Three-degree-of-freedom carrier device robot collaborative quick change system and use method

Abstract

The invention belongs to the technical field of automobile manufacturing, and particularly relates to a three-degree-of-freedom carrier device robot collaborative quick-changing system and a using method.The quick-changing system comprises a fixed steel frame, the upper end of the fixed steel frame is connected to a bearing beam at the top of a production workshop, and the lower end of the fixed steel frame is connected with a carrier moving track; a carrier device is slidably mounted on the carrier moving track and comprises a top frame, the two sides of the top frame are each rotationally connected with a rotating frame, the two ends of each rotating frame are each connected with a sliding shaft in the X direction, suspension supporting arms are slidably mounted on the sliding shafts, and sliding seats are mounted at the positions, close to the bottom ends, of the suspension supporting arms. A supporting arm assembly is slidably installed on the sliding base in the Y direction, an X-direction adjusting device and a Y-direction adjusting device are arranged at the top end and the bottom end of the state quick-change work station correspondingly, and by arranging the carrier capable of conducting state conversion and the carrier state adjusting device, the requirement for mixed production of various vehicle types is met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile manufacturing, and particularly relates to a three-degree-of-freedom carrier device robot collaborative quick-change system and a use method. BACKGROUND

[0002] With the rapid development of the global automobile industry, automobile production enterprises have abandoned the traditional single vehicle production mode and turned to multi-vehicle mixed production mode. This change in production mode makes the automobile conveying line no longer limited to the standardized conveying task of a single vehicle type, but needs to be frequently converted and adjusted according to parts of different structures and sizes, which puts forward higher requirements for the flexible adaptation capability, switching efficiency, positioning accuracy and reliability of the automobile carrier conversion system.

[0003] Chinese patent application No. 200910059181.4 discloses a multi-vehicle mixed production automobile body robot flexible welding system. Multiple clamps are stored on a horizontal rotary clamp storage and supply unit. The robot picks up the corresponding clamp according to different vehicle types and places it on the bottom plate positioning and clamping locking unit for positioning and locking, thereby realizing multi-vehicle mixed production on the same production line.

[0004] However, the horizontal rotary clamp storage and supply unit in the above-mentioned invention includes multiple storage rack mechanisms, a rotary table and a complex positioning and locking device, which has a redundant structure and high installation and maintenance costs. Moreover, due to the limited space of the storage and supply unit, the number of stored clamps is also limited, which can only adapt to a small number of vehicle types. The switching operation needs to go through multiple steps such as horizontal rotary table rotation, robot grabbing and bottom plate positioning and locking, which has low switching efficiency and lacks local adjustment mechanism. Even if there is only a slight difference in vehicle type, the entire set of clamps needs to be replaced, causing waste of time and resources.

[0005] In summary, the multi-vehicle mixed production automobile body robot flexible welding system in the prior art has defects in terms of adaptation flexibility, switching efficiency and structural complexity, and cannot meet the current fast-paced multi-vehicle mixed production requirements. SUMMARY

[0006] The main technical problem to be solved by the present application is to automatically adjust the state of the carrier according to the demand by setting a carrier capable of state conversion and a carrier state adjustment device, thereby improving work efficiency while reducing carrier storage costs and meeting the needs of multi-vehicle mixed production.

[0007] To solve the above technical problems, the present application provides the following technical solutions: The application discloses a three-degree-of-freedom carrier device robot collaborative quick-change system, which comprises a fixed steel frame composed of profile butt welding, the upper end of the fixed steel frame is fixedly connected to a bearing beam on the top of a production workshop, the lower end is fixedly connected with a carrier moving track extending along a production line, a carrier device is slidably installed on the carrier moving track, the carrier device comprises a top frame, one rotating frame is rotatably connected to each side of the top frame, a sliding shaft is fixedly connected to each end of the rotating frame along an X direction, a suspension support arm is slidably installed on the sliding shaft, a sliding seat is fixedly installed at a position close to the bottom end of the suspension support arm, and a supporting arm assembly is slidably installed on the sliding seat along a Y direction; a state quick-change workstation is arranged at the starting position of the production line, an X-direction adjusting device and a Y-direction adjusting device are fixedly arranged at the top end and the bottom end of the state quick-change workstation respectively, and are used for driving the carrier device to adjust along the X direction and the Y direction; a folding robot is fixedly installed at a position corresponding to the height of the supporting arm assembly of the state quick-change workstation, and is used for adjusting the state of the supporting arm assembly; and a state recognition device is further arranged, wherein the state recognition device comprises an RFID assembly, a control device is signal-connected to the RFID assembly, and is used for recording the theoretical state of the carrier device.

[0008] The application further optimizes the above technical solution as follows: A first multi-position clamping plate is fixedly installed at a position corresponding to the sliding shaft on the rotating frame, the first multi-position clamping plate is arranged in parallel with the sliding shaft, a first locking buckle is fixedly installed at a position corresponding to the first multi-position clamping plate on the suspension support arm, a first adjusting plate is fixedly installed at a position corresponding to the first locking buckle on the suspension support arm, and the X-direction adjusting device is connected with the suspension support arm through the first adjusting plate.

[0009] Further optimization: a sliding block is fixedly connected to the side opposite to the first locking buckle at the top end of the suspension support arm, a sliding rail in sliding cooperation with the sliding block is fixedly connected to a position corresponding to the sliding block on the rotating frame, the sliding rail is arranged in parallel with the sliding shaft, a limiting part is fixedly installed at a position corresponding to the rotating frame on the top frame, and is used for limiting the rotating direction and the initial angle of the rotating frame; and a second adjusting plate is fixedly installed at the bottom of the suspension support arm.

[0010] Further optimization: the X-direction adjusting device is correspondingly installed above the suspension support arm, the X-direction adjusting device comprises a top bracket fixedly installed on the fixed steel frame, a moving sliding rail is fixedly installed on the top bracket along the X direction, a moving sliding block is slidably installed on the moving sliding rail, a moving power part is drivingly connected to the lower side of the moving sliding block along the X direction, an unlocking pin and a first dragging pin are slidably installed on the moving sliding block, and the positions of the unlocking pin and the first dragging pin correspond to the positions of the first locking buckle and the first adjusting plate respectively.

[0011] Further optimization: the supporting arm assembly comprises a sliding arm arranged in parallel with the sliding seat and connected in sliding fit, a turnover plate is hingedly installed on the upper surface of the sliding arm near one end, a first supporting block and a second supporting block are respectively fixedly installed on the upper and lower surfaces of the turnover plate, a second multi-position clamping plate is fixedly connected to the lower surface of the sliding arm, a second locking buckle is fixedly installed on the sliding seat at a position corresponding to the second multi-position clamping plate, and a sliding connecting plate is fixedly connected to the upper surface of the sliding arm.

[0012] Further optimization: the Y-direction adjusting device is installed below the supporting arm assembly, and comprises a base frame fixedly installed on the ground, a support arm positioning assembly fixedly arranged on the upper surface of the base frame at a position corresponding to the second adjusting plate, a second unlocking assembly fixedly arranged at a position corresponding to the second locking buckle, and a Y-direction dragging assembly fixedly arranged at a position corresponding to the sliding connecting plate.

[0013] Further optimization: the support arm positioning assembly comprises a positioning pin and a positioning lifting part, the fixed end of the positioning lifting part is fixedly installed on the base frame, and the telescopic end is fixedly connected to the positioning pin; the second unlocking assembly comprises an unlocking lifting part and an unlocking pushing part, the fixed end of the unlocking lifting part is fixedly installed on the base frame, and the telescopic end is fixedly connected to the fixed end of the unlocking pushing part, the telescopic end of the unlocking pushing part is fixedly installed with an unlocking hook; the Y-direction dragging assembly comprises a dragging power part, an intermediate connecting plate is fixedly installed above the dragging power part, a dragging lifting part is fixedly installed on the intermediate connecting plate, and a second dragging pin is fixedly installed on the telescopic end of the dragging lifting part.

[0014] Further optimization: the turnover robot comprises a robot body and a paw, the paw is fixedly installed at the end of the mechanical arm of the robot body, the paw has a U-shaped structure, and the turnover plate is provided with a turnover part matched with the shape of the paw.

[0015] Further optimization: the control device is signal-connected with a detection assembly, the detection assembly comprises a laser displacement sensor for detecting the position of the hanging support arm and a miniature industrial camera for detecting the state of the supporting arm assembly, the detection assembly detects the actual state of the carrier device and transmits information to the control device, the control device compares the theoretical state stored by the RFID assembly with the actual state detected by the detection assembly, and when the deviation exceeds the set range, the deviation is corrected in the next adjustment cycle.

[0016] Further optimization: a working method of a three-degree-of-freedom carrier device robot cooperative quick-change system, which is realized based on the above-mentioned three-degree-of-freedom carrier device robot cooperative quick-change system, and the specific working steps are as follows: S1, the carrier device enters the state quick-change workstation, the state recognition device recognizes the current theoretical state and actual state of the carrier device, and transmits the information to the control system, and the control system generates a carrier state conversion strategy; S2, the branch arm positioning assembly acts, the telescopic end of the lifting component is positioned to extend, drives the positioning pin to move up and insert into the hole of the second adjusting plate, and the lower end of the suspension branch arm is fixed and locked; S3, the telescopic end of the lifting component is unlocked to extend, the unlocking hook is moved to a position consistent with the height of the second locking buckle, then the telescopic end of the unlocking pushing component is unlocked to extend, drives the unlocking hook to press the second locking buckle, and the second locking buckle is separated from the second multi-position clamping plate, and the unlocking is completed. S4, the telescopic end of the lifting component is dragged by the dragging power component to extend, the second dragging pin is inserted into the sliding connection plate of the support arm assembly, and the Y-direction dragging assembly is connected with the support arm assembly as a whole. S5, the telescopic end of the lifting component is dragged by the dragging power component to retract, the second dragging pin exits the sliding connection plate, and the Y-direction dragging assembly is disconnected with the support arm assembly. S6, the telescopic end of the unlocking pushing component is retracted, the second locking buckle is reset and clamped with the second multi-position clamping plate, the Y-direction position of the support arm assembly is locked, the telescopic end of the lifting component is retracted, the unlocking hook is reset, and the second dragging pin is moved back to the original position by the dragging power component. S7, the unlocking pin and the first dragging pin are moved to the current position of the suspension branch arm by the moving power component, the unlocking pin and the first dragging pin are moved along the Y-direction, the unlocking pin contacts the first locking buckle, the unlocking is completed, and the first dragging pin is inserted into the hole of the first adjusting plate, so that the X-direction adjusting device is connected with the suspension branch arm as a whole. S8, the telescopic end of the lifting component is retracted, the positioning pin is moved down and exits the second adjusting plate, and the lower end of the suspension branch arm is unlocked. S9, the suspension branch arm is moved along the X-direction to a specified position by starting the moving power component. S10, the unlocking pin and the first dragging pin are reset, the first locking buckle is clamped with the first multi-position clamping plate, and the X-direction position of the suspension branch arm is locked. S11, the folding robot acts according to the adjustment instruction issued by the control system, and adjusts the state of the turnover plate in sequence, and returns to the original position after the adjustment is completed.

[0017] The above technical scheme has the following beneficial effects: The X-direction and Y-direction adjusting devices and the folding robot are arranged, the positions of the support arms of the carrier device and the states of the turnover plates are accurately adjusted, the rotating frame can be opened to the two sides, the mixed production demand of vehicle body parts of different structures and sizes can be met, the same production line can be used to convey parts of multiple vehicle models, the flexibility of the production line is greatly improved, and the tooling manufacturing and storage costs are reduced.

[0018] The application adopts servo lead screw, multi-position clamping plate locking buckle, slide rail slider guide and the like structure, combines with the closed loop control of the state recognition device and the controller, ensures the precision of position adjustment, ensures that the parts can be stably conveyed, and improves the reliability of the device.

[0019] In the application, the action of the X-direction and Y-direction adjusting device and the folding robot is automatically triggered and executed by the control system, without manual intervention, which improves the work efficiency and effectively avoids the mistakes caused by manual operation, and better adapts to the high-speed production rhythm of the automobile manufacturing industry.

[0020] In the application, the state recognition device is arranged, the RFID component records the current theoretical state of the carrier assembly, and serves as the basis for the next state adjustment, the carrier does not need to restore the initial state and directly connects the next adjustment period, saves the adjustment time, adapts to the continuous operation of the assembly line, and simultaneously adds the detection component to record the current actual state of the carrier assembly, compares the actual state with the theoretical state and performs deviation correction, reduces the accumulated error, prevents operation interference or jamming, and improves the operation accuracy.

[0021] The suspension arm and the top frame are connected through the sliding shaft and the slide rail slider, which can ensure the carrying capacity of the carrier, improve the stability of the carrier in the conveying and adjusting process, prolong the service life of the equipment, and reduce the failure rate.

[0022] The application will be further described below in combination with the drawings and examples. DETAILED DESCRIPTION

[0023] Figure 1 It is a perspective view of the overall structure of the embodiment of the application. Figure 2 It is a perspective view of the carrier device of the embodiment of the application. Figure 3 It is a perspective view of the supporting arm assembly of the embodiment of the application. Figure 4 It is another perspective view of the supporting arm assembly of the embodiment of the application. Figure 5 It is a perspective view of the Y-direction adjusting device of the embodiment of the application. Figure 6 It is a perspective view of the X-direction adjusting device of the embodiment of the application.

[0024] In the figure: 1, fixed steel frame; 2, carrier moving track; 3, carrier device; 301, top frame; 302, walking wheel set; 303, sliding shaft; 304, suspension support arm; 305, first multi-position clamping plate; 306, first locking buckle; 307, support arm assembly; 3071, sliding arm; 3072, turnover plate; 3073, first supporting block; 3074, second supporting block; 3075, second multi-position clamping plate; 3076, second locking buckle; 3077, sliding connecting plate; 308, sliding seat; 309, first adjusting plate; 310, second adjusting plate; 311, rotating frame; 4, X-direction adjusting device; 401, top end support; 402, moving slide rail; 403, moving slide block; 404, moving power component; 405, unlocking pin; 406, first dragging pin; 5, Y-direction adjusting device; 501, support arm positioning assembly; 5011, positioning pin; 5012, positioning lifting component; 502, second unlocking assembly; 5021, unlocking lifting component; 5022, unlocking pushing component; 5023, unlocking hook; 503, Y-direction dragging assembly; 5031, dragging power component; 5032, intermediate connecting plate; 5033, dragging lifting component; 5034, second dragging pin; 504, bottom frame; 6, folding robot; 601, robot body; 602, paw. DETAILED DESCRIPTION

[0025] A three-degree-of-freedom carrier device robot collaborative quick-change system is used to transport parts of different structural sizes along a vehicle body conveying line. In order to clearly define the orientation reference, the conveying direction of the vehicle body conveying line is set as X+, and the vertical upward direction is set as Z+. According to the right-hand rule, the Y+ direction is determined.

[0026] As shown in Figure 1 A three-degree-of-freedom carrier device robot collaborative quick-change system includes a fixed steel frame 1 composed of profiled sheet metal welding. The upper end of the fixed steel frame 1 is fixedly connected to the load-bearing beam on the top of the production workshop, and the lower end is fixedly connected with the carrier moving track 2. A plurality of carrier devices 3 are slidingly installed on the carrier moving track 2. The carrier devices 3 can carry vehicle body parts of different sizes by adjusting the shape, realizing mixed production of multiple vehicle models. The carrier moving track 2 extends along the production line, and cooperates with the carrier device 3 to convey the parts along the production line to each station.

[0027] A state quick-change work station is provided at the starting position of the production line. The top end and the bottom end of the state quick-change work station are respectively fixedly provided with X-direction adjusting device 4 and Y-direction adjusting device 5. After the carrier device 3 moves to the state quick-change work station along the carrier moving track 2, the Y-direction adjusting device 5 and the X-direction adjusting device 4 are connected with the carrier device 3 in turn, driving the carrier device 3 to adjust to the specified position along the Y-direction and the X-direction, so as to carry out the next step of loading and transporting the parts.

[0028] As shown in Figure 2As shown, the carrier device 3 comprises a top frame 301 which is a rectangular frame structure composed of profile butt welding, used to provide a mounting interface to connect the entire carrier device 3 with the fixed steel frame 1, and a walking wheel set 302 fixedly connected above the top frame 301, wherein the walking wheel set 302 comprises a plurality of walking wheels arranged at intervals, and the walking wheels are provided with grooves in the circumferential direction, which are adapted to the shape of the carrier moving track 2. The walking wheel set 302 is slidingly installed on the carrier moving track 2 to drive the entire carrier device 3 to move along the production line and complete the production process.

[0029] The two sides of the top frame 301 are respectively rotatably connected with a rotating frame 311. Specifically, the rotating frame 311 is rotatably connected with the top frame 301 through a bearing seat, so that the rotating frame 311 can rotate around the X direction. A limiting part is fixedly installed on the top frame 301 at a position corresponding to the rotating frame 311, used to limit the rotating direction and initial angle of the rotating frame 311. In this embodiment, the limiting part comprises a limiting screw fixedly installed on the rotating frame 311 and a limiting seat fixedly installed on the top frame 301, so that the two rotating frames 311 can only rotate towards the direction away from each other, and the initial angle of the rotating frame 311 can be adjusted by adjusting the length of the limiting screw threadedly extending.

[0030] The two ends of the rotating frame 311 are respectively fixedly connected with a sliding shaft 303, and the sliding shaft 303 is arranged along the X direction. A suspension arm 304 is slidingly installed on the sliding shaft 303. In this embodiment, the sliding shaft 303 is a circular shaft arranged along the X direction, and the suspension arm 304 is provided with a circular hole at a position corresponding to the sliding shaft 303. The suspension arm 304 is arranged on the sliding shaft 303 through the circular hole. In use, the X direction adjusting device 4 drives the suspension arm 304 to slide on the sliding shaft 303 to complete the adjustment of the carrier device 3 along the X direction.

[0031] A first multi-position clamping plate 305 is fixedly installed on the rotating frame 311 at a position corresponding to the sliding shaft 303. The first multi-position clamping plate 305 is arranged in parallel with the sliding shaft 303. A first locking buckle 306 is fixedly installed on the suspension arm 304 at a position corresponding to the first multi-position clamping plate 305. In the normal state, the first locking buckle 306 is clamped on the first multi-position clamping plate 305 to lock the suspension arm 304 on the rotating frame 311, so as to avoid displacement of the suspension arm 304 during use.

[0032] In the embodiment, the first multi-position clamping plate 305 is in L-shaped structure, the vertical edge is fixedly installed on the vertical surface of the corresponding beam of the rotating frame 311, the horizontal edge is provided with a plurality of notches, the first locking buckle 306 is a common locking buckle structure in the prior art, and details are not described herein again; the first locking buckle 306 is provided with a clamping portion at a position corresponding to the first multi-position clamping plate 305, the shape of the clamping portion is adapted to the shape of the notch of the first multi-position clamping plate 305, the clamping portion and the notch of the first multi-position clamping plate 305 are matched to complete locking, so that the parts can be stably conveyed.

[0033] The first adjusting plate 309 is fixedly installed at a position corresponding to the first locking buckle 306 on the suspension support arm 304, a through hole is formed in the middle part of the first adjusting plate 309, and a through hole is also formed at a corresponding position on the suspension support arm 304; in use, the X-direction adjusting device 4 extends into the hole of the first adjusting plate 309, the X-direction adjusting device 4 and the suspension support arm 304 are connected as a whole, and the suspension support arm 304 is driven to move along the sliding shaft 303.

[0034] The other side of the top end of the suspension support arm 304 opposite to the first locking buckle 306 is fixedly connected with a sliding block, and a sliding rail is fixedly connected at a position corresponding to the sliding block on the rotating frame 311; the sliding rail is arranged in parallel with the sliding shaft 303, and the sliding block is slidingly installed on the sliding rail to guide the movement of the suspension support arm 304 along the X direction; when the first locking buckle 306 is in the unlocked state, the sliding block and the sliding rail structure can prevent the suspension support arm 304 from rotating around the sliding shaft 303, thereby improving the stability of the suspension support arm 304.

[0035] When it is necessary to load parts, the external power source drives the two rotating frames 311 to rotate away from each other, drives the suspension support arm 304 to open to the two sides, so that larger-sized parts can be smoothly sent in without interference, the rotating frame 311 is loosened after the parts are sent in, the suspension support arm 304 is driven to reset, and the next transportation work is performed.

[0036] The sliding seat 308 is fixedly installed at a position close to the bottom end of each suspension support arm 304, the sliding seat 308 is arranged along the Y direction, and the support arm assembly 307 is slidingly installed on the sliding seat 308 along the Y direction; the Y-direction adjusting device 5 drives the support arm assembly 307 to slide on the sliding seat 308, and the adjustment of the carrier device 3 along the Y direction is completed.

[0037] As Figures 3-4As shown, the supporting arm assembly 307 comprises a sliding arm 3071 which is arranged parallel to the sliding seat 308 and is connected with the sliding seat 308 in a sliding fit, and a turnover plate 3072 is hingedly installed on the upper surface of the sliding arm 3071 near one end, and a first supporting block 3073 and a second supporting block 3074 are respectively fixedly installed on the upper and lower surfaces of the turnover plate 3072, and when the turnover plate 3072 is in a closed state, the first supporting block 3073 is used to support the parts, and when the turnover plate 3072 is in an open state, the second supporting block 3074 is used to support the parts, so that the conveying requirements of parts with different structural sizes can be met.

[0038] The lower surface of the sliding arm 3071 is fixedly connected with a second multi-position clamping plate 3075, and a second locking buckle 3076 is fixedly installed on the sliding seat 308 at a position corresponding to the second multi-position clamping plate 3075, the second multi-position clamping plate 3075 is similar in structure to the first multi-position clamping plate 305, and a plurality of gaps are arranged at the lower end in a spaced manner, and the second locking buckle 3076 is similar in structure to the first locking buckle 306, and the clamping part is matched and locked with the gaps on the second multi-position clamping plate 3075 to lock the sliding arm 3071 and the sliding seat 308 as a whole, so as to ensure the stability of the part support.

[0039] The bottom of the suspension supporting arm 304 is fixedly installed with a second adjusting plate 310 which is the same in structure as the first adjusting plate 309, and the upper surface of the sliding arm 3071 is fixedly connected with a sliding connecting plate 3077, when it is necessary to adjust the Y-direction position of the supporting arm assembly 307, the Y-direction adjusting device 5 is first docked and locked with the second adjusting plate 310, so as to prevent the suspension supporting arm 304 from shaking during the adjustment, and then is docked with the sliding connecting plate 3077, and the whole supporting arm assembly 307 is driven to move along the Y-direction through the sliding connecting plate 3077.

[0040] As shown in Figure 1 Each supporting arm assembly 307 is correspondingly provided below with a Y-direction adjusting device 5, each Y-direction adjusting device 5 acts independently, so that the position and form of each supporting arm assembly 307 can be independently adjusted to adapt to more complex parts, and the applicability of the equipment is improved.

[0041] As shown in Figure 5 The Y-direction adjusting device 5 comprises a base frame 504 which is composed of profiled sections and is fixedly installed on the ground, a supporting arm positioning assembly 501 is fixedly arranged on the upper surface of the base frame 504 at a position corresponding to the second adjusting plate 310, a second unlocking assembly 502 is fixedly arranged at a position corresponding to the second locking buckle 3076, and a Y-direction dragging assembly 503 is fixedly arranged at a position corresponding to the sliding connecting plate 3077.

[0042] The support arm positioning assembly 501 comprises a positioning pin 5011 and a positioning lifting component 5012. The fixed end of the positioning lifting component 5012 is fixedly installed on the base frame 504, and the telescopic end is fixedly connected with the positioning pin 5011. The telescopic end of the positioning lifting component 5012 is extended, and the positioning pin 5011 is driven to move upward and inserted into the through hole of the second adjusting plate 310, so that the position of the suspension support arm 304 is locked, and the suspension support arm 304 is prevented from shaking and affecting the adjustment effect during the position adjustment of the support arm assembly 307. After the position adjustment is completed, the telescopic end of the positioning lifting component 5012 is retracted, the positioning pin 5011 is driven to move downward and is separated from the second adjusting plate 310, and the position locking of the suspension support arm 304 is released.

[0043] In the embodiment, the positioning lifting component 5012 can be selected from one of a pneumatic push rod, an electric push rod or a hydraulic push rod. The enterprise selects and uses according to the type of power source in the production workshop, which is used to drive the positioning pin 5011 to move up and down, and complete the locking and unlocking of the suspension support arm 304.

[0044] The second unlocking assembly 502 comprises an unlocking lifting component 5021 and an unlocking pushing component 5022. The fixed end of the unlocking lifting component 5021 is fixedly installed on the base frame 504, and the telescopic end is fixedly connected with the fixed end of the unlocking pushing component 5022. The telescopic end of the unlocking pushing component 5022 is fixedly installed with an unlocking hook 5023. In use, the telescopic end of the unlocking lifting component 5021 is extended, the unlocking hook 5023 is moved to a position at the same height as the second locking buckle 3076, and then the telescopic end of the unlocking pushing component 5022 is extended, the unlocking hook 5023 is driven to press the second locking buckle 3076, and the unlocking is completed. The unlocking pushing component 5022 and the unlocking lifting component 5021 are sequentially reversed, and the second locking buckle 3076 is reset to the locking state.

[0045] In the embodiment, the unlocking lifting component 5021 and the unlocking pushing component 5022 are selected from the same push rod component as the positioning lifting component 5012, which is convenient for arranging the power source and is used to realize the locking and unlocking of the second locking buckle 3076.

[0046] The Y-axis towing assembly 503 includes a towing power component 5031, an intermediate connecting plate 5032 fixedly mounted above the towing power component 5031, a towing lifting component 5033 fixedly mounted on the intermediate connecting plate 5032, and a second towing pin 5034 fixedly mounted on the telescopic end of the towing lifting component 5033. In use, the towing power component 5031 moves, causing the intermediate connecting plate 5032 to move in a straight line, thereby driving the second towing pin 5034 to move to a designated position through the towing lifting component 5033. Then, the telescopic end of the towing lifting component 5033 extends, causing the second towing pin 5034 to insert into the sliding connecting plate 3077 of the support arm assembly 307, connecting the Y-axis towing assembly 503 and the support arm assembly 307 into a whole, so as to adjust the Y-axis position of the support arm assembly 307.

[0047] In this embodiment, the driving power component 5031 is a servo screw, the servo motor is fixedly connected to the screw, the intermediate connecting plate 5032 is fixedly connected to the nut, the servo motor drives the screw to rotate, and the nut drives the intermediate connecting plate 5032 to move along the axial direction of the screw; the driving lifting component 5033 selects the same push rod component as the positioning lifting component 5012 to facilitate the arrangement of the power source, and is used to realize the connection and disconnection of the Y-direction driving component 503 and the support arm component 307.

[0048] In addition to this embodiment, the driving power component 5031 can also be the same push rod component as the positioning and lifting component 5012. The intermediate connecting plate 5032 is fixedly connected to the telescopic end of the push rod, and the position of the second drag pin 5034 is adjusted by the movement of the telescopic end of the push rod.

[0049] like Figure 1 As shown, an X-axis adjustment device 4 is fixedly installed above each suspension arm 304, so that the X-axis position of each suspension arm 304 can be adjusted individually, which can adapt to the conveying requirements of parts with different structural shapes.

[0050] like Figure 6 As shown, the X-axis adjustment device 4 includes a top support 401, which is fixedly mounted on a fixed steel frame 1. A movable slide rail 402 is fixedly mounted on the top support 401 along the X-axis. A movable slider 403 is slidably mounted on the movable slide rail 402. A movable power component 404 is connected to the lower part of the movable slider 403 along the X-axis. In this embodiment, the structure of the movable power component 404 is the same as that of the drag power component 5031. It adopts a servo screw, which is driven to rotate by a servo motor, thereby driving the movable slider 403 to slide along the movable slide rail 402.

[0051] An unlocking pin 405 and a first drag pin 406 are slidably mounted on the movable slider 403. The positions of the unlocking pin 405 and the first drag pin 406 correspond to the positions of the first locking buckle 306 and the first adjusting plate 309, respectively. The push rod pushes the unlocking pin 405 and the first drag pin 406 to move along the Y direction. The unlocking pin 405 contacts the first locking buckle 306 to complete the unlocking. The first drag pin 406 is inserted into the hole of the first adjusting plate 309, so that the X-direction adjusting device 4 and the suspension arm 304 are connected as a whole. The moving power component 404 is activated to drive the suspension arm 304 to move along the X direction to complete the position adjustment.

[0052] like Figure 1 As shown, the three-degree-of-freedom vehicle device robot collaborative quick-change system is also equipped with a folding robot 6. The folding robot 6 is fixedly installed on the ground or side support of the state quick-change workstation, and the installation height corresponds to the support arm assembly 307. It is used to adjust the state of the flip plate 3072 in the support arm assembly 307. In this embodiment, the folding robot 6 is a mature device in the prior art. Its structure and working principle are well known to those skilled in the art, and will not be described in detail in this invention.

[0053] The folding robot 6 includes a robot body 601 and a claw 602. The claw 602 is fixedly installed at the end of the robotic arm of the robot body 601. The claw 602 has a U-shaped structure. The flipping plate 3072 is provided with a folding part that is adapted to the shape of the claw 602. After the claw 602 engages with the folding part, the flipping plate 3072 is opened and closed by the movement of the robotic arm of the robot body 601. It can be adjusted according to the transportation needs of different parts to improve the applicability of the system.

[0054] The three-degree-of-freedom vehicle device robot collaborative quick-change system is also equipped with a state recognition device, which includes an RFID component. The RFID component is connected to a control device. The RFID component is used to record the final theoretical state of the vehicle device 3 obtained by adjustment in the current adjustment cycle. This final theoretical state serves as the initial theoretical state of the vehicle device 3 in the next adjustment cycle, making the adjustment actions of the vehicle device 3 smooth and continuous. In this way, the vehicle device 3 does not need to restore the initial state after the parts are transported, saving adjustment time and energy.

[0055] In this embodiment, the RFID component includes an RFID tag installed on the top of the vehicle device 3, which stores the current theoretical form information of the vehicle device 3. An RFID reader / writer head is fixedly installed on the fixed steel frame 1 at the position corresponding to the RFID tag, which is used to read the information stored in the RFID tag and transmit it to the control device, providing a basis for generating the next state adjustment command.

[0056] Furthermore, the control device is also connected to a detection component to detect the current actual shape of the vehicle device 3 and transmit this actual shape information to the control device. The control device compares the theoretical shape stored in the RFID component with the actual shape detected by the detection component. When the deviation exceeds the set value range, the deviation is corrected in the next adjustment cycle to prevent the vehicle device from experiencing a decrease in operating accuracy, interference with other components, or movement jamming due to the accumulation of shape deviation. This ensures the overall stability and accuracy of the equipment operation and the smooth and efficient operation process.

[0057] The detection components include a laser displacement sensor for detecting the position of the suspension arm 304 and a miniature industrial camera for detecting the state of the support arm assembly 307. Detection points adapted to the laser displacement sensor are respectively set on the suspension arm 304 and the support arm assembly 307. The current position information of the suspension arm 304 and the support arm assembly 307 is obtained by measuring the straight-line distance between the sensor and the detection point. After the miniature industrial camera is installed, its lens is adjusted to be aimed at the support arm assembly 307, and the miniature industrial camera is used to capture an image of the current state of the support arm assembly 307. The current state information of the flip plate 3072 is determined by the image recognition algorithm.

[0058] A working method for a three-degree-of-freedom vehicle-mounted robot collaborative quick-change system is provided, based on the aforementioned three-degree-of-freedom vehicle-mounted robot collaborative quick-change system. The specific working steps are as follows: S1. The vehicle device 3 enters the state quick-change workstation. The state identification device identifies the current theoretical state and actual state of the vehicle device 3 and transmits the information to the control system. The control system generates a vehicle state transition strategy. S2, the outrigger positioning assembly 501 is activated, the telescopic end of the positioning and lifting component 5012 extends, driving the positioning pin 5011 to move upward and insert into the hole of the second adjustment plate 310, thus fixing and locking the lower end of the suspension outrigger 304.

[0059] S3. Unlock the extension end of the lifting component 5021, move the unlock hook 5023 to a position consistent with the height of the second locking buckle 3076, and then extend the extension end of the unlock pushing component 5022, causing the unlock hook 5023 to press the second locking buckle 3076, so that the second locking buckle 3076 disengages from the second multi-position card plate 3075, thus completing the unlocking.

[0060] S4. The driving power component 5031 is activated, moving the second drag pin 5034 to the current position of the support arm assembly 307, dragging the telescopic end of the lifting component 5033 to extend, so that the second drag pin 5034 is inserted into the sliding connecting plate 3077 of the support arm assembly 307, connecting the Y-direction drag component 503 and the support arm assembly 307 into a whole.

[0061] S5. The driving power component 5031 is activated to move the support arm assembly 307 to the system's designated position. The telescopic end of the drag lifting component 5033 is retracted, the second drag pin 5034 is disengaged from the sliding connecting plate 3077, and the Y-direction drag component 503 is disconnected from the support arm assembly 307.

[0062] S6. The telescopic end of the unlocking push component 5022 retracts, the second locking buckle 3076 returns to its original position and engages with the second multi-position latch plate 3075, the support arm assembly 307 is locked in the Y-direction position, the telescopic end of the unlocking lifting component 5021 retracts, the unlocking hook 5023 returns to its original position, and at the same time, the driving power component 5031 drives the second drag pin 5034 back to its original position.

[0063] S7. The moving power component 404 is activated, moving the unlocking pin 405 and the first drag pin 406 to the current position of the suspension arm 304, pushing the unlocking pin 405 and the first drag pin 406 to move along the Y direction, the unlocking pin 405 contacts the first locking buckle 306 to complete the unlocking, and at the same time the first drag pin 406 is inserted into the hole of the first adjustment plate 309, so that the X-direction adjustment device 4 and the suspension arm 304 are connected as a whole.

[0064] S8, the telescopic end of the positioning and lifting component 5012 retracts, the positioning pin 5011 moves down and exits the second adjustment plate 310, and the lower end of the suspension arm 304 is unlocked.

[0065] S9. Start the moving power unit 404 to drive the suspension arm 304 to move along the X direction to the designated position.

[0066] S10, the unlocking pin 405 and the first drag pin 406 return to their original positions, the first locking buckle 306 engages with the first multi-position card plate 305, and the position of the suspension arm 304 in the X direction is locked.

[0067] S11, the folding robot 6 performs the following actions: according to the adjustment instructions issued by the control system, it adjusts the state of the flipping plate 3072 in sequence, and after the adjustment is completed, the folding robot 6 returns to its original position.

[0068] Following the steps above, the status of the carrier device 3 that enters the quick change workstation is adjusted in sequence. Depending on the different parts that need to be carried, each carrier device 3 on the production line can be in a different state to meet the requirements of mixed production on the same production line.

[0069] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. A three-degree-of-freedom carrier device robot collaborative quick-change system, comprising a fixed steel frame (1) composed of profile butt welding, the upper end of the fixed steel frame (1) is fixedly connected to a load-bearing beam on the top of a production workshop, and the lower end is fixedly connected with a carrier moving track (2) extending along a production line, and a carrier device (3) is slidingly installed on the carrier moving track (2), characterized in that: The carrier device (3) comprises a top frame (301), one rotating frame (311) is rotatably connected to the two sides of the top frame (301) respectively, one sliding shaft (303) is fixedly connected to the two ends of the rotating frame (311) along the X direction respectively, a suspension support arm (304) is slidably installed on the sliding shaft (303), a sliding seat (308) is fixedly installed on the suspension support arm (304) close to the bottom end, and a supporting arm assembly (307) is slidably installed on the sliding seat (308) along the Y direction; A state quick-change workstation is arranged at the starting position of the production line, X direction adjusting devices (4) and Y direction adjusting devices (5) are fixedly arranged at the top and bottom of the state quick-change workstation respectively, and are used to drive the carrier device (3) to adjust along the X direction and the Y direction; a folding robot (6) is fixedly installed at a position corresponding to the height of the supporting arm assembly (307) of the state quick-change workstation, and is used to adjust the state of the supporting arm assembly (307); The state recognition device comprises an RFID assembly, and a control device is signal connected to the RFID assembly and is used to record the theoretical state of the carrier device (3).

2. The three-degree-of-freedom carrier device robot collaborative quick change system according to claim 1, characterized in that: A first multi-position clamping plate (305) is fixedly installed on the rotating frame (311) at a position corresponding to the sliding shaft (303), the first multi-position clamping plate (305) is arranged in parallel with the sliding shaft (303), a first locking buckle (306) is fixedly installed on the suspension support arm (304) at a position corresponding to the first multi-position clamping plate (305), and a first adjusting plate (309) is fixedly installed on the suspension support arm (304) at a position corresponding to the first locking buckle (306). The X direction adjusting device (4) is connected with the suspension support arm (304) through the first adjusting plate (309).

3. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 2, wherein: The other side of the top end of the suspension support arm (304) opposite to the first locking buckle (306) is fixedly connected with a sliding block, a sliding rail in sliding cooperation with the sliding block is fixedly connected to the rotating frame (311) at a position corresponding to the sliding block, the sliding rail is arranged in parallel with the sliding shaft (303), a limiting part is fixedly installed on the top frame (301) at a position corresponding to the rotating frame (311), and is used to limit the rotating direction and the initial angle of the rotating frame (311). A second adjusting plate (310) is fixedly installed on the bottom of the suspension support arm (304).

4. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 3, wherein: The X direction adjusting device (4) is correspondingly installed above the suspension support arm (304), and comprises a top bracket (401) fixedly installed on the fixed steel frame (1), a moving sliding rail (402) fixedly installed on the top bracket (401) along the X direction, a moving sliding block (403) slidably installed on the moving sliding rail (402), a moving power component (404) drivingly connected to the lower side of the moving sliding block (403) along the X direction, an unlocking pin (405) and a first dragging pin (406) slidably installed on the moving sliding block (403), and the positions of the unlocking pin (405) and the first dragging pin (406) correspond to the positions of the first locking buckle (306) and the first adjusting plate (309) respectively.

5. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 4, wherein: The supporting arm assembly (307) comprises a sliding arm (3071) which is arranged in parallel with the sliding seat (308) and is connected in sliding fit, a turnover plate (3072) is hingedly installed on the upper surface of the sliding arm (3071) near one end, a first supporting block (3073) and a second supporting block (3074) are respectively fixedly installed on the upper and lower surfaces of the turnover plate (3072), a second multi-position clamping plate (3075) is fixedly connected to the lower surface of the sliding arm (3071), a second locking buckle (3076) is fixedly installed on the sliding seat (308) at a position corresponding to the second multi-position clamping plate (3075), and a sliding connecting plate (3077) is fixedly connected to the upper surface of the sliding arm (3071).

6. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 5, wherein: The Y-direction adjusting device (5) is correspondingly installed below the supporting arm assembly (307), and comprises a base frame (504) which is fixedly installed on the ground, a supporting arm positioning assembly (501) is fixedly arranged on the upper surface of the base frame (504) at a position corresponding to the second adjusting plate (310), a second unlocking assembly (502) is fixedly arranged at a position corresponding to the second locking buckle (3076), and a Y-direction dragging assembly (503) is fixedly arranged at a position corresponding to the sliding connecting plate (3077).

7. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 6, wherein: The supporting arm positioning assembly (501) comprises a positioning pin (5011) and a positioning lifting part (5012), the fixed end of the positioning lifting part (5012) is fixedly installed on the base frame (504), and the telescopic end is fixedly connected with the positioning pin (5011); the second unlocking assembly (502) comprises an unlocking lifting part (5021) and an unlocking pushing part (5022), the fixed end of the unlocking lifting part (5021) is fixedly installed on the base frame (504), the telescopic end is fixedly connected with the fixed end of the unlocking pushing part (5022), and the telescopic end of the unlocking pushing part (5022) is fixedly installed with an unlocking hook (5023); the Y-direction dragging assembly (503) comprises a dragging power part (5031), an intermediate connecting plate (5032) is fixedly installed above the dragging power part (5031), a dragging lifting part (5033) is fixedly installed on the intermediate connecting plate (5032), and a second dragging pin (5034) is fixedly installed on the telescopic end of the dragging lifting part (5033).

8. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 7, wherein: The turnover robot (6) comprises a robot body (601) and a paw (602), the paw (602) is fixedly installed at the end of the mechanical arm of the robot body (601), the paw (602) is in U-shaped structure, and the turnover plate (3072) is provided with a turnover part which is adapted to the shape of the paw (602).

9. The three-degree-of-freedom carrier device robot collaborative quick change system of claim 8, wherein: The control device is connected with a detection assembly, which includes a laser displacement sensor for detecting the position of the suspension arm (304) and a miniature industrial camera for detecting the state of the support arm assembly (307). The detection assembly detects the actual state of the carrier device (3) and transmits information to the control device. The control device compares the theoretical state stored by the RFID assembly with the actual state detected by the detection assembly. When the deviation exceeds the set range, the deviation is corrected in the next adjustment cycle.

10. A working method of a three-degree-of-freedom carrier device robot collaborative quick change system, which is implemented based on the three-degree-of-freedom carrier device robot collaborative quick change system according to claim 9, characterized in that, The specific working steps are as follows: S1, the carrier device (3) enters the state quick-change station, the state recognition device recognizes the current theoretical state and actual state of the carrier device (3), and transmits the information to the control system, and the control system generates a carrier state conversion strategy; S2, the arm positioning assembly (501) acts, the telescopic end of the positioning lifting part (5012) is stretched out, the positioning pin (5011) is inserted into the hole of the second adjustment plate (310), and the lower end of the suspension arm (304) is fixed and locked; S3, the telescopic end of the unlocking lifting part (5021) is stretched out, the unlocking hook (5023) is moved to a position consistent with the height of the second locking buckle (3076), and then the telescopic end of the unlocking pushing part (5022) is stretched out, the unlocking hook (5023) is pressed, the second locking buckle (3076) is separated from the second multi-position clamping plate (3075), and the unlocking is completed; S4, the dragging power part (5031) acts, the second dragging pin (5034) is moved to the current position of the support arm assembly (307), the telescopic end of the dragging lifting part (5033) is stretched out, the second dragging pin (5034) is inserted into the sliding connection plate (3077) of the support arm assembly (307), and the Y-direction dragging assembly (503) is connected with the support arm assembly (307) as a whole; S5, the dragging power part (5031) acts, the support arm assembly (307) is moved to the system specified position, the telescopic end of the dragging lifting part (5033) is retracted, the second dragging pin (5034) exits the sliding connection plate (3077), and the Y-direction dragging assembly (503) is disconnected from the support arm assembly (307); S6, the telescopic end of the unlocking pushing part (5022) is retracted, the second locking buckle (3076) is reset, the second multi-position clamping plate (3075) is clamped, the Y-direction position of the support arm assembly (307) is locked, the telescopic end of the unlocking lifting part (5021) is retracted, the unlocking hook (5023) is reset, and the second dragging pin (5034) is moved back to the original position by the dragging power part (5031). S7, the moving power component (404) moves the unlocking pin (405) and the first dragging pin (406) to the current position of the suspension support arm (304), pushes the unlocking pin (405) and the first dragging pin (406) to move along the Y direction, the unlocking pin (405) contacts the first locking buckle (306) to complete unlocking, and the first dragging pin (406) is inserted into the hole of the first adjusting plate (309), so that the X direction adjusting device (4) is connected with the suspension support arm (304) as a whole; S8, the telescopic end of the positioning and lifting component (5012) is retracted, the positioning pin (5011) is lowered to exit the second adjusting plate (310), and the lower end of the suspension support arm (304) is unlocked; S9, the moving power component (404) is started to drive the suspension support arm (304) to move along the X direction to a specified position; S10, the unlocking pin (405) and the first dragging pin (406) are reset, the first locking buckle (306) is clamped with the first multi-position clamping plate (305), and the position of the suspension support arm (304) in the X direction is locked; S11, the folding robot (6) moves according to the adjusting instruction issued by the control system, adjusts the state of the turnover plate (3072) in sequence, and returns to the original position after the adjustment is completed.

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