Automatic trolley switching system and using method

Abstract

The invention discloses a trolley automatic switching system and a using method, the trolley automatic switching system comprises a robot and a roller bed, the roller bed is provided with a trolley, the trolley is provided with a trolley body front part supporting subassembly, a trolley body front part positioning subassembly, a trolley body rear part positioning subassembly and a trolley body rear part supporting subassembly, the trolley body front part supporting subassembly comprises a turnover mechanism, and the turnover mechanism comprises a turnover mechanism. The vehicle body front positioning subassembly comprises a translation mechanism, the vehicle body rear supporting subassembly comprises a turnover mechanism, the vehicle body rear positioning subassembly comprises a translation mechanism and a turnover mechanism, and a switching tool is arranged on the robot. The switching tool comprises a clamping unit used for switching the state of a translation mechanism on the trolley and a shifting rod unit used for switching the state of a turnover mechanism on the trolley. The system is flexible in switching, high in efficiency and low in cost.

Description

Technical Field

[0001] The invention discloses a feeding system, belongs to the technical field of mechanical processing, and specifically discloses a trolley automatic switching system and a use method. Background Art

[0002] When automobiles are produced on welding lines, it is common to produce multiple models on the same line in order to save costs. As an important equipment for floor assembly lines and body assembly lines, the trolley often needs to be compatible with more models. The multi-model switching method of the trolley has always been the focus of engineers.

[0003] The traditional method of switching between multiple models of trolleys generally uses manual switching, which is costly and unsafe. NC servo systems are also used for switching, but when the number of models increases and the differences are large, the complexity of the NC servo system will increase, and it is not flexible enough, and the degree of flexible switching is far less than using robots. There are also a few solutions that install pneumatic and electrical modules on the trolleys, and temporarily ventilate and power the parts on the trolleys at a fixed location to switch models. Obviously, this solution is costly and unstable.

[0004] Therefore, it is urgent to develop a trolley automatic switching system to solve the above technical problems. Summary of the invention

[0005] The invention discloses a trolley automatic switching system and a method for using the system, which can realize automatic switching of multiple types of trolleys; the system can switch flexibly, with high efficiency, low cost, flexibility, safety and reliability, and meet the needs of switching multiple types of trolleys.

[0006] The technical solution of the present invention is as follows: the present invention discloses an automatic trolley switching system, comprising a robot and a roller bed, a trolley is arranged on the roller bed, a front vehicle body support device, a front vehicle body positioning device, a rear vehicle body positioning device and a rear vehicle body support device are arranged on the trolley, the front vehicle body support device comprises a flipping mechanism, the front vehicle body positioning device comprises a translation mechanism, the rear vehicle body support device comprises a flipping mechanism, the rear vehicle body positioning device comprises a translation mechanism and a flipping mechanism, the robot is provided with a switching tool, the switching tool comprises a clamping unit for switching the state of the translation mechanism on the trolley and a lever unit for switching the state of the flipping mechanism on the trolley.

[0007] In a preferred embodiment of the present invention, the lever unit includes a coaxially arranged mounting plate, a torque sensor, a transition plate, a connector, a lever and a roller; a connecting block is fixedly connected to the connector, and a guide lock, a cross guide, a connecting plate and a clamping cylinder are connected to the connecting block. The cross guide includes an X-guide rail and a Y-guide rail. The connecting plate and the clamping cylinder installed on the cross guide can float along the X-guide rail and the Y-guide rail on the cross guide when the guide lock is released, and the arrangement direction of the clamping cylinder is parallel to the arrangement direction of the connector.

[0008] In a preferred embodiment of the present invention, an X-direction limit block and a Y-direction limit block are arranged beside the cross guide rail.

[0009] In a preferred embodiment of the present invention, the translation unit includes a base plate, a guide rail slider mechanism is arranged on the base plate, a connecting plate is connected to the displacement end of the guide rail slider mechanism, a positioning block and a limit block are arranged between the connecting plate and the base plate, the connecting plate is provided with a hole for avoiding the positioning block, a fixing block is fixedly connected to the connecting plate, a handle is hinged on the fixing block, a positioning pin is connected to the handle, and a plurality of pin holes for cooperating with the positioning pin are provided on the positioning block.

[0010] In a preferred embodiment of the present invention, after the rolling bed drags the trolley to the vehicle type switching station, the vehicle type of the translation unit is switched during the vehicle type switching process, and the robot carries the switching tool and moves to the top of the translation unit, the clamping cylinder and the guide rail lock are both in an open state, and the clamping cylinder is in a floating state in two directions of the cross guide, and the clamping cylinder can swing freely within the range of the X-axis limit block and the Y-axis limit block; the robot carries the switching tool and continues to move, so that the claws of the clamping cylinder are aligned with the clamping position of the locating pin, and then the clamping cylinder is clamped, the guide rail lock locks the cross guide, and the clamping cylinder clamps the locating pin and no longer floats.

[0011] In a preferred embodiment of the present invention, the robot carries the switching tool and moves upward along the axis of the positioning pin, and the positioning pin is pulled out from the pin hole position corresponding to the first vehicle type on the positioning block.

[0012] In a preferred embodiment of the present invention, the robot carries the switching tool and moves along the guide rail, and the locating pin is moved from above the pin hole position of the first vehicle model to above the pin hole position of the second vehicle model.

[0013] In a preferred embodiment of the present invention, the robot carries the switching tool and moves downward along the axis of the positioning pin, and the positioning pin will be inserted into the pin hole position corresponding to the vehicle model on the positioning block; at this time, the vehicle model switching of the trolley translation unit is completed.

[0014] In a preferred embodiment of the present invention, the free swing range of the clamping cylinder in the X direction is 3 mm; the free swing range of the clamping cylinder in the Y direction is 3 mm.

[0015] The present invention also discloses a method for using the automatic switching system based on a trolley. After the roller bed drags the trolley to the vehicle type switching station, the vehicle type of the flip unit in the vehicle type switching process is switched, and the robot carries the switching tool to move, so that the roller in the lever unit contacts the handle in the flip unit, and the flip unit is still in a retracted state at this time; the purpose of its retracted state is to avoid interference between the vehicle body locating pins and positioning blocks and the vehicle body and other equipment; the robot carries the switching tool and continues to move, and the lever unit moves the flip unit to an extended state, and the vehicle body can be positioned and / or supported by the locating pins and / or support blocks in this flip unit; the switching of the flip unit from the extended state to the retracted state is the reverse process of the above steps, and the specific steps are the same as switching from the retracted state to the extended state.

[0016] The beneficial effects of the present invention are: first, in an automatic trolley switching system of the present invention, a robot replaces manual labor to switch the vehicle model of the trolley, occupies a small area, is safe and reliable, is easy to operate and maintain, has a high robot utilization rate, low cost, stable operation, and meets the flexible switching requirements of multiple vehicle models.

[0017] Secondly, the automatic trolley switching system of the present invention utilizes the robot's strong functions, high reliability, strong environmental adaptability and anti-interference ability, as well as simple wiring, agile and convenient programming to achieve automatic trolley switching, ensuring the system works reliably and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments disclosed in the present invention, the drawings of the embodiments will be briefly introduced below. These drawings are only used for illustrative purposes and are not intended to limit the protection scope of the present invention.

[0019] Figure 1 This is a schematic diagram of the structure of a trolley automatic switching system according to an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a trolley of an automatic trolley switching system according to an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a switching tool of a trolley automatic switching system according to an embodiment of the present invention;

[0022] Figure 4 This is an exploded view of a switching tool of a trolley automatic switching system according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the rear positioning component of a trolley automatic switching system according to an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a vehicle type switching translation mechanism of a trolley automatic switching system according to an embodiment of the present invention;

[0025] Figure 7 A cross-sectional view of a vehicle type switching translation mechanism of a trolley automatic switching system according to an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of a vehicle type switching translation mechanism of a trolley automatic switching system according to an embodiment of the present invention when being clamped;

[0027] Fig. 9 A schematic diagram of the action process of a vehicle type switching translation mechanism of a trolley automatic switching system according to an embodiment of the present invention;

[0028] Fig.10 This is a schematic diagram of the action process of a vehicle type switching and flipping mechanism of an automatic trolley switching system according to an embodiment of the present invention.

[0029] In all the drawings, the same reference numerals represent the same technical features, specifically: robot 1; robot base 2; switching tool 3; rolling bed 4; trolley 5; fence 6; wire trough 7; operation screen 8; electrical control system 9; robot control system 10; vehicle front support part assembly 11; vehicle front positioning part assembly 12; trolley BASE 13; vehicle rear positioning part assembly 14; vehicle rear support part assembly 15; reserved holes for other models 16; clamping unit 17; The lever unit 18; the mounting plate 19; the torque sensor 20; the transition plate 21; the connector 22; the lever 23; the roller 24; the connecting block 25; the guide rail lock 26; the X-axis limit block 27; the cross guide 28; the Y-axis limit block 29; the connecting plate 30; the clamping cylinder 31; the turning mechanism 32; the translation mechanism 33; the handle 34; the positioning pin 35; the fixing block 36; the connecting plate 37; the positioning block 38; the limit block 39; the slider 40; the guide rail 41; the base plate 42. DETAILED DESCRIPTION

[0030] The technical solution of the present invention (including the preferred technical solution) is further described in detail below by means of the accompanying drawings and by listing some optional embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] like Figure 1As shown, an embodiment of the present invention provides a trolley automatic switching system for automatic switching of multiple types of trolleys, including a robot 1, a robot base 2, a switching tool 3, a roller bed 4, a trolley 5, a fence 6, a wire trough 7, an operating screen 8, an electrical control system 9, and a robot control system 10. Among them, the robot 1 is installed on the robot base 2 by bolts, and is used to carry the switching tool 3 for movement; the robot base 2 is installed on the ground by bolts; the switching tool 3 is installed on the robot 1 by bolts, and is used to switch the state of the flipping mechanism and the translation mechanism on the trolley 5; the roller bed 4 is installed on the ground by bolts, and has an electric-driven roller on it, and the roller drags the trolley 5 to move by friction; the trolley 5 is placed on the roller bed 4 for placing the vehicle body; the fence 6 is installed on the ground by bolts to ensure the safety of personnel and equipment, and the fence 6 also includes safety auxiliary equipment such as gratings, scanners, and signal lights; the wire trough 7 is installed on the ground by bolts for placing cables; the operation screen 8 is placed outside the fence for personnel to interact with the line body; the electrical control system 9 includes power supply, circuit, PLC, driver, valve island, module, control software, etc., which is used for overall control of the line body; the robot control system 10 includes a robot control cabinet, robot control software, robot control module, teach pendant, robot-related circuits, etc., which are used to control the robot 1, the switching tool 3 and to interact with the electrical control system 9 for signals. The robot 1, the switching tool 3, the rolling bed 4, the trolley 5, the fence 6, the operation panel 8, the electrical control system 9, and the robot control system 10 are connected through signal lines to form an intercommunication network.

[0032] like Figure 2 As shown, the trolley 5 is a non-powered trolley for multiple vehicle types, including a front body support assembly 11, a front body positioning assembly 12, a trolley BASE 13, a rear body positioning assembly 14, a rear body support assembly 15, and reserved holes 16 for other vehicle types. The front body support assembly 11 is a flip mechanism for vehicle type switching; the front body positioning assembly 12 is a translation mechanism for vehicle type switching; the rear body support assembly 15 is a flip mechanism for vehicle type switching; the reserved holes 16 for other vehicle types are used for installing additional components when adding new vehicle types in the future; Figure 2 , Figure 5As shown, the rear body positioning assembly 14 in the trolley 5 is representative, including a turning mechanism 32 and a translation mechanism 33, that is, it includes both a turning mechanism and a translation mechanism; the trolley 5 supports and positions the vehicle body through various supporting assemblies and positioning assemblies, wherein each supporting assemblies and positioning assemblies are composed of a turning mechanism and / or a translation mechanism, and the vehicle model switching is achieved through the turning and translation of the assemblies; when the vehicle model 1 is produced, the turning mechanism corresponding to the vehicle model 1 is turned from the retracted state to the extended state through the lever unit 18 in the switching tool 3, which is used to position and / or support the vehicle body, and then the turning mechanisms corresponding to other vehicle models are turned from the extended state to the retracted state to avoid interference; when the vehicle model 1 is produced, the translation mechanism of the trolley 5 is moved from the position of other vehicle models to the position corresponding to the vehicle model 1 through the clamping unit 17 in the switching tool 3;

[0033] like Figure 3 As shown, the switching tool 3 includes a clamping unit 17 and a lever unit 18. The clamping unit 17 is used to switch the state of the translation mechanism on the trolley 5, and the lever unit 18 is used to switch the state of the flipping mechanism on the trolley 5. Figure 4 As shown, the switching tool 3 is composed of a mounting plate 19, a torque sensor 20, a transition plate 21, a connector 22, a lever 23, a roller 24, a connection block 25, a guide rail lock 26, an X-axis limit block 27, a cross guide 28, a Y-axis limit block 29, a connection plate 30, and a clamping cylinder 31. The mounting plate 19 is connected to the robot by bolts; the torque sensor 20 is used to measure and feedback the torque of the switching tool 3 when it is working. When the vehicle type is switched, when the torque must be within a certain range, if the torque is too small, it is considered that the switching is not completed, and if the torque is too large, it is considered that a collision or jam has occurred between the devices; the transition plate 21 and the connector 22 are used for transition connection; the lever 23 and the roller 24 are connected by a pin and bolts, and are used to switch the state of the flip mechanism on the trolley 5. When switching, the roller 24 contacts the handle of the flip mechanism on the trolley 5, and the flip mechanism is driven to reduce sliding friction; the connection block 25 is used for transition connection; the guide rail lock 26 is used to lock the cross guide 28 Locking or loosening, when the guide rail lock 26 is locked, the components on the cross guide 28 cannot move along the guide rail, and when the guide rail lock 26 is loosened, the components on the cross guide 28 can float along the guide rail; there are two guide rails on the cross guide 28, which are defined as the X-guide rail and the Y-guide rail respectively. The connecting plate 30 and the clamping cylinder 31 installed on the cross guide 28 can float along the X-guide rail and the Y-guide rail on the cross guide 28 when the guide rail lock 26 is loosened; the X-axis limit block 27 and the Y-axis limit block 29 limit the X-axis and Y-axis of the cross guide 28 respectively; the connecting plate 30 is used for transition connection; the clamping cylinder 31 is used for position switching of the translation mechanism on the trolley 5.

[0034] like Figure 2 , Figure 5As shown, a representative rear body positioning component 14 on the trolley 5 is used as an example for detailed description. Figure 6 , Figure 7 As shown, the rear positioning device 14 of the vehicle body includes a turning mechanism 32 and a translation mechanism 33; Figure 6 As shown, the translation mechanism 33 includes a handle 34, a positioning pin 35, a fixing block 36, a connecting plate 37, a positioning block 38, a limiting block 39, a slider 40, a guide rail 41, and a base plate 42; the handle 34 is connected to the fixing block 36 by a pin shaft, and is used for manual temporary switching of vehicle types when the automation equipment fails; the positioning pin 35 is connected to the handle 34 by a pin shaft, and is used to maintain and position the state of each vehicle type of the translation mechanism 33, and is also used to be clamped and dragged by the clamping unit 17 in the switching tool 3; the fixing block 36 is connected to the connecting plate 37 by a pin shaft. The connecting plate 37 is connected by screws and mounted on the slider 40, and the slider 40 can slide on the guide rail 41; the positioning block 38 is mounted on the base plate 42 by screws, and there are pin holes corresponding to different vehicle models on the positioning block 38. The positioning pin 35 passes through the connecting plate 37 and is inserted into the pin hole corresponding to the vehicle model on the positioning block 38, so that the translation mechanism 33 can be fixed in the position state corresponding to the vehicle model; the limit block 39 is used to limit the translation mechanism 33; the guide rail 41 is mounted on the base plate 42 by screws; the base plate 42 is mounted on the trolley BASE13 by bolts.

[0035] like Figure 4 , Figure 7 , Figure 8 , Fig. 9 As shown, one embodiment of the present invention provides a trolley automatic switching system. When the roller bed 4 drags the trolley 5 to the vehicle type switching station, the specific vehicle type switching process includes the following steps, see Figure 8 , Fig. 9 :

[0036] Step 1: The robot 1 carries the switching tool 3 and moves to the top of the translation mechanism 33. The clamping cylinder 31 is in the open state, and the guide rail lock 26 is also in the open state. At this time, the clamping cylinder 31 is in a floating state in the two directions of the cross guide 28, that is, the cross guide 28 is not locked, and the clamping cylinder 31 can swing freely within the range of the X-axis limit block 27 and the Y-axis limit block 29. The free swing range is 3 mm in the X direction and the Y direction respectively. The purpose is that when the positioning of the trolley is inaccurate, the clamping cylinder 31 can still align and clamp the positioning pin 35 through free swinging; the robot 1 carries the switching tool 3 and continues to move, so that the claws of the clamping cylinder 31 are aligned with the clamping position of the positioning pin 35, and the robot control system 10 controls the clamping cylinder 31 to clamp, and then the robot control system 10 issues a command to make the guide rail lock 26 lock the cross guide 28. At this time, the clamping cylinder 31 clamps the positioning pin 35 and no longer floats, that is, the position of the clamping cylinder 31 is fixed;

[0037] Step 2: The robot 1 carries the switching tool 3 and moves upward along the axis of the positioning pin 35 , and the positioning pin 35 will be pulled out from the pin hole position corresponding to the vehicle model 1 on the positioning block 38 ;

[0038] Step 3: The robot 1 carries the switching tool 3 and moves along the guide rail 41 , and the positioning pin 35 is moved from above the pin hole position of the vehicle model 1 to above the pin hole position of the vehicle model 2;

[0039] Step 4: The robot 1 carries the switching tool 3 and moves downward along the axis of the positioning pin 35. The positioning pin 35 will be inserted into the pin hole position corresponding to the vehicle model 2 on the positioning block 38; at this time, the vehicle model switching of the trolley translation mechanism is completed.

[0040] The specific vehicle type switching process includes the following steps: Fig.10 :

[0041] Step 1: The robot 1 moves with the switching tool 3, so that the roller 24 in the lever unit 18 contacts the handle in the flipping mechanism 32, and the flipping mechanism 32 is still in a retracted state; the purpose of the retracted state is to prevent the body positioning pin and the positioning block from interfering with the body and other equipment;

[0042] Step 2: The robot 1 continues to move with the switching tool 3, and the lever unit 18 moves the flipping mechanism 32 to an extended state, and the vehicle body can be positioned and / or supported by the positioning pins and / or support blocks in the flipping mechanism;

[0043] The switching of the flip mechanism from the extended state to the retracted state is the reverse process of the above steps, and the specific steps are the same as those for switching from the retracted state to the extended state.

[0044] The present invention enables the robot to replace manual labor or a special machine to automatically switch multiple types of vehicles for the unpowered trolley, and the flexible switching has high efficiency, low cost, simple structure, safety and reliability.

[0045] Those skilled in the art will readily appreciate that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, combinations, replacements, improvements, etc. made within the spirit and principles of the present invention are included within the protection scope of the present invention.

Claims

1. A trolley automatic switching system, comprising a robot and a roller bed, wherein a trolley is arranged on the roller bed, characterized in that: The trolley is provided with a front support device for the vehicle body, a front positioning device for the vehicle body, a rear positioning device for the vehicle body and a rear support device for the vehicle body. The front support device for the vehicle body includes a flipping mechanism, the front positioning device for the vehicle body includes a translation mechanism, the rear support device for the vehicle body includes a flipping mechanism, and the rear positioning device for the vehicle body includes a translation mechanism and a flipping mechanism. The robot is provided with a switching tool, and the switching tool includes a clamping unit for switching the state of the translation mechanism on the trolley and a lever unit for switching the state of the flipping mechanism on the trolley.

2. The automatic trolley switching system according to claim 1 is characterized in that: The lever unit includes a coaxially arranged mounting plate, a torque sensor, a transition plate, a connector, a lever and a roller; a connecting block is fixedly connected to the connector, a guide rail lock, a cross guide, a connecting plate and a clamping cylinder are connected to the connecting block, the cross guide includes an X-guide rail and a Y-guide rail, and the connecting plate and the clamping cylinder installed on the cross guide can float along the X-guide rail and the Y-guide rail on the cross guide when the guide rail lock is released, and the arrangement direction of the clamping cylinder is parallel to the arrangement direction of the connector.

3. The automatic trolley switching system according to claim 2 is characterized in that: An X-direction limit block and a Y-direction limit block are arranged beside the cross guide rail.

4. The automatic trolley switching system according to claim 3 is characterized in that: The translation unit includes a base plate, a guide rail slider mechanism is arranged on the base plate, a connecting plate is connected to the displacement end of the guide rail slider mechanism, a positioning block and a limit block are arranged between the connecting plate and the base plate, the connecting plate is provided with a hole for avoiding the positioning block, a fixing block is fixedly connected to the connecting plate, a handle is hinged on the fixing block, a positioning pin is connected to the handle, and a plurality of pin holes for cooperating with the positioning pin are arranged on the positioning block.

5. The automatic trolley switching system according to claim 4 is characterized in that: After the rolling bed drags the trolley to the vehicle type switching station, the vehicle type of the translation unit is switched during the vehicle type switching process. The robot carries the switching tool and moves to the top of the translation unit. The clamping cylinder and the guide rail lock are both in the open state, and the clamping cylinder is in a floating state in both directions of the cross guide. The clamping cylinder can swing freely within the range of the X-axis limit block and the Y-axis limit block; the robot continues to move with the switching tool, so that the claws of the clamping cylinder are aligned with the clamping position of the locating pin, and then the clamping cylinder is clamped, the guide rail lock locks the cross guide, and the clamping cylinder clamps the locating pin and no longer floats.

6. The automatic trolley switching system according to claim 5, characterized in that: The robot carries the switching tool and moves upward along the axis of the positioning pin, and the positioning pin will be pulled out from the pin hole position corresponding to the first vehicle model on the positioning block.

7. The automatic trolley switching system according to claim 6, characterized in that: The robot carries the switching tool and moves along the guide rail, and the positioning pin is moved from above the pin hole position of the first model to above the pin hole position of the second model.

8. The automatic trolley switching system according to claim 7, characterized in that: The robot carries the switching tool and moves downward along the axis of the positioning pin, and the positioning pin will be inserted into the pin hole position corresponding to the vehicle model on the positioning block; at this time, the vehicle model switching of the trolley translation unit is completed.

9. The automatic trolley switching system according to claim 8, characterized in that: The free swing range of the clamping cylinder in the X direction is 3mm; the free swing range of the clamping cylinder in the Y direction is 3mm.

10. A method for using the trolley automatic switching system according to any one of claims 1 to 9, characterized in that: When the rolling bed drags the trolley to the vehicle type switching station, the vehicle type of the flip unit is switched during the vehicle type switching process, and the robot moves with the switching tool to make the roller in the lever unit contact with the handle in the flip unit. At this time, the flip unit is still in a retracted state; the purpose of its retracted state is to avoid interference between the vehicle body locating pins and positioning blocks and the vehicle body and other equipment; the robot continues to move with the switching tool, and the lever unit moves the flip unit to an extended state, and the vehicle body can be positioned and / or supported by the locating pins and / or support blocks in this flip unit; the switching of the flip unit from an extended state to a retracted state is the reverse process of the above steps, and the specific steps are the same as switching from a retracted state to an extended state.

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