An active follow-up rail system adaptable to embrace arms

Abstract

This application discloses an active following ground rail system adaptable to a clamp arm. The ground rail system includes: a ground rail body, including a ground rail frame; a lifting slide, including a load plate slidably disposed on the ground rail frame, the sliding direction of the load plate being consistent with the movement direction of the clamp arm on the main line; the load plate is provided with a first lifting mechanism and a second lifting mechanism, the distance between the first lifting mechanism and the second lifting mechanism in the sliding direction is adjustable, the first lifting mechanism and / or the second lifting mechanism are provided with a retractable stop mechanism, the stop mechanism abutting against the clamp arm at the upper limit in the movement direction, so that the first clamp arm and the second clamp arm of the clamp arm correspond to the first lifting mechanism and the second lifting mechanism respectively, the first lifting mechanism and the second lifting mechanism are respectively used to lift the first clamp arm and the second clamp arm, so that the clamp arm is unlocked from the main line and the clamp arm loses the power provided by the main line; the load plate is also provided with a following drive assembly to drive the lifting slide to move at the speed of the main line.

Description

Technical Field

[0001] This application relates to the field of trailing rail technology, and in particular to an active trailing rail system that can adapt to a folding arm. Background Technology

[0002] In automated assembly solutions for passenger vehicle production, chassis lifting jig lines utilize a method of jacking and anchoring the jigs via a traveling ground rail to stabilize them. The traveling ground rail includes active and passive following. In passive following, the traveling ground rail only serves to stabilize the lifting arm, with forward propulsion provided by the main conveyor above. Its advantage is its simple logic, but its disadvantage is that it is highly susceptible to line stability and prone to instability. In active following, the traveling ground rail, in addition to stabilizing the vehicle body lifting arm, also drives the lifting arm forward. By disconnecting the main line power, the lifting arm of the vehicle to be assembled is mounted on the traveling ground rail, achieving advantages such as stable speed, controllable start-stop curves, and a high assembly success rate.

[0003] However, the existing active following ground rail is a fixed-point lifting system. When the rear arm position needs to be adjusted due to different vehicle lengths, the fixed-point lifting cannot correspond to the adjusted rear arm position, resulting in inaccurate lifting and affecting assembly efficiency.

[0004] Therefore, in view of the above-mentioned technical problems, how to provide an active following rail system that can adapt to different arm positions is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide an active following ground rail system that can adapt to the arm of the vehicle. This system can adjust the lifting position according to different vehicle models so that the lifting position corresponds to the arm of the vehicle, thereby achieving stable lifting of the arm of the vehicle by the active following ground rail.

[0006] To achieve the above objectives, this application provides an active following rail system adaptable to a grab arm, comprising:

[0007] The main body of the ground track, including the ground track frame;

[0008] The lifting slide includes a load plate slidably mounted on the ground rail frame, the sliding direction of the load plate being consistent with the movement direction of the clamping arm on the main line; the load plate is provided with a first lifting mechanism and a second lifting mechanism, the distance between the first lifting mechanism and the second lifting mechanism in the sliding direction is adjustable, the first lifting mechanism and / or the second lifting mechanism is provided with a retractable stop mechanism, the stop mechanism abutting against the upper limit of the clamping arm in the movement direction, so that the first clamping arm and the second clamping arm of the clamping arm correspond to the first lifting mechanism and the second lifting mechanism respectively, the first lifting mechanism and the second lifting mechanism are respectively used to lift the first clamping arm and the second clamping arm, so that the clamping arm is unlocked from the main line and the clamping arm loses the power provided by the main line; the load plate is also provided with a follow-up drive assembly to drive the lifting slide to move at the speed of the main line.

[0009] Preferably, the accompanying drive assembly includes a first drive member mounted on the load plate, the actuating end of the first drive member is provided with a first gear, and the ground rail frame is provided with a rack that meshes with the first gear to drive the lifting slide to slide.

[0010] Preferably, the load plate has several encoders, and the actuating end of each encoder is provided with a second gear. After the multiple second gears mesh with each other, they mesh with the first gear or the rack to collect the movement speed of the lifting slide.

[0011] Preferably, the first lifting mechanism is located in front of the load plate compared to the second lifting mechanism. The first lifting mechanism includes sliding plates disposed on the left and right sides of the load plate. The load plate is provided with a first slide rail that cooperates with the sliding plates. The two sliding plates move synchronously along the sliding direction.

[0012] The second lifting mechanism includes fixed plates that are fixedly installed on the left and right sides of the load plate;

[0013] The two sliding plates correspond to the first arm, and the two fixed plates correspond to the second arm.

[0014] Preferably, the lifting slide further includes a pitch drive assembly disposed on the load plate, the pitch drive assembly comprising:

[0015] The second driving component is fixedly mounted on the load plate;

[0016] A speed reducer is connected to the actuating end of the second driving member, and the output end of the speed reducer is provided with a synchronous shaft extending to both sides;

[0017] A steering gear is located at both ends of the synchronous shaft, and the input end of the steering gear is connected to the synchronous shaft.

[0018] Lead screws are respectively located at the output ends of the two steering gears. The lead screws are rotatably mounted on the load plate through bearing seats. The axial directions of the two lead screws are arranged along the sliding direction, and the two lead screws rotate synchronously.

[0019] Each screw block is threadedly connected to one of the two lead screws, and each of the two screw blocks is fixedly connected to one of the two sliding plates.

[0020] Preferably, the sliding plate has a first movable hole, and the screw block is movably disposed in the first movable hole along the sliding direction to adjust the fixed position of the screw block and the sliding plate.

[0021] Preferably, the first lifting mechanism and / or the second lifting mechanism further include:

[0022] A first power cylinder is disposed on the sliding plate or the fixed plate, and the actuating end of the first power cylinder extends upward through the corresponding sliding plate or fixed plate.

[0023] A lifting plate is connected to the actuating end of the first power cylinder via a floating joint, and a first buffer block is provided on the upper surface of the lifting plate;

[0024] A guide shaft is provided at one end on the lifting plate and at the other end through the corresponding sliding plate or the fixed plate. A linear bearing that cooperates with the guide shaft is provided on the corresponding sliding plate or the fixed plate. The guiding direction of the guide shaft is consistent with the operating direction of the first power cylinder.

[0025] Preferably, the stopping mechanism includes:

[0026] The mounting plate is slidably connected to the corresponding sliding plate and / or the fixed plate via a second slide rail, and the mounting plate slides vertically.

[0027] The second power cylinder is fixedly mounted on the mounting plate, and the actuating end of the second power cylinder moves vertically.

[0028] A fixed frame is connected to the corresponding sliding plate or the fixed plate, and the actuating end of the second power cylinder is connected to the fixed frame to drive the mounting plate to slide vertically;

[0029] A limiting block is provided on the upper end of the mounting plate and located on the upper side of the first lifting mechanism or the second lifting mechanism. The limiting block extends toward the front side of the load plate and a third buffer block is provided at the front end of the limiting block. The limiting block and the holding arm abut against each other in the sliding direction.

[0030] Preferably, the mounting plate is provided with a second movable hole, the fixing bracket passes through the second movable hole and moves within the vertical range of the second movable hole, and the fixing bracket is provided with second buffer blocks on both sides.

[0031] Preferably, it further includes:

[0032] The control system is signal-connected to the first lifting mechanism, the second lifting mechanism, the stop mechanism, and the follow-up drive assembly to control the corresponding action ends.

[0033] A speed acquisition system, connected to the control system, is used to acquire the operating speed of the main line and transmit the speed information to the control system.

[0034] The sensor system is connected to the control system and is used to collect the action status and position of the first lifting mechanism, the second lifting mechanism, the stop mechanism, and the arm.

[0035] Compared to the aforementioned background technology, this application provides a sliding load plate on the ground rail body, with a first lifting mechanism and a second lifting mechanism mounted on the load plate. The distance between the first and second lifting mechanisms is adjustable, thus adapting to changes in the position of the lifting arms due to different vehicle models. The lifting slide of this application also includes a stop mechanism. When the lifting arms carry the vehicle body to the load plate position under the power of the main line, the stop mechanism can block the lifting arms, so that the two lifting arms correspond to the first and second lifting mechanisms respectively. The first and second lifting mechanisms are used to lift the first and second lifting arms respectively, thereby unlocking the lifting arms from the main line and switching the power driving the lifting arms from the main line to the following drive assembly. Furthermore, the lifting arms can push the stop mechanism to move in the same direction and at the same speed, which can realize a smooth switch of the power driving the lifting arms from the main line to the following drive assembly, maintaining the stability of the lifting slide during the switching process. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 A schematic diagram of the adaptive arm-mounted active following ground rail system provided in an embodiment of this application;

[0038] Figure 2 This is a front view of the lifting slide provided in an embodiment of this application;

[0039] Figure 3 This is a top view of the lifting slide provided in an embodiment of this application;

[0040] Figure 4 A schematic diagram of the first or second lifting mechanism provided in the embodiments of this application;

[0041] Figure 5 This is a schematic diagram of the blocking mechanism provided in an embodiment of this application;

[0042] Figure 6 This is a schematic diagram of the following drive assembly structure provided in an embodiment of this application.

[0043] In the diagram: 1-Main body of the ground track; 2-Lifting slide;

[0044] 11-Ground rail frame;

[0045] 21-Load plate; 22-First lifting mechanism; 23-Second lifting mechanism; 24-Stop mechanism; 25-Following drive assembly; 26-Encoder; 27-Variable pitch drive assembly;

[0046] 211 - First slide rail;

[0047] 221-Sliding plate; 222-First movable hole;

[0048] 231-Fixed plate; 232-First power cylinder; 233-Guide shaft; 234-Linear bearing; 235-Limit sleeve; 236-Floating joint; 237-Lifting plate; 238-First buffer block; 239-First proximity switch;

[0049] 241-Second slide rail; 242-Second proximity switch; 243-Fixed bracket; 244-Second buffer block; 245-Second power cylinder; 246-Mounting plate; 247-Limit block; 248-Third proximity switch; 249-Third buffer block;

[0050] 251 - First driving component;

[0051] 271-Second driving component; 272-Reducer; 273-Synchronous shaft; 274-Steering gear; 275-Bearing housing; 276-Lead screw; 277-Screw block. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] It should be noted that in this embodiment, the orientation or positional relationship indicated by terms such as "upper," "lower," "front," and "rear" is based on the orientation or positional relationship shown in the accompanying drawings. It is used only for the convenience of describing this application and for simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] like Figure 1 As shown, in this embodiment, an active following ground rail system adaptable to the arm is provided. The system includes a ground rail body 1 and a lifting slide 2. The ground rail body 1 includes a ground rail frame 11 and other necessary components set on the ground rail frame 11. For details, please refer to the prior art, which will not be repeated here.

[0056] The lifting slide 2 includes a load plate 21 mounted on the ground rail frame 11. The load plate 21 can slide along the ground rail frame 11, for example, through guide rails, pulleys, etc., to achieve a sliding connection between the two, ensuring that the load plate 21 has a stable sliding direction, and that the sliding direction is consistent with the movement direction of the boom. Details will not be elaborated here, as all fall within the scope of this application. It should be noted that the load plate 21 can reciprocate on the ground rail frame 11, and the sliding connection between the load plate 21 and the ground rail frame 11 needs to have a certain supporting strength to ensure stable support of the vehicle body and the boom for movement.

[0057] Please refer to Figure 2 and Figure 3 The load plate 21 is equipped with a first lifting structure and a second lifting mechanism 23. Generally speaking, when the spreader is lifting the vehicle body, the spreader usually needs to be equipped with two booms. The first boom extends into the lower front side of the vehicle body, and the second boom extends into the lower rear side of the vehicle body. The position of the second boom is determined by the different lengths of the vehicle body. The upper part of the spreader is attached to the main line, and the spreader moves as the main line moves.

[0058] The distance between the first lifting mechanism 22 and the second lifting mechanism 23 in the sliding direction is adjustable. Before the vehicle body reaches the top of the lifting platform 2, the position of the second arm can be adjusted according to the actual situation of the vehicle body. When the position of the second arm changes, the distance between the first lifting mechanism 22 and the second lifting mechanism 23 should also be adjusted accordingly, so that when the vehicle body reaches the top of the lifting platform 2, the first lifting mechanism 22 can accurately correspond to the first arm, and the second lifting mechanism 23 can accurately correspond to the second arm.

[0059] To ensure precise alignment between the two lifting mechanisms and the two lifting arms, and to allow the lifting slide 2 to move with the vehicle body for accurate lifting, a retractable stop mechanism 24 is provided on the first lifting mechanism 22 and / or the second lifting mechanism 23. Please refer to [reference needed]. Figures 1 to 3 When the stop mechanism 24 extends, it can achieve a limiting contact with the retaining arm. When the stop mechanism 24 retracts, the retaining arm can pass normally above the lifting slide 2. It should be noted that when the vehicle body moves upwards towards the lifting slide 2, the stop mechanism 24 can only block the retaining arm when the retaining arm moves to the position of the two lifting mechanisms, so as to ensure that the retaining arm can be precisely aligned with the lifting mechanism.

[0060] As mentioned above, the lifting devices are mounted on the main line using a hook-and-loop method. Therefore, when the first lifting mechanism 22 and the second lifting mechanism 23 lift the two booms upward, they will unlock from the main line at a certain height, thus depriving the booms of the power supplied by the main line. Since multiple lifting devices are installed on the main line, the movement speed of the main line may fluctuate, resulting in poor stability during vehicle assembly. Therefore, this application uses two lifting mechanisms to deprive the booms of the power from the main line, instead using the power provided by the drive mechanism of the lifting slide 2 itself to ensure the stability of the vehicle body on the lifting slide 2. Furthermore, a follow-up drive assembly 25 is provided on the load plate 21, thereby driving the lifting slide 2 to move at the same speed as the main line, thus achieving a stable movement speed when the booms switch power.

[0061] In summary, this application provides a sliding load plate 21 on the ground rail body 1, with a first lifting mechanism 22 and a second lifting mechanism 23 mounted on the load plate 21. The distance between the first lifting mechanism 22 and the second lifting mechanism is adjustable, thus adapting to changes in the position of the lifting arm due to different vehicle models. The lifting slide 2 of this application also includes a stop mechanism 24. When the lifting arm carries the vehicle body to the position of the load plate 21 under the power of the main line, the stop mechanism 24 can block the lifting arm, so that the two lifting arms correspond to the first lifting mechanism 22 and the second lifting mechanism 23 respectively. The first lifting mechanism 22 and the second lifting mechanism 23 are used to lift the first lifting arm and the second lifting arm respectively, thereby unlocking the lifting arm from the main line and switching the power driving the lifting arm movement from the main line to the following drive assembly 25. Furthermore, the lifting arm can push the stop mechanism 24 to move in the same direction and at the same speed, which can realize the smooth switching of the power driving the lifting arm movement from the main line to the following drive assembly 25, maintaining the stability of the lifting slide 2 during the switching process.

[0062] The accompanying drive assembly 25 includes a first drive unit 251 mounted on a load plate 21, please refer to... Figure 3The first driving component 251 can be a servo motor. A first gear is provided at the actuating end of the first driving component 251. A rack that meshes with the first gear is provided on the ground rail frame 11. The cooperation between the gear and the rack enables the sliding of the load plate 21 and the lifting slide 2. Of course, other cooperation methods can also be used to enable the sliding of the lifting slide 2, which will not be described in detail here.

[0063] The load plate 21 is equipped with several encoders 26. The actuating end of the encoder 26 is equipped with a second gear. After the multiple second gears mesh with each other, they mesh with the first gear or rack, thereby collecting the movement speed of the lifting slide 2 through the encoder 26. The information collected by the encoder 26 can be transmitted to the control system and the assembly robot, so that the robot can perform follow-up assembly at the corresponding movement speed of the lifting slide 2.

[0064] The first lifting mechanism 22 and the second lifting mechanism 23 are distributed along the movement direction of the lifting arm, with the first lifting mechanism 22 located in front of the load plate 21 compared to the second lifting mechanism 23. The vehicle body receives material from the rear of the load plate 21 and moves towards the front of the load plate 21. Please refer to... Figure 3 The first lifting mechanism 22 includes sliding plates 221 disposed on the left and right sides of the load plate 21. The two sliding plates 221 correspond to the first lifting arms on the left and right sides of the vehicle body, respectively. The load plate 21 is provided with first slide rails 211 that cooperate with the sliding plates 221. The two sliding plates 221 can move synchronously. Similarly, the second lifting mechanism 23 includes fixed plates 231 fixedly disposed on the left and right sides of the load plate 21. When the first and second lifting arms move above the first lifting mechanism 22 and the second lifting structure, respectively, the two sliding plates 221 correspond to the first lifting arms, and the two fixed plates 231 correspond to the second lifting arms.

[0065] Please refer to Figure 3 and Figure 6 The lifting slide 2 also includes a variable pitch drive assembly 27 mounted on the load plate 21. The variable pitch drive assembly 27 is used to adjust the distance between the first lifting mechanism 22 and the second lifting mechanism 23, specifically to adjust the distance between the sliding plate 221 and the fixed plate 231, thereby adapting to the change in the distance between the first arm and the second arm.

[0066] The variable pitch drive assembly 27 includes a second drive component 271, a reducer 272, a steering gear 274, a lead screw 276, and a screw block 277. The second drive component 271 is fixedly mounted on the load plate 21. The second drive component 271 can be a servo motor, serving as the power source for the pitch adjustment function. The reducer 272 is connected to the actuating end of the second drive component 271. The output end of the reducer 272 is provided with a synchronous shaft 273 extending to both sides. The actuating end of the second drive component 271 can transmit power to the synchronous shaft 273, thereby driving the synchronous shaft 273 to rotate.

[0067] Steering gears 274 are located at both ends of the synchronous shaft 273. The input shaft of the steering gear 274 is connected to the synchronous shaft 273, changing the transmission direction of the synchronous shaft 273. In conjunction with the lead screw 276 located at the output end of the steering gear 274, the rotation of the synchronous shaft 273 is converted into the rotation of the lead screw 276. Since there are two sliding plates 221, there are also two corresponding lead screws 276. The two lead screws 276 are respectively connected to the output ends of the two steering gears 274, thus allowing the two lead screws 276 to rotate synchronously. The lead screws 276 can be rotatably mounted on the load plate 21 via bearing seats 275, and the axial direction of the two lead screws 276 is consistent with the movement direction of the arm.

[0068] There are two screw blocks 277. The two screw blocks 277 are threadedly connected to the two lead screws 276 respectively to form a lead screw nut structure. The two screw blocks 277 are also fixedly connected to the two sliding plates 221 respectively. Thus, under the premise that the two lead screws 276 rotate synchronously, it can be ensured that the two sliders can also move synchronously.

[0069] In addition, a first movable hole 222 is provided on the sliding plate 221, and the screw block 277 is movably disposed in the first movable hole 222, and the direction of movement is the axial direction of the lead screw 276; by adjusting the position of the screw block 277 in the first movable hole 222, the relative position of the screw block 277 and the sliding plate 221 is changed, thereby changing the extreme positions of the sliding plate 221 at both ends of its sliding direction.

[0070] Among them, the lead screw 276 can be a trapezoidal lead screw. As a transmission component of the variable pitch drive assembly 27, the trapezoidal lead screw can achieve stable variable pitch position and will not cause position error due to the inertia of the second drive component 271 when it starts and stops, so that the variable pitch effect is more accurate.

[0071] The first lifting mechanism 22 and / or the second lifting mechanism 23 also include a first power cylinder 232, a lifting plate 237, and a guide shaft 233. Please refer to... Figure 4 , Figure 4Taking the second lifting mechanism 23 as an example, the first power cylinder 232 is mounted on the sliding plate 221 or the fixed plate 231. Specifically, the first power cylinder 232 of the first lifting mechanism 22 is mounted on the sliding plate 221, and the first power cylinder 232 of the second lifting mechanism 23 is mounted on the fixed plate 231. The actuating end of the first power cylinder 232 extends upward through the corresponding sliding plate 221 or fixed plate 231. The lifting plate 237 is connected to the actuating end of the first power cylinder 232 via a floating joint 236, and a first buffer block 238 is provided on the upper surface of the lifting plate 237. The floating joint 236 enables the lifting plate 237 to have a certain floating effect, ensuring that the lifting plate 237 can stably abut against the arm, thereby ensuring that the first lifting mechanism 22 and the second lifting mechanism 23 stably lift the arm and the vehicle body. Furthermore, the first buffer block 238 prevents the lifting plate 237 from directly and rigidly contacting the arm, avoiding collisions that could deform or damage the arm.

[0072] The first power cylinder 232 can be a hydraulic cylinder, a pneumatic cylinder, or a pneumatic-hydraulic booster cylinder, etc., as long as it has sufficient lifting thrust. A guide shaft 233 is also provided on the lifting plate 237, passing through the corresponding sliding plate 221 and fixed plate 231, and cooperating with a linear bearing 234 to ensure that the guiding direction of the guide shaft 233 is consistent with the operating direction of the first power cylinder 232, thereby improving the stability of the operating end of the first power cylinder 232. In addition, a limiting sleeve 235 can be provided in the area between the fixed plate 231 and the lifting plate 237, sleeved on the outer periphery of the guide shaft 233, to limit the retraction position of the lifting plate 237 and prevent direct collision with the fixed plate 231; similarly, a limiting sleeve 235 can also be provided between the sliding plate 221 and the corresponding lifting plate 237, which will not be described in detail here.

[0073] Please refer to Figure 5 The stopping mechanism 24 includes a mounting plate 246, a second power cylinder 245, a fixing frame 243, and a limiting block 247. The mounting plate 246 is slidably connected to a corresponding sliding plate 221 or fixing plate 231 via a second slide rail 241. A vertical connecting plate can be provided on the sliding plate 221 or fixing plate 231, and a vertical second slide rail 241 is provided on the connecting plate. The mounting plate 246 slides vertically via the second slide rail 241. The second power cylinder 245 is fixedly mounted on the mounting plate 246. The actuating end of the second power cylinder 245 moves vertically and is fixedly connected to the corresponding sliding plate 221 or fixing plate 231 via the fixing frame 243. Thus, when the actuating end of the second power cylinder 245 is actuated, it can drive the mounting plate 246 to move vertically.

[0074] A limit block 247 is provided at the upper end of the mounting plate 246. Please refer to... Figure 5The limiting block 247 is located on the upper side of the corresponding sliding plate 221 or fixed plate 231. The limiting block 247 moves vertically through the extension and retraction of the second power cylinder 245. When the second power cylinder 245 retracts, the limiting block 247 can move vertically downward, which can avoid blocking the arm movement. When the second power cylinder 245 extends, the limiting block 247 can move vertically upward, which can block the arm movement.

[0075] Furthermore, the limiting block 247 extends towards the front of the load plate 21, that is, the limiting block 247 extends towards the material receiving direction facing the vehicle body. Thus, when the second power cylinder 245 extends, the limiting block 247 first makes upper limit contact with the clamping arm in the direction of movement, ensuring that the clamping arm can be smoothly blocked. At the same time, a third buffer block 249 can be set at the front end of the limiting block 247 to prevent the limiting block 247 from directly colliding with the clamping arm.

[0076] The mounting plate 246 has a second movable hole, through which the fixing bracket 243 passes and moves within the vertical range of the second movable hole. The engagement of the fixing bracket 243 with the second movable hole effectively restricts the range of motion of the mounting plate 246, ensuring that the mounting plate 246 moves within a reasonable range. Second buffer blocks 244 are also provided on both sides of the fixing bracket 243 to ensure flexible contact when the fixing bracket 243 moves to the vertical ends of the second movable hole.

[0077] The ground track system also includes a control system, a speed acquisition system, and a sensor system. The control system is connected to the first lifting mechanism 22, the second lifting mechanism 23, the stop mechanism 24, and the following drive assembly 25. Specifically, the control system is connected to the first power cylinder 232 of the first lifting mechanism 22, the first power cylinder 232 of the second lifting mechanism 23, the second power cylinder 245 of the stop mechanism 24, and the first drive component 251 of the following drive assembly 25, thereby controlling the operation of the first power cylinder 232, the second power cylinder 245, and the first drive component 251. In addition, as mentioned above, the control system is also connected to the encoder 26. Therefore, the control system can acquire the movement speed of the lifting slide 2. This movement speed is the speed provided by the arm to the lifting slide 2 after the arm abuts against the stop mechanism 24. Based on this movement speed, the control system controls the following drive assembly 25 to provide the same speed to the lifting slide 2.

[0078] The speed acquisition system is connected to the control system signal, which can acquire the movement speed of the main line and transmit the speed information to the control system. The control system combines the movement speed of the main line and the movement speed of the lifting slide 2, and fits the two speeds into a smooth speed curve by function differentiation. Then, the following drive assembly 25 drives the arm and body according to the speed curve, thereby realizing the speed controllability of the following process and improving the stability of the following assembly.

[0079] The sensor system is connected to the control system and can collect the movement status and position of the first lifting mechanism 22, the second lifting mechanism 23, the stop mechanism 24, and the clamping arm, etc., and transmit the collected information to the control system. The control system controls the movement of the above-mentioned moving ends according to the information. Specifically, limit sensors can be set at both ends of the ground rail frame 11 to limit the front and rear extreme positions of the lifting slide 2; a first proximity switch 239 can be set on the lifting plate 237 to ensure that the lifting plate 237 approaches and lifts the clamping arm; a second proximity switch 242 can be set to detect the extension or retraction state of the second power cylinder 245 to accurately control the extension or retraction of the second power cylinder 245; a third proximity switch 248 can be set on the limit block 247 to ensure that the clamping arm abuts against the limit block 247; a sensor can be set to detect the distance between the first clamping arm and the second clamping arm to control the first lifting mechanism 22 and the second lifting mechanism 23 to adjust the corresponding distance; these will not be described in detail here, as long as the signal acquisition of the ground rail system can be achieved.

[0080] During operation, the lifting slide 2 is at its origin, i.e., at the material receiving end of the ground rail frame 11, waiting for the grab arm and vehicle body to enter. At this time, the second power cylinder 245 extends, and the limit block 247 is in a high position, which can abut against the grab arm. The first drive component 251 of the following drive assembly 25 loses potential energy and can idle. The control system determines the vehicle body information that is about to arrive at the station through the sensor system, and controls the second drive component 271 of the variable pitch drive assembly 27 to move according to the vehicle body information, adjusting the first lifting mechanism 22 and the second lifting mechanism 23 to correspond to the position of the grab arm on the vehicle body.

[0081] After the vehicle body is in position, the arm abuts against the limit block 247 of the stop mechanism 24, which can drive the lifting slide 2 to move forward. The third proximity switch 248 detects that the arm abuts against the limit block 247, and the control system judges the verticality of the encoder 26 to determine the speed of the lifting slide 2, and verifies it with the main line speed to confirm that the vehicle body is in position.

[0082] The first power cylinder 232 of the first lifting mechanism 22 and the second lifting mechanism 23 extends, and the lifting plate 237 lifts the arm to fix the vehicle body and the arm on the lifting slide 2.

[0083] Once the control system confirms that the jacking is complete, it opens the drive friction wheel of the main line, causing the lifting device to lose power from the main line, and sends feedback information that the friction wheel is in position to the control system.

[0084] The potential energy on the first drive component 251 of the accompanying drive assembly 25 drives the lifting slide 2 to run smoothly through the speed curve obtained above.

[0085] The encoder 26 transmits the collected speed information to the assembly robot in real time, and the assembly robot assembles according to this speed.

[0086] After assembly, the control system controls the second power cylinder 245 of the stop mechanism 24 and the first power cylinder 232 of the lifting mechanism to retract simultaneously, disconnecting the lifting device from the lifting slide 2, and feeding back the disconnection information through the sensor system.

[0087] The control system controls the drive wheel friction wheel of the main line to close, reconnecting the spreader to the drive system of the main line and providing power to the boom and the vehicle body. At the same time, under the action of the follow-up drive assembly, the first drive component 251 of the lifting slide 2 quickly reverses, causing the lifting slide 2 to return to the origin, and the stop mechanism 24 extends, ready for the next working cycle.

[0088] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0089] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. An active following rail system adaptable to a folding arm, characterized in that, include: The main body of the ground track (1) includes the ground track frame (11). The lifting slide (2) includes a load plate (21) slidably mounted on the ground rail frame (11), the sliding direction of the load plate (21) being consistent with the movement direction of the arm on the main line; the load plate (21) is provided with a first lifting mechanism (22) and a second lifting mechanism (23), the distance between the first lifting mechanism (22) and the second lifting mechanism (23) in the sliding direction is adjustable, and the first lifting mechanism (22) and / or the second lifting mechanism (23) are provided with a retractable stop mechanism (24), the stop mechanism (24) The first and second arms of the lifting mechanism (2) are respectively positioned to abut against the upper limit of the moving direction, so that the first lifting mechanism (22) and the second lifting mechanism (23) correspond to the first lifting mechanism (22) and the second lifting mechanism (23), respectively. The first lifting mechanism (22) and the second lifting mechanism (23) are respectively used to lift the first lifting arm and the second lifting arm, so that the lifting arm is unlocked from the main line and the lifting arm loses the power provided by the main line; the load plate (21) is also provided with a follow-up drive assembly (25) to drive the lifting slide (2) to move at the speed of the main line.

2. The adaptive arm-mounted active following rail system according to claim 1, characterized in that, The accompanying drive assembly (25) includes a first drive member (251) mounted on the load plate (21). The actuating end of the first drive member (251) is provided with a first gear. The ground rail frame (11) is provided with a rack that meshes with the first gear to drive the lifting slide (2) to slide.

3. The adaptive arm-mounted active following rail system according to claim 2, characterized in that, The load plate (21) has several encoders (26), and the actuating end of the encoder (26) is provided with a second gear. After the multiple second gears mesh with each other, they mesh with the first gear or the rack to collect the movement speed of the lifting slide (2).

4. The adaptive arm-mounted active following rail system according to claim 1, characterized in that, The first lifting mechanism (22) is located in front of the load plate (21) compared to the second lifting mechanism (23). The first lifting mechanism (22) includes sliding plates (221) on the left and right sides of the load plate (21). The load plate (21) is provided with a first slide rail (211) that cooperates with the sliding plates (221). The two sliding plates (221) move synchronously along the sliding direction. The second lifting mechanism (23) includes fixed plates (231) fixedly disposed on the left and right sides of the load plate (21); The two sliding plates (221) correspond to the first arm, and the two fixed plates (231) correspond to the second arm.

5. The adaptive arm-mounted active following rail system according to claim 4, characterized in that, The lifting slide (2) further includes a variable pitch drive assembly (27) disposed on the load plate (21), the variable pitch drive assembly (27) comprising: The second driving component (271) is fixedly mounted on the load plate (21); The reducer (272) is connected to the actuating end of the second drive member (271), and the output end of the reducer (272) is provided with a synchronous shaft (273) extending to both sides. Steering gear (274) is provided at both ends of the synchronous shaft (273), and the input end of the steering gear (274) is connected to the synchronous shaft (273); Lead screws (276) are respectively located at the output ends of the two steering gears (274). The lead screws (276) are rotatably mounted on the load plate (21) through bearing seats (275). The axial direction of the two lead screws (276) is set along the sliding direction, and the two lead screws (276) rotate synchronously. The screw blocks (277) are threadedly connected to the two lead screws (276) respectively, and the two screw blocks (277) are fixedly connected to the two sliding plates (221) respectively.

6. The adaptive arm-mounted active following rail system according to claim 5, characterized in that, The sliding plate (221) has a first movable hole (222), and the screw block (277) is movably arranged in the first movable hole (222) along the sliding direction to adjust the fixed position of the screw block (277) and the sliding plate (221).

7. The adaptive arm-mounted active following rail system according to claim 4, characterized in that, The first lifting mechanism (22) and / or the second lifting mechanism (23) further include: The first power cylinder (232) is disposed on the sliding plate (221) or the fixed plate (231), and the actuating end of the first power cylinder (232) extends upward through the corresponding sliding plate (221) or fixed plate (231). The lifting plate (237) is connected to the actuating end of the first power cylinder (232) via a floating joint (236), and the upper surface of the lifting plate (237) is provided with a first buffer block (238). The guide shaft (233) has one end on the lifting plate (237) and the other end through the corresponding sliding plate (221) or the fixed plate (231). A linear bearing (234) that cooperates with the guide shaft (233) is provided on the corresponding sliding plate (221) or the fixed plate (231). The guiding direction of the guide shaft (233) is consistent with the action direction of the first power cylinder (232).

8. The adaptive arm-mounted active following rail system according to claim 4, characterized in that, The stopping mechanism (24) includes: The mounting plate (246) is slidably connected to the corresponding sliding plate (221) and / or the fixed plate (231) via the second slide rail (241), and the mounting plate (246) slides vertically; The second power cylinder (245) is fixedly mounted on the mounting plate (246), and the actuating end of the second power cylinder (245) moves vertically. A fixed frame (243) is connected to the corresponding sliding plate (221) or the fixed plate (231), and the actuating end of the second power cylinder (245) is connected to the fixed frame (243) to drive the mounting plate (246) to slide vertically; A limiting block (247) is provided on the upper end of the mounting plate (246) and located on the upper side of the sliding plate (221) or the fixed plate (231). The limiting block (247) extends toward the front side of the load plate (21) and a third buffer block (249) is provided at the front end of the limiting block (247). The limiting block (247) and the arm abut against each other in the sliding direction.

9. The adaptive arm-mounted active following rail system according to claim 8, characterized in that, The mounting plate (246) is provided with a second movable hole, the fixing bracket (243) passes through the second movable hole and moves within the vertical range of the second movable hole, and the fixing bracket (243) is provided with second buffer blocks (244) on both sides.

10. The adaptive arm-mounted active following rail system according to any one of claims 1-9, characterized in that, Also includes: The control system is signal-connected to the first lifting mechanism (22), the second lifting mechanism (23), the stop mechanism (24), and the follow-up drive assembly (25) to control the corresponding action end actions; A speed acquisition system, connected to the control system, is used to acquire the operating speed of the main line and transmit the speed information to the control system. The sensor system is connected to the control system signal and is used to collect the action status and action position of the first lifting mechanism (22), the second lifting mechanism (23), the stop mechanism (24), and the arm.

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