A mobile maintenance device and automatic maintenance system for multiple clamps

Abstract

This application relates to the field of fixture maintenance equipment technology, specifically disclosing a mobile maintenance device and an automatic fixture maintenance system compatible with multiple sets of fixtures. The device includes a frame, slide rails, and a sliding support arm. The top surface of the frame is provided with a fixed support arm and a base rail arranged along a first direction, and the base rails are arranged along a second direction. The slide rails are slidably connected to the base rails. One end of the sliding support arm is slidably connected to the slide rail, and the other end extends along a third direction. The ends of the sliding support arm and the fixed support arm opposite to the frame are respectively provided with coplanar support blocks. The top surface of the support blocks is provided with protrusions that match the preset grooves on the fixtures. The position of the sliding support arm is adjustable, allowing the device to support various types of fixtures. At the same time, it reduces the time occupied by robots on automated production lines. During maintenance, the mobile maintenance device can stably fix the suspended fixtures, ensuring the safety of personnel during maintenance.

Description

Technical Field

[0001] This application relates to the field of fixture maintenance equipment technology, and in particular to a mobile maintenance device and automatic fixture maintenance system compatible with multiple sets of fixtures. Background Technology

[0002] Due to space limitations, the 21 sets of gripper fixtures and 8 sets of assembly table fixtures for the automatic door and hood edge-wrapping line are stored in the air storage space. When maintenance is required, the faulty fixture is picked up by the robot gripper in the maintenance system and moved to any convenient working position. Then, the equipment personnel can inspect the fixture that is still on the robot gripper.

[0003] In the maintenance system of related technologies, the fixture needs to be constantly gripped by the robot to a convenient position for maintenance and kept fixed. Since the robot is an automatic control device and the fixture is in a suspended state, it poses a safety hazard to the maintenance personnel. On the other hand, robots are generally used on automated production lines, mainly for the transfer of parts on vehicle production lines. However, when used for fixture maintenance, the robot gripper is constantly occupied, causing the automated production line to be temporarily suspended, thereby reducing the production efficiency of the automated production line. At the same time, it can also easily affect the positional accuracy of the robot. Summary of the Invention

[0004] This application aims to propose a mobile maintenance device and an automatic fixture maintenance system compatible with multiple sets of fixtures, so as to at least solve the technical problems in the prior art where there are safety hazards during the maintenance process of equipment and personnel when maintaining fixtures of different vehicle models, and the reduction in production efficiency of automated production lines due to the occupation of robot grippers.

[0005] Firstly, embodiments of this application provide a mobile maintenance device compatible with multiple sets of clamps, including...

[0006] A frame, the top surface of which is provided with a fixed support arm and multiple base rails spaced apart along a first direction, each base rail being arranged along a second direction;

[0007] The slide rails, wherein multiple slide rails are slidably connected to the base rail and arranged along the first direction;

[0008] The sliding support arm has one end slidably connected to the slide rail and the other end extending in a third direction. The sliding support arm and the fixed support arm are respectively provided with a coplanar support block at the end away from the frame. The top surface of the support block is provided with a protrusion that matches the preset groove on the clamp. The multiple support blocks surround to form a support surface with an adjustable area size.

[0009] In some embodiments, the base rail includes at least two first base rails and at least two second base rails arranged along the second direction; the slide rail includes a first slide rail slidably connected to the first base rail, and a second slide rail and a third slide rail slidably connected to the second base rail; wherein the first slide rail, the second slide rail and the third slide rail are respectively slidably connected to the sliding support arm.

[0010] In some embodiments, the top surface of the frame is provided with a plurality of positioning plates, and at least one of the positioning plates is arranged in the area covered by the sliding of the first slide rail, the second slide rail and the third slide rail. The positioning plates are configured to be positioned and fixed during the movement and adjustment of the sliding support arm, so as to adapt to the support of different types of clamps.

[0011] In some embodiments, the top surface of each positioning plate is provided with a plurality of positioning blocks. The positioning blocks located on the same positioning plate are respectively used for positioning when the sliding support arm supports different types of clamps. Each group of three positioning blocks is a group, and each group of three positioning blocks is located on the positioning plate within the area covered by the sliding of the first slide rail, the second slide rail, and the third slide rail.

[0012] In some embodiments, each of the positioning blocks is provided with a first positioning hole, and a limiting block is provided at the connection between the sliding support arm and the slide rail. The limiting block protrudes from the outer contour of the sliding support arm projected along the third direction, and a second positioning hole adapted to the first positioning hole is opened on the surface of the protruding portion of the limiting block.

[0013] In some embodiments, each positioning plate is provided with a nameplate near the top surface of each positioning block. The nameplate is configured to mark information including the through hole number of the sliding support arm, the fixture number, and the fixture name.

[0014] In some embodiments, the bottom end face of the frame is provided with slide rods arranged along the second direction on both sides of the bottom end face, and the bottom end face of the frame between the two slide rods is provided with omnidirectional wheel sets and directional wheel sets at intervals.

[0015] Compared with the prior art, the technical solution provided in the first aspect of this application has at least the following beneficial effects:

[0016] The mobile maintenance device provided in this application uses a fixed support arm and a base rail set in a frame. Multiple slide rails are slidably connected to the base rail, which is perpendicular to each other. Each slide rail corresponds to a different sliding area, and a sliding support arm is slidably connected to each slide rail. When a certain type of fixture needs to be maintained, the mobile maintenance device is moved to the corresponding position. Then, according to the model of the fixture to be maintained, the multiple slide rails and sliding support arms are moved to adjust their positions so that the support blocks set at the top of the sliding support arms correspond one-to-one with the preset support grooves of the fixture. Then, a robot transfers the fixture onto the support surface formed by the sliding support arm and the fixed support arm. In this way, after the robot completes the transfer of the fixture to the mobile maintenance device, it can continue to operate on the automated production line, thereby avoiding interference with the production of the automated production line. On the other hand, the maintenance process does not require the robot to occupy the position for a long time, thus avoiding affecting the positional accuracy of the robot in transferring the fixture. During the maintenance process, the mobile maintenance device can stably fix the suspended fixture, ensuring the safety of the equipment and personnel. The multiple sliding support arms are movable, so that the mobile maintenance device can be used to support different models of fixtures during maintenance.

[0017] Secondly, embodiments of this application also provide an automatic fixture maintenance system, including a robot located on an automated production line for clamping and transferring components, a mobile maintenance device compatible with multiple sets of fixtures as described in any of the first aspects, and a ground positioning assembly located outside the automated production line.

[0018] In some embodiments, the ground positioning assembly includes:

[0019] The guide limiting mechanism, comprising two guide limiting mechanisms arranged in a mirror-image interval, includes a first support plate and a plurality of first pulleys and second pulleys disposed on the first support plate; the first pulleys and second pulleys are alternately arranged along the length direction of the first support plate, and the rotation axes of the first pulleys and second pulleys are perpendicular to each other, the plurality of first pulleys and the plurality of second pulleys form mutually perpendicular sliding surfaces, the sliding surfaces being adapted to the slide rod.

[0020] A fixing mechanism is provided between the two guide limiting mechanisms, and a channel for transferring the mobile maintenance device is reserved between both ends of the fixing mechanism and the guide limiting mechanism. The fixing mechanism is configured to position the mobile maintenance device and fix it after positioning, so that the mobile maintenance device is located in a preset position that cooperates with the robot.

[0021] In some embodiments, the fixing mechanism includes a second support plate, a clamping cylinder and a stop block disposed on the second support plate, the output shaft of the clamping cylinder being connected to a first clamping block via a crank connecting rod, and a sensor and a second clamping block being disposed on the stop block; wherein, the clamping cylinder has a clamping state and a releasing state, in the clamping state, the first clamping block rotates clockwise to the same height as the second clamping block to clamp and fix the mobile maintenance device; in the releasing state, the first clamping block rotates counterclockwise to the area below the second clamping block.

[0022] Compared with the prior art, the technical solution provided in the second aspect of this application has at least the following beneficial effects:

[0023] The automatic fixture maintenance system provided in this application ensures that the robot can accurately place the fixture onto the mobile maintenance device when transferring the fixture, because the robot transfers the fixture according to a predetermined trajectory, and the ground positioning assembly is set up to achieve precise positioning and fixation of the mobile maintenance device.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the mobile maintenance device provided according to the embodiments of this application;

[0027] Figure 2 It is based on Figure 1 An enlarged schematic diagram of part a;

[0028] Figure 3 This is a top view of the mobile maintenance device provided according to an embodiment of this application;

[0029] Figure 4 It is based on Figure 3 An enlarged schematic diagram of part b in the middle;

[0030] Figure 5 This is a schematic diagram of the structure of the mobile maintenance device provided according to the embodiments of this application;

[0031] Figure 6This is a schematic diagram of the guide and limiting mechanism provided according to the embodiments of this application;

[0032] Figure 7 This is a structural schematic diagram of the fixing mechanism provided according to the embodiments of this application.

[0033] Figure label:

[0034] 100. Mobile maintenance device; 200. Ground positioning assembly; 210. Guide and limit mechanism; 211. First support plate; 212. First pulley; 213. Second pulley; 220. Fixing mechanism; 221. Second support plate; 222. Clamping cylinder; 2221. First clamping block; 2221a. First state; 2221b. Second state; 223. Stop block; 2231. Second clamping block; 2232. Sensor;

[0035] 10. Frame; 11. Fixed support arm; 12. Base rail; 121. First base rail; 122. Second base rail; 13. Positioning plate; 131. Positioning block; 1311. First positioning hole; 132. Nameplate plate; 14. Universal wheel assembly; 15. Fixed wheel assembly; 16. Slide bar; 17. Buffer block; 18. Handle;

[0036] 20. Slide rail; 21. First slide rail; 22. Second slide rail; 23. Third slide rail;

[0037] 30. Sliding support arm; 31. Support block; 311. Protrusion; 32. Limiting block; 321. Second positioning hole; 33. Positioning pin;

[0038] A. First direction; B. Second direction; C. Third direction. Detailed Implementation

[0039] The embodiments of this application are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.

[0040] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] Please see Figures 1 to 4 This embodiment provides a mobile maintenance device compatible with multiple sets of clamps. The mobile maintenance device 100 includes a frame 10, a slide rail 20, and a sliding support arm 30. The frame 10 can be made of square steel pipe by welding. In this embodiment, its shape is rectangular. It should be understood that the shape of the frame 10 and the material used can be selected according to actual needs. For ease of description, the length direction of the frame 10 is defined as the first direction A, the width direction of the frame 10 is defined as the second direction B, and the height direction of the frame 10 is defined as the third direction C. The frame 10 provides a stable support platform and achieves height compensation in the third direction C, which facilitates the movement of the mobile maintenance device 100. The top surface of the frame 10 is provided with a fixed support arm 11 and multiple base rails 12 spaced apart along the first direction A. Each base rail 12 is arranged along the second direction B.

[0043] It should be noted that the first direction A, the second direction B, and the third direction C do not limit the device structure of this embodiment. The top surface of the frame 10 can be a horizontal plane. The fixed support arm 11 is located on the edge of the frame 10 near one of the four corners. The central axis of the fixed support arm 11 is set along the third direction C. At the same time, the fixed support arm 11 can be connected to the frame 10 by bolts. The multiple base rails 12 can include pairs of base rails of different lengths. That is, the base rails 12 are preferably used in pairs. The length direction of the multiple base rails 12 is in the same direction as the second direction B. Each base rail 12 can be connected to the frame 10 by screws. Except for the area of ​​the top surface of the frame 10 occupied by the fixed support arm 11, multiple base rails 12 can be laid in other areas.

[0044] In this embodiment, combined with Figure 1 Multiple slide rails 20 are slidably connected to the base rail 12 and arranged along the first direction A. One end of multiple sliding support arms 30 is slidably connected to the slide rail 20, and the other end extends along the third direction C. The sliding support arm 30 and the fixed support arm 11 are respectively provided with a coplanar support block 31 at the end away from the frame 10. The top surface of the support block 31 is provided with a protrusion 311 that matches the preset groove on the clamp. Multiple support blocks 31 surround to form a support surface with an adjustable area size.

[0045] It should be explained that the bottom of the multiple slide rails 20 can be equipped with sliders adapted to the base rail 12, so that the slide rails 20 can be slidably connected to the base rail 12 respectively. At the same time, the bottom of the sliding support arm 30 can be equipped with sliders adapted to the slide rails 20, so that the sliding support arm 30 can be slidably connected to the slide rails 20. It should be understood that the structure and principle of the base rail 12, slide rails 20 and sliders themselves can be obtained from the existing technology, and will not be elaborated here. The length direction of the slide rail 20 is set perpendicular to the length direction of the base rail 12, that is, the slide rail 20 can move along the second direction B, and the sliding support arm 30 can move along the first direction A on the slide rail 20, so that the two-dimensional position of the sliding support arm 30 can be arbitrarily adjusted within the preset adjustment range.

[0046] It should be noted that the support block 31 can be a rectangular block. The sliding support arm 30 and the fixed support arm 11 are respectively provided with a coplanar support block 31 at the ends away from the frame 10. This means that on the third direction C, the support block 31 at one end of the sliding support arm 30 and the fixed support arm 11 are coplanar. The protrusion 311 on the support block 31 needs to match the preset supported groove on the fixture. For example, the protrusion 311 can be hemispherical. In general, four preset support positioning grooves are reserved for the fixture. Therefore, in this embodiment, three sliding support arms 30 can be provided. The three sliding support arms 30 can be moved independently. Thus, with the fixed support arm 11 as the fixed point, by changing the position of the three sliding support arms 30, the mobile maintenance device 100 can be used for the maintenance of various types of fixtures.

[0047] It should also be noted that, regarding fixtures, on automated vehicle production lines, taking the door and hood edge-sealing automated production line as an example, the door and hood edge-sealing automated line includes twenty-one sets of gripper fixtures and eight sets of assembly table fixtures, all stored in overhead storage locations. Especially for fixtures stored in overhead storage locations, when maintenance is required, fixture maintenance personnel need to work at height, which is difficult for maintenance personnel. In order to achieve fixture maintenance, robots are usually used to grab the faulty gripper fixture to any convenient working position, and the equipment personnel are still on the robot arm to maintain the fixture. This method cannot avoid the safety hazards brought about by the robot grabbing the fixture for maintenance, as well as the potential impact on the robot's positional accuracy during maintenance. At the same time, the maintenance process occupies robot resources, and the line needs to pause automated production. In addition, loading the fixture for maintenance within the line occupies a limited production area.

[0048] Currently, there are no dedicated maintenance devices for different types of clamps in the related technologies. However, the mobile maintenance device 100 provided in this embodiment uses a fixed support arm 11 and a base rail 12 set in the frame 10. Multiple slide rails 20 are slidably connected to the base rail 12. The base rail 12 and the slide rails 20 are set perpendicular to each other. Each slide rail 20 corresponds to a different sliding area, and a sliding support arm 30 is slidably connected to each slide rail 20. When a certain type of clamp needs to be maintained, the mobile maintenance device 100 is moved to the corresponding position, and then the multiple slide rails 20 and the sliding support arm 30 are moved according to the model of the clamp to be maintained to adjust the position, so that the support block 31 set at the top of the sliding support arm 30 is aligned with the preset support groove position of the clamp. Then, the robot transfers the fixture to the support surface formed by the sliding support arm 30 and the fixed support arm 11. In this way, after the robot completes the transfer of the fixture to the mobile maintenance device 100, it can continue to operate on the automated production line, thereby avoiding interference with the production of the automated production line. On the other hand, the maintenance process does not require the robot to occupy the position for a long time, thus avoiding affecting the positional accuracy of the robot in transferring the fixture. During the maintenance process, the mobile maintenance device 100 can stably fix the suspended fixture, ensuring the safety of equipment and personnel. The multiple sliding support arms 30 are movable, so that the mobile maintenance device 100 can be used to support different types of fixtures during the maintenance process. At the same time, it can also load the fixture and transfer it to a centralized maintenance location outside the automated production line.

[0049] Continue reading Figure 3 In some embodiments, the base rail 12 includes at least two first base rails 121 and at least two second base rails 122 arranged along a first direction A. The at least two first base rails 121 are located to the left of the fixed support arm 11 along a second direction B, and the at least two second base rails 122 are located to the front of the fixed support arm 11 along the first direction A. The length of the second base rails 122 can be set to be greater than that of the first base rails 121, thereby achieving coverage of a larger adjustment area. The slide rail 20 includes a first slide rail 21 slidably connected to the first base rail 121, and a second slide rail 22 and a third slide rail 23 slidably connected to the second base rail 122. The first slide rail 21, the second slide rail 22, and the third slide rail 23 are slidably connected to the sliding support arm 30, respectively.

[0050] It should be noted that the first slide rail 21 can be slidably connected to the two first base rails 121 individually, and the second slide rail 22 and the third slide rail 23 can be slidably connected to the second base rail 122 at intervals. The first slide rail 21, the second slide rail 22 and the third slide rail 23 are parallel to each other. Stop blocks can be set on the second slide rail 22 according to actual needs, thereby dividing the sliding area of ​​the second slide rail 22 and the third slide rail 23.

[0051] With this configuration, a sliding support arm 30 can be slidably connected to the first slide rail 21, the second slide rail 22, and the third slide rail 23 respectively. The maximum area covered by the sliding of the first slide rail 21, the second slide rail 22, and the third slide rail 23 is exactly the area on the top surface of the frame 10 excluding the position occupied by the fixed support arm 11, thereby realizing individual control of the sliding support arm 30. When the mobile maintenance device 100 needs to maintain and support different clamps, since different clamps have positioning grooves with different spacings, the mobile maintenance device 100 can be used to maintain different types of clamps by setting multiple base rails 12 and multiple slide rails 20.

[0052] Continue reading Figure 3 and Figure 4 In some embodiments, the top surface of the frame 10 is provided with a plurality of positioning plates 13, and at least one positioning plate 13 is arranged in the area covered by the sliding of the first slide rail 21, the second slide rail 22 and the third slide rail 23. The positioning plate 13 is configured to be positioned and fixed during the movement and adjustment of the sliding support arm 30, so as to be adapted to the support of different types of clamps.

[0053] It should be noted that the support plates can be set between the two base rails 12 respectively. The size of the support plates and their specific positions on the frame 10 can be determined according to how many different types or models of clamps the mobile maintenance device 100 needs to be used for. Specifically, if it is necessary to support twenty sets of clamps during the maintenance process, one of the positioning grooves of the twenty sets of clamps is aligned vertically, and then the twenty sets of clamps are projected to record the positions of the other three positioning grooves of each set of clamps. This determines which positions on the top surface of the frame 10 need to be equipped with positioning plates 13. Of course, the positioning plates 13 need to be staggered from the base rails 12.

[0054] Specifically, each positioning plate 13 has multiple positioning blocks 131 on its top surface. The positioning blocks 131 on the same positioning plate 13 are used for positioning when the sliding support arm 30 supports different types of clamps. Each group of three positioning blocks 131 is located on the positioning plate 13 within the area covered by the sliding of the first slide rail 21, the second slide rail 22, and the third slide rail 23. Each positioning block 131 has a first positioning hole 1311. A limiting block 32 is provided at the connection between the sliding support arm 30 and the slide rail 20. The limiting block 32 protrudes from the outer contour of the sliding support arm 30 projected along the third direction C. The surface of the limiting block 32 on the protruding part is provided with a second positioning hole 321 that matches the first positioning hole 1311.

[0055] In this embodiment, a positioning block 131 is provided on the positioning plate 13, and a first positioning hole 1311 is provided on the positioning block 131. At the same time, a limit block 32 is provided at the connection between the sliding support arm 30 and the slide rail 20, and a second positioning hole 321 is provided on the limit block 32. For these first positioning holes 1311 located in different areas, when it is necessary to position a certain fixture, after determining the first positioning hole 1311, the sliding support arm 30 is moved until the second positioning hole 321 is aligned with the first positioning hole 1311, and then fixed by a pin. This achieves the positioning and fixing of the sliding support arm 30, thereby facilitating the support of the fixture transferred by the robot during the maintenance process.

[0056] Continue reading Figure 4 In some embodiments, each positioning plate 13 is provided with a nameplate 132 near the top surface of each positioning block 131. The nameplate 132 is configured to mark information including the through hole number of the sliding support arm 30, the fixture number, and the fixture name. With the setting of the nameplate 132, when it is necessary to repair a fixture with a certain number, the positioning block 131 corresponding to the fixture can be found through the information recorded in the nameplate 132, thereby realizing the quick positioning and fixing of the three sliding support arms 30.

[0057] Optional, combined Figure 2 As shown, a spring clip and a positioning pin 33 are provided on the side surface of each sliding support arm 30. The spring clip is used to place the positioning pin 33. The positioning pin 33 is inserted into the first positioning hole 1311 and the second positioning hole 321 in sequence to realize the positioning and fixing of the sliding support arm 30. The setting of the positioning pin 33 not only facilitates the positioning and fixing of the sliding support arm 30, but also facilitates the quick release and secondary positioning of the sliding support arm 30 after the maintenance of a certain fixture is completed.

[0058] Optional, combined Figure 1 As shown, the bottom end face of the frame 10 is provided with slide rods 16 arranged along the first direction A on both sides. Between the two slide rods 16, the bottom end face of the frame 10 is provided with omnidirectional wheel sets 14 and directional wheel sets 15 at intervals. Since the robot moves the fixture according to a preset trajectory path during the transfer process, the robot cannot determine whether the fixture is placed accurately on the mobile maintenance device 100. Therefore, it is necessary to improve the accuracy of the mobile maintenance device 100 in moving to the preset position, so that the robot can accurately place the fixture on the support arm. The omnidirectional wheel sets 14 and directional wheel sets 15 facilitate the transfer of the frame 10, and the slide rods 16 facilitate the directional movement of the mobile maintenance device 100, so that the mobile maintenance device 100 is accurately placed in the preset position.

[0059] Optionally, a handle 18 is provided on the side end face of the frame 10 near the slide rod 16. The handle 18 facilitates the transfer of the mobile maintenance device 100. At the same time, a buffer block 17 is provided at the bottom of the bottom end face of the frame 10 near the slide rod 16. The buffer block 17 facilitates the positioning and fixing of the mobile maintenance device 100.

[0060] Please see Figures 5 to 7 This embodiment provides an automatic fixture maintenance system, which includes a robot located on an automated production line for clamping and transferring fixtures, a mobile maintenance device 100 compatible with multiple sets of fixtures as described in any of the above embodiments, and a ground positioning assembly 200 located outside the automated production line. The structure of the mobile maintenance device 100 can be referred to the relevant description in the above embodiments. The ground positioning assembly 200 includes a guide limiting mechanism 210 and a fixing mechanism 220. The two guide limiting mechanisms 210 are arranged in a mirror image interval. The fixing mechanism 220 is disposed between the two guide limiting mechanisms 210. For example, the fixing mechanism 220 can be located at the front end or the rear end between the two guide positioning mechanisms. The two ends of the fixing mechanism 220 and the guide limiting mechanism 210 are reserved with a channel for the transfer of the mobile maintenance device 100. The fixing mechanism 220 is configured to position the mobile maintenance device 100 and fix it after positioning, so that the mobile maintenance device 100 is located in a preset position that cooperates with the robot. The guide limiting mechanism 210 and the fixing mechanism 220 realize the limiting and fixing of the mobile maintenance device 100 in the front, back, left and right directions.

[0061] Specifically, the guide limiting mechanism 210 includes a first support plate 211 and a plurality of first pulleys 212 and second pulleys 213 disposed on the first support plate 211. The first pulleys 212 and second pulleys 213 are alternately arranged along the length of the first support plate 211, and the rotation axes of the first pulleys 212 and second pulleys 213 are perpendicular to each other. The sliding surfaces formed by the plurality of first pulleys 212 and the plurality of second pulleys 213 are perpendicular to each other. The first support plate 211 is provided with two mutually perpendicular mounting surfaces. The plurality of first pulleys 212 are installed at intervals on one of the mounting surfaces, and the plurality of first pulleys 212 are arranged in a straight line on the mounting surface, so that a sliding surface is formed on the side closer to the other mounting surface. The plurality of second pulleys 213 are installed at intervals on one of the mounting surfaces, and the plurality of first pulleys 212 are arranged at the same height on the mounting surface, so that a sliding surface is formed at the top. That is, the sliding surfaces formed by the plurality of first pulleys 212 and the plurality of second pulleys 213 are perpendicular to each other.

[0062] When the mobile maintenance device 100 needs to be moved to the corresponding position, the guide limiting mechanism 210 on both sides pushes the mobile maintenance device 100 along the area between the two guide limiting mechanisms 210. Due to the setting of the pulley group and the setting of the sliding rod 16 on both sides of the mobile maintenance device 100, the cross section of the sliding rod 16 is rectangular. With this setting, the two mutually perpendicular surfaces of the sliding rod 16 are exactly in contact with the surfaces of the first pulley 212 and multiple second pulleys 213. Since the robot needs to accurately place the gripper on the mobile maintenance device 100 when it grabs and transfers the gripper, the mobile maintenance device 100 must ensure that it is accurately aligned at each point. The guide limiting mechanism 210 in this embodiment can not only ensure that the mobile maintenance device 100 can be transferred to the predetermined position very accurately, but also reduce the friction force when the mobile maintenance device 100 moves.

[0063] In some embodiments, the fixing mechanism 220 includes a second support plate 221, a clamping cylinder 222 and a stop block 223 disposed on the second support plate 221. The output shaft of the clamping cylinder 222 is connected to a first clamping block 2221 via a crank connecting rod. A sensor 2232 and a second clamping block 2231 are disposed on the stop block 223. The sensor 2232 can be a pressure sensor. The clamping cylinder 222 has a clamping state and a releasing state. In the clamping state, the first clamping block 2221 rotates clockwise to the same height as the second clamping block 2231 to clamp and fix the mobile maintenance device 100. In the releasing state, the first clamping block 2221 rotates counterclockwise to the area below the second clamping block 2231.

[0064] Specifically, the output shaft of the clamping cylinder 222 is a crank connecting rod, which can be combined with... Figure 7 The dashed area connected to the output shaft of the clamping cylinder 222 represents the first state 2221a of the first clamping block 2221, and the solid area of ​​the output shaft of the clamping cylinder 222 represents the first state 2221a of the first clamping block 2221. The first clamping block 2221 rotates from the first state 2221a to the second state 2221b to achieve clamping, and rotates from the second state 2221b back to the first state 2221a to achieve release. The first clamping block 2221 in the second state 2221a... 1b is at the same height as the second clamping block 2231. When the mobile maintenance device 100 moves along the two guide limiting mechanisms 210, the buffer block 17 set on the inner side of one of the steel pipes of the frame 10 touches the second clamping block 2231 and the sensor 2232. The sensor 2232 collects data and controls the clamping cylinder 222 to run according to the collected data. As a result, the first clamping block 2221 rotates to the second state 2221b, forming an internal and external clamping fixation of the mobile maintenance device 100 with the second clamping block 2231.

[0065] The automatic fixture maintenance system of this embodiment can be set according to the location of different sets of fixtures on the automatic production line. Since the robot transfers the fixtures according to the agreed trajectory, the ground positioning assembly 200 is set to achieve precise positioning and fixation of the mobile maintenance device 100, thereby ensuring that the robot accurately places the fixtures on the mobile maintenance device 100 when transferring them.

[0066] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do 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, and therefore should not be construed as a limitation on the invention.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0068] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0069] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A mobile maintenance device compatible with multiple sets of clamps, characterized in that, include: A frame, the top surface of which is provided with a fixed support arm and multiple base rails spaced apart along a first direction, each base rail being arranged along a second direction; The slide rails, wherein multiple slide rails are slidably connected to the base rail and arranged along the first direction; The sliding support arm has one end slidably connected to the slide rail and the other end extending in a third direction. The sliding support arm and the fixed support arm are respectively provided with a coplanar support block at the end away from the frame. The top surface of the support block is provided with a protrusion that matches the preset groove on the clamp. The multiple support blocks surround to form a support surface with an adjustable area size. The base rail includes at least two first base rails and at least two second base rails arranged along the second direction; the slide rail includes a first slide rail slidably connected to the first base rails, and a second slide rail and a third slide rail slidably connected to the second base rails; wherein the first slide rail, the second slide rail and the third slide rail are respectively slidably connected to the sliding support arm; The top surface of the frame is provided with multiple positioning plates, and at least one of the positioning plates is arranged in the area covered by the sliding of the first slide rail, the second slide rail and the third slide rail. The positioning plates are configured to be used for positioning and fixing during the movement and adjustment of the sliding support arm, so as to adapt to the support of different types of clamps. The bottom end face of the frame is provided with sliding rods arranged along the second direction on both sides of the bottom end face, and omnidirectional wheel sets and directional wheel sets are provided at intervals between the two sliding rods on the bottom end face of the frame. This also includes a ground positioning assembly, which comprises: The guide limiting mechanism, two of which are arranged in a mirror-image interval, includes a first support plate and a plurality of first pulleys and second pulleys disposed on the first support plate; the first pulleys and second pulleys are alternately arranged along the length direction of the first support plate, and the rotation axes of the first pulleys and second pulleys are perpendicular to each other; the plurality of first pulleys and the plurality of second pulleys form mutually perpendicular sliding surfaces, and the sliding surfaces are adapted to the slide rod; A fixing mechanism is provided between the two guide limiting mechanisms, and a channel for transferring the mobile maintenance device is reserved between both ends of the fixing mechanism and the guide limiting mechanism. The fixing mechanism is configured to position the mobile maintenance device and fix it after positioning, so that the mobile maintenance device is located in a preset position that cooperates with the robot.

2. The mobile maintenance device compatible with multiple sets of clamps according to claim 1, characterized in that, Each positioning plate has multiple positioning blocks on its top surface. The positioning blocks on the same positioning plate are used for positioning when the sliding support arm supports different types of clamps. Each group of three positioning blocks is a set, and each group of three positioning blocks is located on the positioning plate within the area covered by the sliding of the first slide rail, the second slide rail, and the third slide rail.

3. The mobile maintenance device compatible with multiple sets of clamps according to claim 2, characterized in that... Each of the positioning blocks is provided with a first positioning hole, and a limiting block is provided at the connection between the sliding support arm and the slide rail. The limiting block protrudes from the outer contour of the sliding support arm projected along the third direction, and a second positioning hole adapted to the first positioning hole is opened on the surface of the protruding part of the limiting block.

4. The mobile maintenance device compatible with multiple sets of clamps according to claim 2, characterized in that, Each of the positioning plates has a nameplate on its top surface near each of the positioning blocks. The nameplate is configured to mark information including the through hole number of the sliding support arm, the fixture number, and the fixture name.

5. An automated fixture maintenance system, comprising a robot located on an automated production line for clamping and transferring components, characterized in that, It also includes a mobile maintenance device compatible with multiple sets of fixtures as described in any one of claims 1-4, wherein the ground positioning assembly is located outside the automated production line.

6. The automatic fixture maintenance system according to claim 5, characterized in that, The fixing mechanism includes a second support plate, a clamping cylinder and a stop block disposed on the second support plate, the output shaft of the clamping cylinder being connected to a first clamping block via a crank connecting rod, and a sensor and a second clamping block disposed on the stop block; wherein, the clamping cylinder has a clamping state and a releasing state, in the clamping state, the first clamping block rotates clockwise to the same height as the second clamping block to clamp and fix the mobile maintenance device; in the releasing state, the first clamping block rotates counterclockwise to the area below the second clamping block.

Images