limiting pad 231. At the same time, the part 400 is arranged between the two side limiting blocks 232, thereby limiting the movement of the part 400 in the fourth direction y through the two side limiting blocks 232.

[0104] Furthermore, the part 400 is placed on the limiting pad 231 at one end in the third direction, so that the height of the part 400 is raised by the limiting pad 231, so that the part 400 is in a relatively horizontal state as a whole, reducing the shaking of the part 400 during transportation.

[0105] The axis direction of the limiting hole 410 is perpendicular to both the third direction x and the fourth direction y, that is, the vertical direction, and the longitudinal direction of the positioning groove 222 can be parallel to the third direction x or the fourth direction y. In this way, the positioning structure 220 cooperates with the limiting structure 230, so that the part 400 can be effectively fixed on the tooling vehicle 200.

[0106] Furthermore, each of the limiting structures 230 and the positioning structure 220 includes a plurality of them, and each positioning structure 220 corresponds to two of the limiting structures 230. The two limiting structures 230 are respectively arranged at the two ends of the part 400 in the third direction x, and a part 400 can be positioned and fixed by one positioning structure 220 and the corresponding two limiting structures 230. Multiple limiting structures 230 and multiple positioning structures 220 can position and fix multiple parts 400, so that the tooling vehicle 200 can transport multiple parts 400 at the same time, thereby improving the loading efficiency.

[0107] In some embodiments, the positioning structure further includes a positioning plate 225, all positioning members 221 are disposed on the positioning plate 225 and are arranged at intervals, and all positioning grooves 222 and all pad blocks 420 are located at the bottom of the part 400. That is, the bottom of the part 400 is fixed by the positioning structure, and at the same time, both ends of the part 400 can be fixed by the limiting structure 230, so that the side wall of the part 400 can be fixed to the feeding device 300, and then the feeding device 300 can grasp the part 400 by fixing the side walls of the part 400 to each other.

[0108] Specifically, the tooling vehicle 200 includes a frame 201, and the frame 201 includes a bottom structure 202 and multiple side structures 203. The multiple side structures are connected in sequence and arranged circumferentially around the top structure. A loading opening 204 is formed between the side structure 203 located at the first position and the side structure 203 located at the end. All the side structures 203 and the bottom structure 202 are surrounded to form a loading space 310, and the loading buckle is connected to the loading space 310.

[0109] All the limiting structures 230 and all the positioning structures 220 are arranged in the loading space 310, so as to position and limit the multiple parts 400 in the loading space 310. The loading device 300 is configured to enter the loading space 310 through the loading opening 204 and take each part 400 in turn.

[0110] Among them, the loading opening 204 is located at one end of the loading space 310 in the fourth direction y, and all the parts 300 are arranged in the loading space 310 in sequence along the fourth direction y. The loading device 300 can be fixed to the side wall of the first part 400 through the loading opening 204, so as to take away the part 400, and reciprocate in sequence to achieve the taking of each part 400.

[0111] Specifically in one embodiment, the side structure 203 arranged opposite to the loading opening 204 is detachably connected to two adjacent side structures 203, and when the side structure 203 is separated from the two adjacent side structures 203, an adjustment opening is formed between the two side structures 203, and the loading device 300 is configured to enter the loading space 310 through the adjustment opening and sequentially take each part 400. In this way, the loading device 300 can be fixed to the other side wall of the part 400 through the adjustment opening, so as to take the part from another direction, thereby improving the flexibility of loading.

[0112] Specifically, the entire side structure 203 includes a first side 206, a second side 207, and a third side 208. The first side 206, the second side 207, and the third side 208 are connected in sequence, and the first side 206 and the third side 208 are arranged at intervals along the third direction x. The second side 207 is connected to one end of the first side 206 and the third side 208 in the fourth direction y respectively. An upper loading opening 204 is formed at the other end of the first side 206 and the third side 208 in the fourth direction y. The second side 207 is detachably connected to the first side 206 and the third side 208, and when the second side 207 is separated from both the first side 206 and the third side 208, an adjustment opening is formed between the first side 206 and the third side 208. That is, the frame 210 is in a "U" shape, and the loading device can take the parts 400 on the frame 210 from the top and the opening of the frame 210.

[0113] Among them, the second side 207 includes a plurality of connecting rods 209. Both ends of each connecting rod 209 are detachably connected to the first side 206 and the third side 208. In this way, when it is necessary to form an adjustment opening, only by disassembling each connecting rod 209 can it be completed.

[0114] Specifically in some embodiments, the tooling cart 200 further includes a plurality of walking wheels 240. All the walking wheels 240 jointly support the walking of the tooling cart. The tooling cart 200 can be steered through the plurality of walking wheels 240 so that the positioning opening can face different directions to meet the requirements of the loading device 300 for grasping the parts 300 relative to two side walls.

[0115] The above-mentioned tooling cart positioning device 100 has at least the following advantages:

[0116] When the entire tooling cart 200 is located in the guiding space 111 and the locking structure 120 is in the locked state, at least part of the locking structure 120 is located on the side of the tooling cart 200 facing the positioning opening 112 and prevents the tooling cart 200 from leaving the guiding space 111. In this way, when the tooling cart 200 slides under an external force in the guiding space 111, the locking structure 120 can also prevent the tooling cart 200 from leaving the guiding space 111, thereby ensuring the accuracy of the position of the tooling cart 200, ensuring the normal taking of the parts 400, and improving the production efficiency.

[0117] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0118] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A tool vehicle positioning device, used for positioning a tool vehicle (200), characterized in that: The tooling vehicle positioning device comprises: A guide structure (110), comprising a guide space (111) and a positioning opening (112) connected to the guide space (111), wherein the positioning opening (112) is arranged at one end of the guide space (111) in a first direction (Y), and the guide space (111) comprises two guide walls (113) arranged opposite to each other in a second direction (X), wherein the two guide walls (113) are used to guide the movement of the tooling vehicle (200) along the first direction (Y) and to limit the movement of the tooling vehicle (200) in the second direction (X); A locking structure (120) is provided on the guide structure (110) and includes a locking state and a release state. When the locking structure (120) is in the release state, the tool vehicle (200) can enter or leave the guide space (111) via the positioning opening (112). When the tool vehicle (200) is completely located in the guide space (111) and the locking structure (120) is in the locking state, at least a portion of the locking structure (120) is located on a side of the tool vehicle (200) facing the positioning opening (112), and prevents the tool vehicle (200) from leaving the guide space (111).

2. The tooling vehicle positioning device according to claim 1, characterized in that: When the tooling vehicle (200) is completely located in the guide space (111) and the locking structure (120) is in a locked state, one end of the tooling vehicle (200) in the first direction (Y) can abut against the guide structure (110), and the other end of the tooling vehicle (200) in the first direction (Y) can abut against the locking structure (120).

3. The tooling vehicle positioning device according to claim 1, characterized in that: The guide structure (110) comprises an intermediate connecting member (114) and two side wall guiding members (115); the intermediate connecting member (114) extends longitudinally along a second direction (X); one end of the two side wall guiding members (115) in the first direction (Y) is arranged at two opposite ends of the intermediate connecting member (114) in the second direction (X); the two side wall guiding members (115) in the other end in the first direction (Y) form the positioning opening (112); the intermediate connecting member (114) and the two side wall guiding members (115) are arranged to form the guide space (111); and the two sides of the two side wall guiding members (115) facing each other form the guide wall (113); The locking structures (120) include two locking structures (120), which are respectively arranged on one end of the two side wall guide members (115) away from the middle connecting member (114).

4. The tooling vehicle positioning device according to claim 3, characterized in that: The intermediate connecting member (114) is provided with an in-position sensor (116), and the in-position sensor (116) is used to sense whether the tooling vehicle (200) is in contact with the intermediate connecting member (114) or itself.

5. The tooling vehicle positioning device according to claim 3, characterized in that: Each of the side wall guides (115) comprises a straight guide portion (130) and an inclined guide portion (131), each of the straight guide portions (130) extending longitudinally along the first direction (Y), one end of the inclined guide portion (131) being arranged at an end of the straight guide portion (130) away from the intermediate connecting member (114), and the other ends of the two inclined guide portions (131) extending in a direction gradually away from each other.

6. The tooling vehicle positioning device according to claim 1, characterized in that: The locking structure (120) comprises a mounting plate (121) and a clamp (122), wherein the mounting plate (121) is mounted on the guide structure (110), and one end of the clamp (122) is rotatably mounted on the mounting plate (121) around a locking axis, wherein the direction of the locking axis intersects both the second direction (X) and the first direction (Y); When the tooling vehicle (200) is completely located in the guide space (111), during the rotation of one end of the clamp (122), the other end of the clamp (122) can abut against or move away from the tooling vehicle (200).

7. The tooling vehicle positioning device according to claim 6, characterized in that: The locking structure (120) further comprises a driving handle (123), wherein the driving handle (123) is movably mounted on the mounting plate (121) and is transmission-connected to the clamp (122), and when the driving handle (123) is moved, the clamp (122) rotates around the locking axis.

8. A feeding device, characterized in that: It comprises a tooling vehicle (200) and a tooling vehicle positioning device according to any one of claims 1 to 7, wherein the tooling vehicle (200) is used to carry a part (400) and can enter the guide space (111) through the positioning opening (112).

9. The feeding device according to claim 8, characterized in that: The tooling vehicle (200) comprises a vehicle frame (201) and guide structures arranged on two opposite sides of the vehicle frame (201) in a third direction (x), each of the guide structures comprising at least one guide wheel (210), each of the guide wheels (210) being rotatable about a rolling axis, and when the tooling vehicle (200) moves in the guide space (111), the third direction (x) is parallel to the second direction (X), the direction of the rolling axis intersects with both the first direction (Y) and the second direction (X), and each of the guide wheels (210) is capable of rolling along one of the guide walls (113).

10. The feeding device according to claim 9, characterized in that: The positions of all the guide wheels (210) relative to the vehicle frame (201) in the third direction (x) are adjustable.

11. The feeding device according to claim 10, characterized in that: The tooling vehicle (200) further comprises a fixed plate (211), a movable plate (212) and a fixing screw (213); the fixed plate (211) is mounted on the vehicle frame (201); a waist-shaped hole (214) extending longitudinally along the third direction (x) is provided on the upper edge of the movable plate (212); a fixing threaded hole is provided on the fixed plate (211); the fixing screw (213) is passed through the waist-shaped hole (214) and is threadedly connected to the fixing threaded hole; the fixing screw (213) has a fixing portion; when the fixing screw (213) moves relative to the fixing threaded hole, the fixing portion can be against or separated from the movable plate (212); and the guide wheel (210) is mounted on the movable plate (212).

12. The feeding device according to claim 11, characterized in that: The tooling vehicle (200) further comprises an adjustment block (215) and an adjustment screw (216); the adjustment block (215) is mounted on the fixed block and is located on a side of the movable plate (212) away from the guide wheel (210); an adjustment threaded hole extending longitudinally along a third direction (x) is provided on the adjustment block (215); the adjustment screw (216) is threadedly connected to the adjustment threaded hole; and the adjustment screw (216) can abut against the movable plate (212) during movement relative to the adjustment threaded hole.

13. The feeding device according to claim 8, characterized in that: The tooling vehicle (200) is provided with a positioning structure (220), wherein the positioning structure (220) comprises a positioning member (221), and the positioning member (221) can cooperate with a part (400) in a limiting manner.

14. The feeding device according to claim 13, characterized in that: The positioning members (221) include a plurality of positioning members (221), some of which can be inserted into the limiting holes (410) of the part (400), and some of which are provided with positioning grooves (222), and the padding blocks (420) of the part (400) can be arranged in the positioning grooves (222).

15. The feeding device according to claim 14, characterized in that: At least two of the positioning members (221) are provided with positioning grooves (222), and at least two of the positioning grooves (222) have different widths; The part (400) comprises at least two raising blocks (420) of different widths, and each of the raising blocks (420) is disposed in one of the positioning grooves (222).

16. The feeding device according to claim 14, characterized in that: One of the positioning members (221) provided with a positioning groove (222) is also provided with a limiting groove (223), and the edge of the part (400) is arranged in the limiting groove (223).

17. The feeding device according to claim 14, characterized in that: The positioning structure further comprises a positioning plate (225), and all the positioning members (221) are arranged on the positioning plate (225) and are arranged at intervals from each other; All of the positioning grooves (222) and all of the padding blocks (420) are located at the bottom of the part (400).

18. The feeding device according to claim 14, characterized in that: The positioning member (221) inserted into the limiting hole (410) is a positioning pin (224), and the cross-section of the positioning pin is a polygon.

19. The feeding device according to claim 14, characterized in that: The tooling vehicle (200) is also provided with a limiting structure (230), the limiting structure (230) comprising a limiting cushion block (231) and side limiting blocks (232) provided on opposite sides of the limiting cushion block (231) in a fourth direction (y) intersecting the third direction (x); The limiting pad (231) limits the movement of the part (400) in the third direction (x), and the part 400 is arranged between the two side limiting blocks (232).

20. The feeding device according to claim 14, characterized in that: The part (400) is mounted on the limiting cushion block (231) at one end in the third direction (x).

21. The feeding device according to claim 8, characterized in that: The loading equipment further comprises a loading device (300), wherein the loading device (300) is configured to be capable of picking up the part (400) on the tooling vehicle (200) in the guide space (111).

22. The feeding device according to claim 21, characterized in that: The tooling vehicle (200) comprises a vehicle frame (201), wherein the vehicle frame (201) comprises a bottom structure (202) and a plurality of side structures (203), wherein the plurality of side structures are sequentially connected and arranged around the circumference of the top structure, a loading opening (204) is formed between the first side structure (203) and the last side structure (203), and all the side structures (203) and the bottom structure (202) are arranged to form a loading space (310), and the loading buckle is in communication with the loading space (310); The parts (400) include a plurality of parts, all of which are arranged in the loading space (310), and the loading device (300) is configured to be able to enter the loading space (310) through the loading opening (204) and take each of the parts (400) in sequence.

23. The feeding device according to claim 22, characterized in that: The side structure (203) arranged opposite to the loading opening (204) is detachably connected to two adjacent side structures (203), and when the side structure (203) is separated from the two adjacent side structures (203), an adjustment opening is formed between the two side structures (203), and the loading device (300) is constructed to be able to enter the loading space (310) through the adjustment opening and take each of the parts (400) in turn.

24. The feeding device according to claim 23, characterized in that: The entire side structure (203) comprises a first side portion (206), a second side portion (207) and a third side portion (208); the first side portion (206), the second side portion (207) and the third side portion (208) are connected in sequence, and the first side portion (206) and the third side portion (208) are arranged at intervals along the third direction (x); the second side portion (207) is respectively connected to one end of the first side portion (206) and the third side portion (208) in a fourth direction (y); and the first side portion (206) and the third side portion (208) form the loading opening (204) at the other end in the fourth direction (y); The second side portion (207) is detachably connected to the first side portion (206) and the third side portion (208), and when the second side portion (207) is separated from the first side portion (206) and the third side portion (208), the adjustment opening is formed between the first side portion (206) and the third side portion (208).

25. The feeding device according to claim 24, characterized in that: The second side portion (207) comprises a plurality of connecting rods (209), and both ends of each connecting rod (209) are detachably connected to the first side portion (206) and the third side portion (208).

26. The feeding device according to claim 8, characterized in that: The tooling vehicle (200) further comprises a plurality of running wheels (240), and all of the running wheels (240) jointly support the tooling vehicle to travel.

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