Welding island and method for enabling intelligent trolley to quickly enter and exit from welding station

Abstract

The invention provides a welding island and a method for enabling an intelligent trolley to quickly enter and exit from a welding station, and belongs to the technical field of vehicle body welding. The welding island comprises a welding station, a conveying mechanism and a controller, the conveying mechanism is arranged at the welding station, the conveying range of the conveying mechanism covers the welding station and inlets and outlets in the two ends of the welding station, the upper end of the conveying mechanism is flush with the ground, or the conveying mechanism can ascend and descend. The conveying mechanism descends to the upper end to be flush with the ground in the initial state, the conveying mechanism is configured to convey the intelligent trolley to enter and exit from the welding station, and the conveying speed of the conveying mechanism is larger than the running speed of the intelligent trolley; and the controller is connected with the welding station, the conveying mechanism and the dispatching server.

Description

Technical Field

[0001] This invention relates to the field of vehicle body welding technology, and in particular to a welding island and a method for a smart car to quickly enter and exit the welding station. Background Technology

[0002] Modern automotive production workshops often utilize intelligent vehicles (such as Automated Guided Vehicles (AGVs) and Intelligent Transport Vehicles (IGVs) for efficient and precise automated material handling, revolutionizing automobile production. However, to ensure stability and safety during transport, the speed of these intelligent vehicles must be limited. Currently, each intelligent vehicle takes at least 30 seconds to enter and exit a welding station; specifically, 12 seconds to enter and 18 seconds to exit after welding. This makes it difficult to meet the cycle time requirements of specialized stations such as final assembly, thus reducing overall production line efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a welding island that solves the problem of long time spent by intelligent vehicles entering and exiting welding stations, thereby increasing the speed of intelligent vehicles entering and exiting welding stations while ensuring positioning accuracy, and thus improving the overall production efficiency of the production line.

[0004] To achieve the objectives of this invention, the following technical solution is adopted: According to one aspect of the present invention, a welding island is provided, comprising a welding station, a conveying mechanism, and a controller. The conveying mechanism is disposed at the welding station, and the conveying range of the conveying mechanism covers the welding station and the inlets and outlets at both ends of the welding station. The upper end of the conveying mechanism is flush with the ground, or the conveying mechanism is liftable. In the initial state, the conveying mechanism is lowered to the point where its upper end is flush with the ground. The conveying mechanism is configured to transport a smart car into and out of the welding station, and the conveying speed of the conveying mechanism is greater than the running speed of the smart car. The controller is connected to the welding station, the conveying mechanism, and a scheduling server.

[0005] According to one embodiment of the present invention, the conveying mechanism includes a first roller bed conveying device, a second roller bed conveying device, and a third roller bed conveying device. The first roller bed conveying device is disposed outside the inlet of the welding station, the second roller bed conveying device is disposed at the welding station, and the third roller bed conveying device is disposed outside the outlet of the welding station. The first roller bed conveying device, the second roller bed conveying device, and the third roller bed conveying device sequentially convey the intelligent trolley from outside the inlet of the welding station to outside the outlet of the welding station.

[0006] According to one embodiment of the present invention, the first roller bed conveying device, the second roller bed conveying device, and the third roller bed conveying device each include a roller bed body, multiple roller conveying sections, a first motor, and multiple first synchronous belts. The roller conveying section includes a roller shaft and two rollers. The two ends of the roller shaft are rotatably disposed on the upper part of the roller bed body. The two rollers are respectively fixed to the two ends of the roller shaft for supporting and conveying the intelligent trolley. The first motor is fixed to one side of the roller bed body, and the rotating shaft of the first motor is connected to one of the roller shafts. Two adjacent roller shafts are connected by the first synchronous belts.

[0007] According to one embodiment of the present invention, the first roller bed conveying device, the second roller bed conveying device, and the third roller bed conveying device each include a base, a lifting drive mechanism, a first guide portion, a second guide portion, and at least one first positioning device. The lifting drive mechanism, the first guide portion, and the first positioning device are respectively disposed on the base. The second guide portion is fixed to the roller bed body. The roller bed body is disposed on the lifting drive mechanism, and the second guide portion slides up and down along the first guide portion. The first positioning device has a retractable first positioning pin, which is configured to be inserted into a first positioning hole at the bottom of the intelligent vehicle.

[0008] According to one embodiment of the present invention, the lifting drive mechanism includes two mounting shafts, a second motor, and a second synchronous belt. The two mounting shafts are arranged back and forth along the direction of movement of the intelligent vehicle and are rotatably mounted on the base. Both ends of the mounting shafts are provided with cranks, and the ends of the cranks away from the mounting shafts are provided with rotatable rollers. The roller bed body is mounted on the rollers. The second motor is fixed to the base, and the rotating shaft of the second motor is connected to one of the mounting shafts. Both ends of the second synchronous belt are respectively connected to the two mounting shafts for transmission. When the second motor drives the mounting shafts to rotate and drive the cranks to rotate, the roller bed body moves up and down.

[0009] According to one embodiment of the present invention, the first guide portion is cylindrical and perpendicular to the horizontal plane, and the second guide portion includes a mounting base and two guide wheels. The mounting base is fixed to the main body of the rolling mill, and both guide wheels are rotatably mounted on the mounting base. The axes of the two guide wheels are perpendicular to each other, and both guide wheels slide up and down along the first guide portion.

[0010] According to one embodiment of the present invention, a first optical reading device is further included. The first optical reading device is disposed at the upper end of the roller bed body. The first optical reading device has a first through groove along the moving direction of the intelligent trolley. A first light-emitting element and a first photoelectric sensor for photoelectric conversion are respectively disposed on the two side walls of the first through groove. A first bar code ruler is disposed at the bottom of the intelligent trolley corresponding to the first through groove. The first bar code ruler has a plurality of first light holes of preset size. The intelligent trolley drives the first bar code ruler to move along the first through groove. The first photoelectric sensor senses the light passing through the first light holes and converts it into an electrical signal to control the first motor to decelerate or stop.

[0011] According to one embodiment of the present invention, the system further includes a first optical reading device and a second optical reading device. The conveying mechanism further includes a skid and a second positioning device. The skid can slide between the first roller conveying device, the second roller conveying device, and the third roller conveying device. The skid is used to carry the intelligent vehicle. The second positioning device and the second optical reading device are respectively disposed on the skid. The second positioning device has a retractable second positioning pin, which can be inserted into a second positioning hole at the bottom of the intelligent vehicle. The first optical reading device is disposed at the upper end of the roller body. The first optical reading device has a first through groove along the moving direction of the skid. A first light-emitting element and a first photoelectric sensor are respectively disposed on the two side walls of the first through groove. The second optical reading device... The intelligent vehicle has a second through slot in its direction of movement. A second light-emitting element and a second photoelectric sensor are respectively installed on the two side walls of the second through slot. A first barcode ruler is installed at the bottom of the intelligent vehicle corresponding to the second through slot. The first barcode ruler has multiple first light holes of preset sizes. The intelligent vehicle moves the first barcode ruler along the second through slot. The second photoelectric sensor senses the light passing through the first light holes and converts it into an electrical signal to control the extension and retraction of the second positioning pin. A second barcode ruler is installed at the bottom of the skid corresponding to the first through slot. The second barcode ruler has multiple second light holes of preset sizes. The skid moves the second barcode ruler along the first through slot. The first photoelectric sensor senses the light passing through the second light holes and converts it into an electrical signal to control the deceleration or stopping of the first motor.

[0012] This invention also discloses a method for a smart car to quickly enter and exit a welding station, applied to the aforementioned welding island, the method comprising: When the intelligent trolley moves to the outside of the welding station entrance, it determines whether the conveyor mechanism is occupied. If it is not occupied, it controls the intelligent trolley to move onto the conveyor mechanism on its own. If it is occupied, it controls the intelligent trolley to stop until it determines that the conveyor mechanism is not occupied, and then controls the intelligent trolley to move onto the conveyor mechanism on its own. When the intelligent vehicle is positioned on the conveyor mechanism and meets the positioning conditions, control the intelligent vehicle to stop; The conveying mechanism starts and transports the intelligent trolley into the welding station; When the intelligent vehicle arrives at the welding station, the conveying mechanism stops, the welding station positions the parts carried by the intelligent vehicle, and controls the welding robot on the welding station to weld the parts. Once welding is complete and the welding station releases the positioning of the component carried by the intelligent vehicle, the conveying mechanism is activated to transport the intelligent vehicle away from the welding station. When the conveyor transports the intelligent vehicle to the outside of the welding station exit, the conveyor is shut down, and the intelligent vehicle is controlled to leave the conveyor and move to the next preset station.

[0013] According to one embodiment of the present invention, when the intelligent trolley moves to the outside of the entrance of the welding station, it is determined whether the conveying mechanism is occupied. If it is not occupied, the intelligent trolley moves onto the conveying mechanism automatically; if it is occupied, the intelligent trolley stops until it is determined that the conveying mechanism is not occupied, after which the intelligent trolley moves onto the conveying mechanism automatically, including: The image acquisition and analysis system on the intelligent vehicle determines whether the first roller bed conveyor is occupied. If it is not occupied, the intelligent vehicle is controlled to move to the first roller bed conveyor on its own. Alternatively, the image acquisition and analysis system on the intelligent vehicle can determine whether the skid on the first roller conveyor is occupied. If it is not occupied, the intelligent vehicle can be controlled to move onto the skid automatically.

[0014] According to one embodiment of the present invention, activating the conveying mechanism to transport the intelligent trolley into the welding station includes: When the intelligent vehicle is determined to be in position on the first roller conveyor or on the skid, the first roller conveyor and the second roller conveyor are both raised to the same preset height and the first roller conveyor and the second roller conveyor are started. The first roller conveyor transports the intelligent vehicle to the second roller conveyor. When the intelligent vehicle reaches the welding station, the conveying mechanism stops, including: When the intelligent trolley is confirmed to be in position on the second roller conveyor, the first and second roller conveyors are stopped, and the second roller conveyor is controlled to descend to a preset height so that the first positioning pin is inserted into the first positioning hole of the intelligent trolley. The conveyor mechanism is activated to transport the intelligent trolley away from the welding station, including: The second and third roller conveyor devices are both raised to the same preset height, so that the first positioning pin is disconnected from the first positioning hole of the intelligent trolley, and the second and third roller conveyor devices are started. The second roller conveyor device transports the intelligent trolley to the third roller conveyor device. When the conveyor transports the intelligent vehicle to the outside of the welding station exit, the conveyor is shut down, including: When the intelligent vehicle is detected to be in position on the third roller conveyor, the second and third roller conveyors are stopped.

[0015] One embodiment of the present invention has the following advantages or beneficial effects: This invention relates to a welding island and method, belonging to the field of automotive body welding technology. The welding island includes a welding station, a conveying mechanism, and a controller. The conveying mechanism is located at the welding station, and its conveying range covers the welding station and its inlets and outlets at both ends. The upper end of the conveying mechanism is flush with the ground, or the conveying mechanism can be raised and lowered. Initially, the conveying mechanism is lowered until its upper end is flush with the ground. The conveying mechanism is configured to transport a smart trolley in and out of the welding station, and the conveying speed of the conveying mechanism is greater than the running speed of the smart trolley. This improves the speed at which the smart trolley enters and exits the welding station while ensuring the running accuracy of the smart trolley, thereby increasing the production efficiency of the production line. Attached Figure Description

[0016] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram illustrating, according to an exemplary embodiment, that the intelligent vehicle has not entered the welding station and is not on the conveyor mechanism.

[0018] Figure 2 This is a schematic diagram illustrating, according to an exemplary embodiment, that the intelligent vehicle has not entered the welding station and has moved onto the first roller conveyor.

[0019] Figure 3 This is a schematic diagram illustrating, according to an exemplary embodiment, that a smart car has entered the welding station and that a first roller bed conveyor transports the smart car onto a second roller bed conveyor.

[0020] Figure 4 This is a schematic diagram illustrating, according to an exemplary embodiment, that the intelligent vehicle has left the welding station and the second roller conveyor transports the intelligent vehicle to the third roller conveyor.

[0021] Figure 5 This is a perspective view of a first, second, or third roller conveyor according to an exemplary embodiment.

[0022] Figure 6 yes Figure 5 A magnified view of a portion of the image.

[0023] Figure 7 This is a schematic diagram showing two adjacent roller conveyor sections connected by a first synchronous belt drive, according to an exemplary embodiment.

[0024] Figure 8 This is a schematic diagram illustrating two mounting shafts connected by a second synchronous belt drive according to an exemplary embodiment.

[0025] Figure 9 This is a side view of a first, second, or third roller conveyor device according to an exemplary embodiment.

[0026] Figure 10 This is a schematic diagram illustrating the interaction between a first barcode ruler and a first optical reading device according to an exemplary embodiment.

[0027] Figure 11 This is a schematic diagram of a skid-mounted intelligent vehicle according to an exemplary embodiment.

[0028] The reference numerals in the attached figures are explained as follows: 1. Welding station; 2. Conveying mechanism; 21. First roller bed conveying device; 211. Roller bed body; 212. Roller conveying section; 2121. Roller shaft; 2122. Roller; 213. First motor; 214. First synchronous belt; 215. Base; 216. Lifting drive mechanism; 2161. Mounting shaft; 2162. Second motor; 2163. Second synchronous belt; 2164. Crank; 2165. Roller; 2166. Third synchronous belt; 217. First guide section; 2 18. Second guide section; 2181. Mounting base; 2182. Guide wheel; 219. First positioning device; 2191. First positioning pin; 22. Second roller conveyor device; 23. Third roller conveyor device; 24. Skid; 241. Second barcode scale; 25. Second positioning device; 251. Second positioning pin; 3. Intelligent trolley; 31. Bracket positioning fixture; 32. First barcode scale; 4. First optical reading device; 5. Second optical reading device; 6. Guide wheel. Detailed Implementation

[0029] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0030] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0031] like Figure 1-4As shown, a welding island according to an embodiment of the present invention includes a welding station 1, a conveying mechanism 2, and a controller.

[0032] Welding station 1 includes at least one welding robot, and the welding robot is electrically connected to a controller.

[0033] The lower end of the conveying mechanism 2 is fixedly installed at the welding station 1, and the conveying range of the conveying mechanism 2 covers the welding station 1 and the inlet and outlet at both ends of the welding station 1.

[0034] The conveying mechanism 2 is configured to transport the intelligent trolley 3 into and out of the welding station 1, and the conveying speed of the conveying mechanism 2 is greater than the running speed of the intelligent trolley 3, thereby increasing the speed at which the intelligent trolley 3 enters and exits the welding station 1 and improving the production efficiency of the production line.

[0035] The upper end of the conveyor mechanism 2 is flush with the ground so that the intelligent vehicle 3 can move autonomously onto the conveyor mechanism 2, thus eliminating the need for additional transfer equipment.

[0036] The controller is electrically connected to welding station 1, conveying mechanism 2 and scheduling server for scheduling intelligent vehicle 3, so as to realize the controller's control of welding station 1 and conveying mechanism 2, as well as the interaction between the controller and scheduling server.

[0037] When the scheduling server directs the intelligent vehicle 3 to move to the outside of the entrance of welding station 1, the scheduling server sends an entry request command to the controller. The controller detects whether the conveyor mechanism 2 is occupied through a vision sensor or a position detection switch. If it is not occupied, the controller sends an entry permission command to the scheduling server, and the intelligent vehicle 3 moves onto the conveyor mechanism 2 on its own.

[0038] When the intelligent vehicle 3 is in position on the conveyor mechanism 2, the intelligent vehicle 3 stops.

[0039] The conveying mechanism 2 starts and transports the intelligent trolley 3 into the welding station 1. The conveying speed of the conveying mechanism 2 is greater than the running speed of the intelligent trolley 3, thereby reducing the time occupied during entry.

[0040] When the conveying mechanism 2 carries the intelligent vehicle 3 to the welding station 1, the conveying mechanism 2 stops, and the controller controls the first positioning mechanism and the second positioning mechanism of the welding station 1 to position the intelligent vehicle 3 and the components it carries. The welding robot welds the components on the intelligent vehicle 3. For example, the intelligent vehicle 3 is equipped with a bracket positioning fixture 31, and the components are placed on the bracket positioning fixture 31.

[0041] After welding is completed and welding station 1 releases the positioning of the intelligent vehicle 3 and its carrying components, the conveying mechanism 2 starts and transports the intelligent vehicle 3 away from welding station 1. The speed at which the conveying mechanism 2 transports the intelligent vehicle 3 away is greater than the speed at which the intelligent vehicle 3 runs, thereby reducing the time occupied during departure.

[0042] When the conveyor 2 transports the intelligent vehicle 3 to the outside of the exit of the welding station 1, the conveyor 2 closes, and the controller sends an instruction to the scheduling server to move the intelligent vehicle 3 away.

[0043] The scheduling server directs the intelligent vehicle 3 to leave the conveyor mechanism 2 and head towards the next preset workstation.

[0044] The conveying mechanism 2 is any one of the following: roller bed conveying device, conveyor belt conveying device, and roller bed conveying device.

[0045] As shown in the figure, in a preferred embodiment of the present invention, the conveying mechanism 2 includes a first roller conveyor 21, a second roller conveyor 22, and a third roller conveyor 23. The first roller conveyor 21 is located outside the inlet of the welding station 1, the second roller conveyor 22 is located at the welding station 1, and the third roller conveyor 23 is located outside the outlet of the welding station 1. The first roller conveyor 21, the second roller conveyor 22, and the third roller conveyor 23 sequentially convey the intelligent trolley 3 from outside the inlet of the welding station 1 to outside the outlet of the welding station 1.

[0046] like Figure 5-7 As shown in Figures 9 and 1, in a preferred embodiment of the present invention, the first roller bed conveying device 21, the second roller bed conveying device 22, and the third roller bed conveying device 23 have the same structure, each including a roller bed body 211, a plurality of roller conveying sections 212 arranged front to back and horizontally, a first motor 213, and a plurality of first synchronous belts 214.

[0047] The roller conveying unit 212 includes a roller shaft 2121 and two rollers 2122. The two ends of the roller shaft 2121 are rotatably mounted on the upper part of the roller bed body 211, and the two rollers 2122 are respectively fixed to the two ends of the roller shaft 2121. Figure 10 As shown, two rollers 2122 are used to support and transport the chassis of the intelligent vehicle 3.

[0048] The first motor 213 is fixed to one side of the roller bed body 211, and the rotating shaft of the first motor 213 is connected to one of the roller shafts 2121. The two adjacent roller shafts 2121 are connected by transmission through the first synchronous belt 214.

[0049] When the first motor 213 drives one of the rollers 2121 to rotate, the remaining rollers 2121 rotate synchronously under the drive of the first synchronous belt 214, realizing the intelligent conveying trolley 3.

[0050] like Figure 5 , 9 As shown, in a preferred embodiment of the present invention, the first roller bed conveying device 21, the second roller bed conveying device 22 and the third roller bed conveying device 23 each include a base 215, a lifting drive mechanism 216, a first guide portion 217, a second guide portion 218 and at least one first positioning device 219.

[0051] The lifting drive mechanism 216, the first guide part 217 and the first positioning device 219 are respectively disposed on the base 215. The second guide part 218 is fixedly connected to the roller bed body 211. The roller bed body 211 is disposed on the lifting drive mechanism 216, and the second guide part 218 slides up and down along the first guide part 217.

[0052] The first positioning device 219 has a retractable first positioning pin 2191, which is configured to be inserted into the first positioning hole at the bottom of the intelligent trolley 3 after the roller bed body 211 is lowered.

[0053] For example, when the intelligent carriage 3 is transported from the roller body 211 of the first roller conveyor 21 to the roller body 211 of the second roller conveyor 22 and is in place, the lifting drive mechanism 216 of the second roller conveyor 22 drives the roller body 211 to descend to the preset height for welding. At the same time, the first positioning pin 2191 extends and is inserted into the first positioning hole of the intelligent carriage 3 to position the intelligent carriage 3 at the welding station 1.

[0054] like Figure 6 As shown, the first guide portion 217 is cylindrical and perpendicular to the horizontal plane. The second guide portion 218 includes a mounting base 2181 and two guide wheels 2182. The mounting base 2181 is fixed to the roller bed body 211. Both guide wheels 2182 are rotatably mounted on the mounting base 2181, and the axes of the two guide wheels 2182 are perpendicular to each other. Both guide wheels 2182 slide up and down along the first guide portion 217. Because the axes of the two guide wheels 2182 are perpendicular, the two guide wheels 2182 form a limiting angle, thereby preventing the roller bed body 211 from wobbling left and right.

[0055] like Figure 5 , 8 As shown, in a preferred embodiment of the present invention, the lifting drive mechanism 216 includes two mounting shafts 2161, a second motor 2162, and a second synchronous belt 2163.

[0056] Two mounting shafts 2161 are arranged back and forth along the direction of movement of the intelligent vehicle 3 and are rotatably mounted on the base 215. Both ends of the mounting shafts 2161 are vertically mounted with cranks 2164. One end of the cranks 2164 is equipped with a rotatable roller 2165, and the axis of the roller 2165 is offset from the axis of the mounting shafts 2161, so that when the mounting shafts 2161 rotate, the roller 2165 revolves around the axis of the mounting shafts 2161.

[0057] The roller bed body 211 is mounted on the roller 2165, which supports the roller bed body 211. The second motor 2162 is fixed to the base. The rotating shaft of the second motor 2162 is connected to one of the mounting shafts 2161. The two ends of the second synchronous belt 2163 are respectively connected to the two mounting shafts 2161 for transmission.

[0058] For example, when the second motor 2162 drives the mounting shaft 2161 to rotate the crank 2164 by 90 degrees, the crank 2164 rotates from a vertical position to a horizontal position. Simultaneously, the crank 2164 drives the roller 2165 to rotate from a high position to a low position, and the roller bed body 211 descends from a high position to a low position. When the second motor 2162 drives the mounting shaft 2161 to rotate the crank 2164 in the opposite direction by 90 degrees, the crank 2164 rotates from a horizontal position to a vertical position. Simultaneously, the crank 2164 drives the roller 2165 to rotate from a low position to a high position, and the roller 2165 lifts the roller bed body 211, enabling the roller bed body 211 to move up and down between the transmission position and the welding position. Because the roller 2165 is rotatable, wear between the circumferential surface of the roller 2165 and the bottom surface of the roller bed body 211 is reduced.

[0059] like Figure 6 As shown, in a preferred embodiment of the present invention, the second motor 2162 is connected to the mounting shaft 2161 via a third synchronous belt 2166 to drive the two mounting shafts 2161 to rotate the crank 2164.

[0060] like Figure 5 , 6 As shown in Figures 9 and 10, in a preferred embodiment of the present invention, a first optical reading device 4 is further included. The first optical reading device 4 is disposed at the upper end of the roller bed body 211, as shown in Figures 10 and 11. Figure 9 , 10 As shown, the first optical reading device 4 has a first through slot 41 along the moving direction of the intelligent vehicle 3. The two side walls of the first through slot 41 are respectively provided with a first light-emitting element and a first photoelectric sensor for photoelectric conversion.

[0061] The bottom of the intelligent vehicle 3 is provided with a first barcode ruler 32 corresponding to the first through slot 41, and the first barcode ruler 32 has multiple first light holes of preset size.

[0062] The intelligent car 3 drives the first barcode ruler 32 to move along the first through slot 41. The first photoelectric sensor senses the light passing through the first light hole and converts it into an electrical signal to control the first motor 213 to decelerate or stop.

[0063] For example, when the intelligent trolley 3 moves the first light hole at the front of the first barcode ruler 32 to the sensing range of the first photoelectric sensor on the first roller conveyor 21, the intelligent trolley 3 is controlled to decelerate. When the first light hole at the rear of the first barcode ruler 32 moves to the sensing range of the first photoelectric sensor on the first roller conveyor 21, the intelligent trolley 3 is controlled to stop. At this time, the intelligent trolley 3 is in position on the first roller conveyor 21.

[0064] When the intelligent carriage 3 moves the first light hole at the front of the first barcode ruler 32 to the sensing range of the first photoelectric sensor on the second roller bed conveyor 22, the first motor 213 decelerates to avoid positioning errors caused by excessive speed, thereby improving positioning accuracy. When the preset first light hole at the rear of the first barcode ruler 32 moves to the sensing range of the first photoelectric sensor, or when the part of the rear of the first barcode ruler 32 without the first light hole moves to the position of the first photoelectric sensor, the first motor 213 is stopped, the intelligent carriage 3 is positioned on the second roller bed conveyor 22, and the second motor 2162 drives the mounting shaft 2161 to rotate, causing the roller bed body 211 to descend to the preset welding height, and causing the first positioning pin 2191 to be inserted into the first positioning hole at the bottom of the intelligent carriage 3, thereby accurately positioning the intelligent carriage 3 at the welding position.

[0065] When the intelligent trolley 3 moves the first light hole at the front of the first barcode ruler 32 to the sensing range of the first photoelectric sensor on the third roller conveyor 23, the first motor 213 decelerates. When the preset first light hole at the rear of the first barcode ruler 32 moves to the sensing range of the first photoelectric sensor, the first motor 213 stops, and the intelligent trolley 3 drives away from the third roller conveyor 23 and moves to the preset next work station.

[0066] like Figure 11 As shown, in a preferred embodiment of the present invention, a first optical reading device 4 and a second optical reading device 5 are also included.

[0067] The conveying mechanism 2 also includes a skid 24 and a second positioning device 25. The skid 24 can slide between the first roller bed conveying device 21, the second roller bed conveying device 22, and the third roller bed conveying device 23. The skid 24 is used to carry the intelligent vehicle 3. The skid 24 has a through hole corresponding to the first positioning pin 2191. For example, when the skid 24 is in place on the roller bed body 211 of the second roller bed conveying device 22, the roller bed body 211 descends to a preset welding height, and the first positioning pin 2191 passes through the through hole of the skid 24 and is inserted into the first positioning hole of the intelligent vehicle 3.

[0068] The first optical reading device 4 is disposed at the upper end of the roller bed body 211. The first optical reading device 4 has a first through groove 41 along the moving direction of the skid 24. The two side walls of the first through groove 41 are respectively provided with a first light-emitting element and a first photoelectric sensor for photoelectric conversion.

[0069] The second positioning device 25 and the second optical reading device 5 are respectively mounted on the skid 24. The second positioning device 25 has a retractable second positioning pin 251. The second optical reading device 5 has a second through slot 51 along the moving direction of the intelligent vehicle 3. The two side walls of the second through slot 51 are respectively provided with a second light-emitting element and a second photoelectric sensor.

[0070] The bottom of the intelligent vehicle 3 is provided with a first barcode ruler 32. The first barcode ruler 32 has multiple first light holes of preset size. The intelligent vehicle 3 drives the first barcode ruler 32 to move along the second through groove 51. The second photoelectric sensor senses the light passing through the first light hole and converts it into an electrical signal to control the extension and retraction of the second positioning pin 251.

[0071] The bottom of the skid 24 is provided with a second bar code ruler 241. The second bar code ruler 241 has multiple second light holes of preset size. The skid 24 drives the second bar code ruler 241 to move along the first through groove 41. The first photoelectric sensor senses the light passing through the second light holes and converts it into an electrical signal to control the first motor 213 to decelerate or stop.

[0072] For example, when the second photoelectric sensor of the second optical reading device 5 converts into a preset first electrical signal, the intelligent vehicle 3 decelerates to prevent it from moving too fast and affecting positioning accuracy. When the second photoelectric sensor converts into a preset second electrical signal, the intelligent vehicle 3 stops. At this time, the intelligent vehicle 3 is positioned on the skid 24, and the second positioning pin 251 is inserted into the second positioning hole at the bottom of the intelligent vehicle 3 to lock it on the skid 24, preventing it from shaking during transport and improving positioning accuracy.

[0073] When the first photoelectric sensor of the first optical reading device 4 converts into a preset first electrical signal, the first motor 213 decelerates to avoid positioning errors caused by excessive speed of the conveying skid 24, thereby improving positioning accuracy. When the first photoelectric sensor converts into a preset second electrical signal, the first motor 213 stops, and the skid 24 is conveyed into position. For example, when the first photoelectric sensor on the second roller conveyor 22 converts into a preset second electrical signal, the first motor 213 stops, and the skid 24 is positioned on the second roller conveyor 22. The second motor 2162 drives the mounting shaft 2161 to rotate the crank 2164, causing the roller body 211 of the second roller conveyor 22 to descend to a preset welding height. The first positioning device 219 drives the first positioning pin 2191 to pass through the skid 24 and insert into the first positioning hole of the intelligent vehicle 3, thereby positioning the intelligent vehicle 3 on the second roller conveyor 22.

[0074] like Figure 10-11 As shown, in a preferred embodiment of the present invention, multiple rotatable guide wheels 6 are provided at both ends of the roller bed body 211. The guide wheels 6 at both ends respectively rub against the sides of the intelligent trolley 3 or the sides of the skid 24 to guide the intelligent trolley 3 or the skid 24 during the conveying process, prevent the intelligent trolley 3 or the skid 24 from swaying left and right, and improve the positioning accuracy.

[0075] This invention also discloses a method for a smart car to quickly enter and exit a welding station, applied to the aforementioned welding island, the method comprising: When the intelligent trolley 3 moves to the outside of the welding station entrance, it determines whether the conveying mechanism 2 is occupied. If it is not occupied, it controls the intelligent trolley 3 to move onto the conveying mechanism 2 on its own. If it is occupied, it controls the intelligent trolley 3 to stop until it determines that the conveying mechanism 2 is not occupied, and then controls the intelligent trolley 3 to move onto the conveying mechanism 2 on its own. When the intelligent trolley 3 is on the conveying mechanism 2 and the positioning conditions are met, control the intelligent trolley 3 to stop and start the conveying mechanism 2 to transport the intelligent trolley 3 into the welding station 1; When the intelligent vehicle 3 arrives at the welding station 1, it stops the conveying mechanism 2. The welding station 1 positions the component carried by the intelligent vehicle 3 and controls the welding robot on the welding station 1 to weld the component. For example, the component has a positioning hole, and the welding station 1 has a retractable positioning device. When the intelligent vehicle 3 arrives at the welding station 1, the positioning device extends and inserts into the positioning hole on the component to achieve positioning of the component. Once welding is completed and the positioning device on welding station 1 releases its positioning of the component carried by the intelligent vehicle 3, the conveying mechanism 2 is activated to transport the intelligent vehicle 3 away from welding station 1. When the conveying mechanism 2 transports the intelligent trolley 3 to the outside of the exit of the welding station 1, the conveying mechanism 2 is turned off; Control the intelligent vehicle 3 to leave the conveyor mechanism 2 and move to the next preset work station.

[0076] In a preferred embodiment of the present invention, when the intelligent trolley 3 moves to the outside of the entrance of the welding station, it is determined whether the conveying mechanism 2 is occupied. If it is not occupied, the intelligent trolley 3 moves onto the conveying mechanism 2 automatically; if it is occupied, the intelligent trolley 3 stops until it is determined that the conveying mechanism 2 is not occupied, after which the intelligent trolley 3 moves onto the conveying mechanism 2 automatically, including: When the intelligent trolley 3 moves to the outside of the entrance of the welding station 1, the image acquisition and analysis system on the intelligent trolley 3 determines whether the first roller bed conveyor 21 is occupied. If it is not occupied, the intelligent trolley 3 is controlled to move onto the first roller bed conveyor 21 on its own. If it is occupied, the intelligent trolley 3 is controlled to stop until the image acquisition and analysis system determines that the first roller bed conveyor 21 is not occupied, and then the intelligent trolley 3 moves onto the first roller bed conveyor 21 on its own. Alternatively, when the intelligent trolley 3 moves to the outside of the entrance of the welding station 1, the image acquisition and analysis system on the intelligent trolley 3 determines whether the skid 24 on the first roller conveyor 21 is occupied. If it is not occupied, the intelligent trolley 3 moves onto the skid 24 by itself; if it is occupied, the intelligent trolley 3 stops until it is determined that the skid 24 is not occupied, and then controls the intelligent trolley 3 to move onto the first roller conveyor 21 by itself.

[0077] In a preferred embodiment of the present invention, activating the conveying mechanism 2 to transport the intelligent trolley 3 into the welding station 1 includes: When the first optical reading device 4 on the first roller conveyor 21 detects that the intelligent car 3 is in place on the first roller conveyor 21, it controls the first roller conveyor 21 and the second roller conveyor 22 to rise to the same preset height and starts the first roller conveyor 21 and the second roller conveyor 22. The first roller conveyor 21 transports the intelligent car 3 to the second roller conveyor 22. Alternatively, when the second optical reading device 5 on the skid 24 detects that the intelligent vehicle 3 is in position on the skid 24, the second positioning pin 251 is inserted into the second positioning hole of the intelligent vehicle 3, controlling the first roller bed conveyor 21 and the second roller bed conveyor 22 to rise to the same preset height and start the first roller bed conveyor 21 and the second roller bed conveyor 22. The first roller bed conveyor 21 transports the skid 24 and the intelligent vehicle 3 it carries to the second roller bed conveyor 22.

[0078] In a preferred embodiment of the present invention, when the intelligent vehicle 3 arrives at the welding station 1, the conveying mechanism 2 stops, the welding station 1 positions the component carried by the intelligent vehicle 3, and the welding robot welds the component, including: When the first optical reading device 4 on the second roller conveyor 22 detects that the intelligent carriage 3 is in place on the second roller conveyor 22, the first roller conveyor 21 and the second roller conveyor 22 are stopped. The second roller conveyor 22 is lowered to the preset welding height. The first positioning pin is inserted into the first positioning hole of the intelligent carriage 3. The welding station 1 positions the component carried by the intelligent carriage 3, and the welding robot welds the component. Alternatively, when the first optical reading device 4 on the second roller conveyor 22 detects that the skid 24 is in position on the second roller conveyor 22, both the first roller conveyor 21 and the second roller conveyor 22 stop, the second roller conveyor 22 descends to the preset welding height, one end of the first positioning pin 2191 passes through the skid 24 and is inserted into the first positioning hole of the intelligent vehicle 3, the welding station 1 positions the component carried by the intelligent vehicle 3, and the welding robot welds the component.

[0079] In a preferred embodiment of the present invention, after welding is completed and the welding station 1 releases the positioning of the intelligent vehicle 3 carrying the component, the conveying mechanism 2 is activated to transport the intelligent vehicle 3 away from the welding station 1; when the conveying mechanism 2 transports the intelligent vehicle 3 to the outside of the exit of the welding station 1, the conveying mechanism 2 is closed; the intelligent vehicle 3 drives away from the conveying mechanism 2 and moves to the preset next station, including: When the welding robot completes the welding, the welding station 1 releases the positioning of the component carried by the intelligent trolley 3. The second roller conveyor 22 and the third roller conveyor 23 are both raised to the same preset height, so that the first positioning pin 2191 is disengaged from the first positioning hole of the intelligent trolley 3. The second roller conveyor 22 and the third roller conveyor 23 are started. The second roller conveyor 22 transports the intelligent trolley 3 to the third roller conveyor 23. When the first optical reading device 4 on the third roller conveyor 23 detects that the intelligent trolley 3 is in place on the third roller conveyor 23, the second roller conveyor 22 and the third roller conveyor 23 are both stopped. The intelligent trolley 3 leaves the third roller conveyor 23 and moves to the next preset station. Alternatively, when the welding robot completes welding, welding station 1 releases the positioning of the component carried by the intelligent trolley 3, the second roller conveyor 22 and the third roller conveyor 23 both rise to the same preset height, the first positioning pin separates from the first positioning hole of the intelligent trolley 3, the second roller conveyor 22 and the third roller conveyor 23 both start, the second roller conveyor 22 transports the skid 24 and the intelligent trolley 3 it carries to the third roller conveyor 23; When the first optical reading device 4 on the third roller conveyor 23 detects that the skid 24 and the intelligent trolley 3 it carries are in place on the third roller conveyor 23, both the second roller conveyor 22 and the third roller conveyor 23 stop, the second positioning pin 251 is disengaged from the second positioning hole of the intelligent trolley 3, and the intelligent trolley 3 leaves the skid and moves to the next preset work station.

[0080] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0081] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0082] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, the embodiments of the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention.

Claims

1. A welding island, characterized in that, include: Welding station (1); The conveying mechanism (2) covers the welding station (1) and the inlet and outlet at both ends of the welding station (1). The upper end of the conveying mechanism (2) is flush with the ground, or the conveying mechanism (2) is provided with a liftable bearing part. The bearing part has a first state in which the upper end is flush with the ground. The conveying mechanism (2) is configured to transport the intelligent trolley (3) into and out of the welding station (1). The conveying speed of the conveying mechanism (2) is greater than the preset running speed of the intelligent trolley (3).

2. The welding island according to claim 1, characterized in that, The conveying mechanism (2) includes a first roller conveyor (21), a second roller conveyor (22), and a third roller conveyor (23). The first roller conveyor (21) is located outside the inlet of the welding station (1), the second roller conveyor (22) is located at the welding station (1), and the third roller conveyor (23) is located outside the outlet of the welding station (1). The first roller conveyor (21), the second roller conveyor (22), and the third roller conveyor (23) sequentially convey the intelligent vehicle (3) from outside the inlet of the welding station (1) to outside the outlet of the welding station (1).

3. The welding island according to claim 2, characterized in that, The first roller conveyor (21), the second roller conveyor (22), and the third roller conveyor (23) each include a roller body (211), multiple roller conveyor sections (212) arranged front to back and horizontally, a first motor (213), and multiple first synchronous belts (214). The roller conveyor section (212) includes a roller shaft (2121) and two rollers (2122). The two ends of the roller shaft (2121) are rotatably disposed on the upper part of the roller body (211). The two rollers (2122) are respectively fixed to the two ends of the roller shaft (2121) for supporting and conveying the intelligent vehicle (3). The first motor (213) is fixed to one side of the roller body (211), and the shaft of the first motor (213) is connected to one of the roller shafts (2121). The two adjacent roller shafts (2121) are connected by transmission through the first synchronous belts (214).

4. The welding island according to claim 3, characterized in that, The first roller bed conveying device (21), the second roller bed conveying device (22), and the third roller bed conveying device (23) each include a base (215), a lifting drive mechanism (216), a first guide part (217), a second guide part (218), and at least one first positioning device (219). The lifting drive mechanism (216), the first guide part (217), and the first positioning device (219) are respectively disposed on the base (215). The second guide part (218) is fixed to the roller bed body (211). The roller bed body (211) is disposed on the lifting drive mechanism (216). The second guide part (218) slides up and down along the first guide part (217). The first positioning device (219) has a retractable first positioning pin (2191). The first positioning pin (2191) is configured to be able to be inserted into the first positioning hole at the bottom of the intelligent vehicle (3).

5. The welding island according to claim 4, characterized in that, The lifting drive mechanism (216) includes two mounting shafts (2161), a second motor (2162), and a second synchronous belt (2163). The two mounting shafts (2161) are arranged back and forth along the direction of movement of the intelligent vehicle (3) and are rotatably mounted on the base (215). Both ends of the mounting shafts (2161) are provided with cranks (2164), and the end of the cranks (2164) away from the mounting shafts (2161) is provided with a rotatable roller (2165). The roller bed main The body (211) is mounted on the roller (2165), the second motor (2162) is fixed to the base (215), the shaft of the second motor (2162) is connected to one of the mounting shafts (2161), and the two ends of the second synchronous belt (2163) are respectively connected to the two mounting shafts (2161). When the second motor (2162) drives the mounting shaft (2161) to rotate the crank (2164), the body (211) of the roller bed moves up and down.

6. The welding island according to claim 4, characterized in that, The first guide portion (217) is cylindrical and perpendicular to the horizontal plane. The second guide portion (218) includes a mounting base (2181) and two guide wheels (2182). The mounting base (2181) is fixed to the roller bed body (211). Both guide wheels (2182) are rotatably mounted on the mounting base (2181), and the axes of the two guide wheels (2182) are perpendicular to each other. Both guide wheels (2182) slide up and down along the first guide portion (217).

7. The welding island according to claim 4, characterized in that, It also includes a first optical reading device (4), which is located at the upper end of the roller bed body (211). The first optical reading device (4) has a first through groove (41) along the moving direction of the intelligent trolley (3). The two side walls of the first through groove (41) are respectively provided with a first light-emitting element and a first photoelectric sensor for photoelectric conversion. The bottom of the intelligent trolley (3) is provided with a first bar code ruler (32) corresponding to the first through groove (41). The first bar code ruler (32) has a plurality of first light holes of preset size. The intelligent trolley (3) drives the first bar code ruler (32) to move along the first through groove (41). The first photoelectric sensor senses the light passing through the first light hole and converts it into an electrical signal to control the first motor (213) to decelerate or stop.

8. The welding island according to claim 4, characterized in that, It also includes a first optical reading device (4) and a second optical reading device (5). The conveying mechanism (2) further includes a skid (24) and a second positioning device (25). The skid (24) can slide between the first roller conveyor (21), the second roller conveyor (22), and the third roller conveyor (23). The skid (24) is used to carry the intelligent vehicle (3). The second positioning device (25) is disposed on the skid (24). The second positioning device (25) has a retractable second positioning device. Positioning pin (251), the second positioning pin (251) can be inserted into the second positioning hole at the bottom of the intelligent vehicle (3), the first optical reading device (4) is disposed at the upper end of the roller bed body (211), the first optical reading device (4) has a first through groove (41) along the moving direction of the skid (24), the two side walls of the first through groove (41) are respectively provided with a first light-emitting element and a first photoelectric sensor, the second optical reading device (5) is disposed at the upper end of the skid (24), the second optical reading device The device (5) has a second through slot (51) along the moving direction of the intelligent vehicle (3). The two side walls of the second through slot (51) are respectively provided with a second light-emitting element and a second photoelectric sensor. The bottom of the intelligent vehicle (3) is provided with a first bar code ruler (32) corresponding to the second through slot (51). The first bar code ruler (32) has a plurality of first light holes of preset size. The intelligent vehicle (3) drives the first bar code ruler (32) to move along the second through slot (51). The second photoelectric sensor senses the light passing through the first light hole and converts it into an electrical signal to control the extension and retraction of the second positioning pin (251). The bottom of the skid (24) is provided with a second bar code ruler (241) corresponding to the first through slot (41). The second bar code ruler (241) has a plurality of second light holes of preset size. The skid (24) drives the second bar code ruler (241) to move along the first through slot (41). The first photoelectric sensor senses the light passing through the second light hole and converts it into an electrical signal to control the first motor (213) to decelerate or stop.

9. A method for a smart trolley to quickly enter and exit a welding station, characterized in that, Applied to the welding island according to any one of claims 1-8, the method comprises: When the intelligent trolley (3) moves to the outside of the entrance of the welding station, it is determined whether the conveying mechanism (2) is occupied. If it is not occupied, the intelligent trolley (3) is controlled to move onto the conveying mechanism (2). If it is occupied, the intelligent trolley (3) is controlled to stop until it is determined that the conveying mechanism (2) is not occupied, and then the intelligent trolley (3) is controlled to move onto the conveying mechanism (2). When the intelligent vehicle (3) is located on the conveying mechanism (2) and the positioning conditions are met, the intelligent vehicle (3) is controlled to stop, and the conveying mechanism (2) is started to transport the intelligent vehicle (3) into the welding station (1). When the intelligent vehicle (3) arrives at the welding station (1) and stops the conveying mechanism (2), the welding station (1) positions the component carried by the intelligent vehicle (3) and controls the welding robot on the welding station (1) to weld the component. When welding is completed and the welding station (1) releases the positioning of the component carried by the intelligent vehicle (3), the conveying mechanism (2) is started to transport the intelligent vehicle (3) away from the welding station (1). When the conveying mechanism (2) transports the intelligent vehicle (3) to the outside of the outlet of the welding station (1), the conveying mechanism (2) is closed, and the intelligent vehicle (3) is controlled to leave the conveying mechanism (2) and drive to the preset next station.

10. The method according to claim 9, characterized in that, The step of determining whether the conveying mechanism (2) is occupied, and if it is not occupied, the intelligent vehicle (3) moves onto the conveying mechanism (2) on its own, includes: The image acquisition and analysis system on the intelligent vehicle (3) determines whether the first roller conveyor (21) is occupied. If it is not occupied, the intelligent vehicle (3) is controlled to move to the first roller conveyor (21) on its own. Alternatively, the image acquisition and analysis system on the intelligent vehicle (3) can determine whether the skid (24) on the first roller conveyor (21) is occupied. If it is not occupied, the intelligent vehicle (3) can be controlled to move onto the skid (24) on its own.

11. The method according to claim 9, characterized in that, The conveying mechanism (2) is activated to transport the intelligent vehicle (3) into the welding station (1), including: When it is determined that the intelligent vehicle (3) is in position on the first roller conveyor (21) or on the skid (24), the first roller conveyor (21) and the second roller conveyor (22) are both raised to the same preset height and the first roller conveyor (21) and the second roller conveyor (22) are started. When the intelligent vehicle (3) arrives at the welding station (1), the conveying mechanism (2) stops, including: When it is determined that the intelligent trolley (3) is in position on the second roller conveyor (22), the first roller conveyor (21) and the second roller conveyor (22) are stopped, and the second roller conveyor (22) is controlled to descend to a preset height so that the first positioning pin (2191) is inserted into the first positioning hole of the intelligent trolley (3). Activating the conveying mechanism (2) to transport the intelligent vehicle (3) away from the welding station (1) includes: The second roller conveyor (22) and the third roller conveyor (23) are both raised to the same preset height, so that the first positioning pin (2191) is disengaged from the first positioning hole of the intelligent trolley (3); the second roller conveyor (22) and the third roller conveyor (23) are started, and the second roller conveyor (22) transports the intelligent trolley (3) to the third roller conveyor (23). When the conveying mechanism (2) transports the intelligent vehicle (3) to the outside of the outlet of the welding station (1), closing the conveying mechanism (2) includes: When the intelligent vehicle (3) is detected to be in position on the third roller conveyor (23), the second roller conveyor (22) and the third roller conveyor (23) are stopped.

Images