Flexible part feeding positioning system and part feeding method thereof

Abstract

The invention relates to the technical field of part feeding equipment, in particular to a flexible part feeding positioning system and a part feeding method thereof.The system comprises a part feeding trolley and a trolley positioning switching device; the trolley positioning and switching device comprises a switching frame, a first connection control mechanism, a height direction in-place detection mechanism, a jacking limiting mechanism, a horizontal direction in-place combined detection mechanism and an initial limiting mechanism. The feeding trolley comprises a trolley body, a plurality of flexible positioning mechanisms, a jacking limiting structure, a trolley sensing piece, an initial triggering piece and a second connection control mechanism; the method comprises the following steps: moving the feeding trolley until the travel switch and the horizontal in-place combined detection mechanism are triggered; the initial limiting mechanism is used for limiting the initial triggering piece; the jacking limiting mechanism jacks up the trolley body; the electrical quick-connection female end is in butt joint with the electrical quick-connection male end. And the flexible positioning mechanism correspondingly performs flexible switching positioning. According to the invention, parts can be conveniently and accurately fed, and the production quality and the production efficiency of the parts can be improved.

Description

Technical Field

[0001] This invention relates to the technical field of loading equipment, and more specifically, to a flexible loading positioning system and loading method thereof. Background Technology

[0002] In a workshop production line, parts loading is a crucial step. Since many car models are produced on the same line, parts loading must be compatible across multiple models to minimize the space occupied by the loading equipment. While existing loading equipment can position parts for different car models, misalignment of parts still occurs frequently due to incomplete positioning of the equipment. In severe cases, this can lead to parts falling off, production line shutdowns, and negatively impact production quality and efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technology in that parts are easily misaligned during loading, and to provide a flexible loading and positioning system and its loading method, which can conveniently and accurately load parts, thereby improving the production quality and efficiency of parts.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A flexible loading and positioning system is provided, including a loading trolley and a trolley positioning switching device. The trolley positioning switching device includes a switching frame, a first connecting control mechanism mounted on the switching frame, a height-direction positioning detection mechanism, and a lifting limit mechanism. The switching frame includes an abutment frame and guide frames connected to both ends of the abutment frame. The abutment frame is equipped with a horizontal direction positioning combination detection mechanism, and an initial limit mechanism is provided between the guide frames. The height-direction positioning detection mechanism, the lifting limit mechanism, the horizontal direction positioning combination detection mechanism, and the initial limit mechanism are all connected to the first connecting control mechanism. The loading trolley includes a trolley body and multiple flexible positioning mechanisms mounted on the trolley body. A lifting limit structure, a trolley sensor, and an initial trigger are respectively installed on the trolley body at positions corresponding to the lifting limit mechanism, the horizontal direction positioning combination detection mechanism, and the initial limit mechanism. The trolley body also has a second connecting control mechanism, the connection control end of which corresponds to the connection control end of the first connecting control mechanism. The flexible positioning mechanism is connected to the second connecting control mechanism.

[0006] Preferably, the first connection control mechanism includes a PLC controller, an electrical quick-connect female terminal, a first valve island, and a pneumatic triplet. The electrical quick-connect female terminal and the first valve island are both electrically connected to the PLC controller, and both are electrically connected to the pneumatic triplet. The first connection control mechanism also includes a first lifting assembly, and the electrical quick-connect female terminal is connected to the abutment frame through the first lifting assembly. The height direction positioning detection mechanism, the lifting limit mechanism, the horizontal direction positioning combination detection mechanism, and the initial limit mechanism are all connected to the first valve island. The second connection control mechanism includes an electrical quick-connect male terminal and a second valve island connected to the electrical quick-connect male terminal. The electrical quick-connect male terminal is installed at the abutment end of the trolley body and extends out of the trolley body, and the position of the electrical quick-connect male terminal corresponds to the position of the electrical quick-connect female terminal. The flexible positioning mechanism is connected to the second valve island.

[0007] Preferably, the electrical quick-connect female terminal includes a first support connected to the abutment frame, the fixed end of the first lifting assembly is connected to the first support, the lifting end of the first lifting assembly is connected to a female terminal panel, the female terminal panel is fitted with a female terminal air circuit connector, a female terminal circuit connector, and a positioning detection element, the female terminal air circuit connector is connected to the air outlet of the pneumatic triplet, and the female terminal circuit connector and the positioning detection element are both electrically connected to the PLC controller; the female terminal panel is also provided with several alignment holes; the electrical quick-connect male terminal includes a male terminal panel connected to the trolley body, the male terminal panel is fitted with a male terminal air circuit connector and a male terminal circuit connector respectively at the positions corresponding to the female terminal air circuit connector and the female terminal circuit connector, the male terminal air circuit connector is connected to the second valve island, and the male terminal circuit connector is electrically connected to the second valve island; the male terminal panel is fitted with a detection block and an alignment pin respectively at the positions corresponding to the positioning detection element and the alignment holes.

[0008] Preferably, the initial limiting mechanism includes a rotating component, a limiting roller, and a limit switch. The rotating end of the rotating component is connected to the limiting roller. The rotation axis of the rotating component is perpendicular to the horizontal plane, and the rolling axis of the limiting roller is parallel to the horizontal plane. When the initial limiting mechanism is in the limiting state, there is a receiving gap between the limiting roller and the limit switch. The initial trigger includes a lever connected to the bottom of the trolley body. When the upper trolley is limited by the initial limiting mechanism, the lever is located in the receiving gap.

[0009] Preferably, the height-direction arrival detection mechanism includes a first sensor and a first bracket, the first sensor being mounted above the switching frame via the first bracket; the first sensor is used to perform height-direction arrival detection with the trolley body; and / or: the horizontal-direction arrival combination detection mechanism includes a second bracket connected to the abutment frame, the second bracket being equipped with a plurality of second sensors; the trolley sensing element includes a trolley sensing block connected to the abutment end of the trolley body, the trolley sensing block having a plurality of sensing protrusions, the plurality of sensing protrusions being used to perform horizontal-direction arrival detection and trolley detection with the plurality of second sensors.

[0010] Preferably, the trolley body includes a workbench and a guide plate connected to the edge of the workbench, and multiple flexible positioning mechanisms are installed on the workbench; wherein: side guide wheels are arranged and connected at both sides of the guide plate, and the side guide wheels are used to roll and abut against the guide frame; and / or: pressure blocks are arranged and connected on the guide frame along its guiding direction, and when the loading trolley enters the trolley positioning switching device, the pressure blocks are located above the guide plate.

[0011] Preferably, the lifting and limiting mechanism includes a plurality of second lifting components mounted on the switching frame, the lifting ends of the second lifting components being connected to limiting pins; the lifting and limiting structure includes a plurality of limiting slots connected to the bottom of the trolley body, the positions of the limiting slots corresponding to the positions of the limiting pins; and / or: the lifting and limiting mechanism includes a plurality of third lifting components mounted on the switching frame, the lifting ends of the third lifting components being connected to limiting support blocks; the lifting and limiting structure includes a plurality of limiting plates connected to the bottom of the trolley body, the positions of the limiting plates corresponding to the positions of the limiting support blocks.

[0012] Preferably, the abutment frame is provided with a first alignment structure, and the trolley body is provided with a second alignment structure at a position corresponding to the first alignment structure; wherein: the first alignment structure includes a plurality of concave parts connected to the abutment frame, and the second alignment structure includes a plurality of convex parts connected to the bottom of the trolley body, the positions of the plurality of convex parts correspond to the positions of the plurality of concave parts, and the convex parts match the concave parts.

[0013] Preferably, the multiple flexible positioning mechanisms include several first flexible integrated positioning mechanisms and support mechanisms mounted on the trolley body, and several second flexible integrated positioning mechanisms mounted near the edge of the trolley body; wherein: the first flexible integrated positioning mechanism includes a fourth lifting component connected to the trolley body, the lifting end of the fourth lifting component is connected to a positioning component, a derived sensing component, and a positioning sensor, the derived sensing component and the positioning sensor are respectively located on both sides of the positioning component; and / or: the second flexible integrated positioning mechanism includes a first flipping component connected to the trolley body, the flipping end of the first flipping component is connected to a first support component and an upper component guide component, the upper component guide component has a bent portion connected to one end away from the first flipping component.

[0014] The present invention also provides a loading method for the above-mentioned flexible loading and positioning system, the loading method comprising the following steps: S1. Move the loading trolley, the loading trolley enters the trolley positioning switching device and continues to move along the guide frame until the initial trigger triggers the limit switch of the initial limit mechanism, the initial limit mechanism sends the detected trolley initial position signal to the PLC controller of the first connected control mechanism; and the trolley sensing element triggers the horizontal position combination detection mechanism, the horizontal position combination detection mechanism sends the detected trolley information signal and the trolley forward position signal to the PLC controller; S2. After receiving the initial positioning signal of the trolley, the PLC controller drives the rotation component of the initial limit mechanism, and the initial trigger is limited between the limit roller of the initial limit mechanism and the limit switch; S3. After receiving the trolley forward positioning signal, the PLC controller drives the lifting limit mechanism to lift the trolley body, and the height direction positioning detection mechanism sends the detected trolley height positioning signal to the PLC controller. S4. After receiving the trolley height arrival signal, the PLC controller drives the first lifting component of the first connecting control mechanism, and the electrical quick-connect female terminal of the first connecting control mechanism is connected to the electrical quick-connect male terminal of the second connecting control mechanism. S5. The PLC controller, based on the received trolley information signal, sequentially controls the flexible positioning mechanism to perform flexible switching positioning through the electrical quick-connect female terminal and the electrical quick-connect male terminal.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention discloses a flexible part-loading positioning system and method. The initial limiting mechanism between guide frames and the initial triggering element in the part-loading trolley enable initial positioning of the part-loading trolley at the trolley positioning switching device. Subsequently, the horizontal positioning detection mechanism and trolley sensing element enable horizontal positioning of the part-loading trolley and simultaneous acquisition of corresponding trolley information. Following this, the lifting limiting mechanism and the height positioning detection mechanism prevent inaccurate part loading due to uneven ground causing the part-loading trolley to tilt. Multiple flexible positioning mechanisms on the trolley body enable flexible positioning of different models and parts. The second and first connecting control mechanisms allow the flexible positioning mechanisms to perform connection control only after ensuring accurate positioning of the part-loading trolley, and control the flexible positioning mechanisms to perform flexible positioning switching based on trolley information at the trolley positioning switching device, achieving convenient and accurate part loading and improving part production quality and efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a flexible upper part positioning system according to the present invention; Figure 2 for Figure 1 Enlarged schematic diagram of section I; Figure 3 for Figure 1 An enlarged schematic diagram of section J in the middle; Figure 4 This is a schematic diagram of the structure of the electrical quick-connect female terminal of the present invention; Figure 5 This is a schematic diagram of the structure of the electrical quick-connect male terminal of the present invention; Figure 6 This is a schematic diagram of the bottom structure of a flexible upper part positioning system according to the present invention; Figure 7 for Figure 6 An enlarged schematic diagram of section K in the middle; Figure 8 This is a schematic diagram of the trolley positioning switching device of the present invention; Figure 9 for Figure 8 Enlarged schematic diagram of section L in the middle; Figure 10 This is a top-view structural schematic diagram of the trolley positioning switching device of the present invention; Figure 11 This is a schematic diagram of the initial limiting mechanism of the present invention; Figure 12 This is a structural schematic diagram of the upper part trolley of the present invention from a bottom-up perspective; Figure 13 This is a schematic diagram of the structure of the upper part trolley of the present invention; Figure 14 for Figure 13 An enlarged schematic diagram of section M in the middle; Figure 15 for Figure 13 An enlarged schematic diagram of part N in the middle; Figure 16 for Figure 13 Enlarged schematic diagram of part P in the middle; Figure 17 for Figure 13 Enlarged schematic diagram of the Q section; Figure 18 This is a schematic diagram of the structure of the first flexible integrated positioning mechanism of the present invention; Figure 19 This is a schematic diagram of the structure of the first flexible integrated positioning mechanism of the present invention; Figure 20 This is a schematic diagram of the structure of the second flexible integrated positioning mechanism of the present invention; Figure 21 This is a schematic diagram of the support mechanism of the present invention.

[0017] In the attached diagram: 100, switching frame; 110, abutment frame; 120, guide frame; 121, pressure block; 130, guide pad; 140, guide plate; 200, first connection control mechanism; 210, electrical quick-connect female terminal; 211, female terminal panel; 212, female terminal pneumatic connector; 213, female terminal electrical connector; 214, positioning detection element; 215, alignment hole; 220, first valve island; 230, pneumatic triplet; 240, first lifting assembly; 250, first support; 260, limit block; 310, height direction positioning detection mechanism; 311, first sensor; 312, first bracket; 320, horizontal direction positioning combination detection mechanism; 321, first... Two sensors; 322, second bracket; 400, lifting limit mechanism; 410, limit pin; 420, second lifting assembly; 430, limit support block; 440, third lifting assembly; 500, first alignment structure; 600, initial limit mechanism; 610, rotating assembly; 620, limit roller; 630, limit switch; 640, first mounting base; 700, trolley body; 711, workbench; 712, guide plate; 713, caster; 714, foot brake structure; 715, handrail; 716, forklift sleeve; 717, lifting lug; 720, lifting limit structure; 721, limit slot; 722, limit plate; 730, second alignment structure; 740, platform 741. Car sensor; 742. Sensor protrusion; 750. Initial trigger; 760. Side guide wheel; 800. Flexible positioning mechanism; 810. First flexible integrated positioning mechanism; 811. Fourth lifting assembly; 812. Positioning component; 813. Derivative sensor; 814. Positioning sensor; 815. First adjusting frame; 816. Second adjusting frame; 817. Height limiting arm; 818. Contact block; 819. Second mounting base; 820. Second flexible integrated positioning mechanism; 821. First support component; 822. Upper guide component; 823. Bending part; 824. Third telescopic cylinder; 825. Linkage assembly; 826. Connecting arm; 827. Fourth Sensor; 828, Adjustable seat; 829, Support; 801, L-shaped support block; 802, Flat support block; 803, First protrusion; 804, Second protrusion; 830, Support mechanism; 831, First support block; 832, Fourth telescopic cylinder; 833, Mounting plate; 840, Flexible support positioning mechanism; 841, Second flip assembly; 842, Second support member; 843, Fifth sensor; 900, Second connection control mechanism; 910, Electrical quick-connect male terminal; 911, Male terminal panel; 912, Male terminal air circuit connector; 913, Male terminal circuit connector; 914, Detection block; 915, Alignment pin; 916, Connecting block; 920, Second valve island. Detailed Implementation

[0018] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0019] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0020] Example 1 like Figures 1 to 13 The diagram shows a first embodiment of a flexible loading and positioning system of the present invention, including a loading trolley and a trolley positioning switching device. The trolley positioning switching device includes a switching frame 100, a first connecting control mechanism 200 mounted on the switching frame 100, a height-direction positioning detection mechanism 310, and a lifting limiting mechanism 400. The switching frame 100 includes an abutment frame 110 and guide frames 120 connected to both ends of the abutment frame 110. The abutment frame 110 is provided with a horizontal direction positioning combination detection mechanism 320, and an initial limiting mechanism 600 is provided between the guide frames 120. The system includes the height-direction positioning detection mechanism 310, the lifting limiting mechanism 400, the horizontal direction positioning combination detection mechanism 320, and the initial limiting mechanism. All 600 are connected to the first connection control mechanism 200; the upper trolley includes a trolley body 700 and multiple flexible positioning mechanisms 800 installed on the trolley body 700. The trolley body 700 is equipped with a lifting limit structure 720, a trolley sensor 740, and an initial trigger 750 at the positions corresponding to the lifting limit mechanism 400, the horizontal positioning combination detection mechanism 320, and the initial limit mechanism 600, respectively; the trolley body 700 is also provided with a second connection control mechanism 900, and the connection control end of the second connection control mechanism 900 corresponds to the position of the connection control end of the first connection control mechanism 200; the flexible positioning mechanism 800 is connected to the second connection control mechanism 900.

[0021] The initial limiting mechanism 600 between the guide frames 120 and the initial trigger 750 in the loading trolley can be used to achieve the initial positioning limit of the loading trolley at the trolley positioning switching device; then, according to the setting of the horizontal positioning combination detection mechanism 320 and the trolley sensor 740, the horizontal positioning limit of the loading trolley can be achieved and the corresponding trolley information can be obtained simultaneously; subsequently, according to the setting of the lifting limiting mechanism 400 and the height positioning detection mechanism 310, the tilting of the loading trolley due to uneven ground can be avoided. The problem of inaccurate part loading has arisen. The multiple flexible positioning mechanisms 800 on the trolley body 700 enable flexible positioning of different models and parts. The second connection control mechanism 900 and the first connection control mechanism 200 allow the flexible positioning mechanism 800 to connect and control only after ensuring that the part loading trolley is accurately in place. The flexible positioning mechanism 800 is controlled to perform flexible positioning switching based on the trolley information at the trolley positioning switching device, so as to achieve convenient and accurate part loading, which can improve the production quality and production efficiency of parts. Figure 1 , Figure 8 and Figure 10 As shown, the abutment frame 110 and the guide frames 120 at both ends of it can form a three-sided surrounding structure.

[0022] like Figure 1 , Figure 2 , Figure 4 , Figure 8 and Figure 10As shown, the first connection control mechanism 200 includes a PLC controller, an electrical quick-connect female terminal 210, a first valve island 220, and a pneumatic triplet 230. The electrical quick-connect female terminal 210 and the first valve island 220 are both electrically connected to the PLC controller, and both are connected to the air outlet of the pneumatic triplet 230. The air inlet of the pneumatic triplet 230 is connected to an air source. The first connection control mechanism 200 also includes a first lifting assembly 240. The electrical quick-connect female terminal 210 is connected to the abutment frame 110 via the first lifting assembly 240. The height direction arrival detection mechanism 310, the lifting limit mechanism 400, the horizontal direction arrival combination detection mechanism 320, and the initial limit mechanism 600 are all connected to the first valve island 220. In this embodiment, the first valve island 220 and the pneumatic triplet 230 are both installed on the outside of the three-sided surrounding structure, i.e., on the outside of the abutment frame 110. The electrical quick-connect female terminal 210 includes a first support 250 connected to the outer side of the abutment frame 110. The first lifting assembly 240 is a first telescopic cylinder. The fixed end of the first telescopic cylinder is connected to the first support 250. The telescopic end of the first telescopic cylinder is connected to a female terminal panel 211. The female terminal panel 211 is fitted with a female terminal air circuit connector 212, a female terminal circuit connector 213, and a positioning detection element 214. The female terminal air circuit connector 212 is connected to the air outlet of the pneumatic triplet 230. The female terminal circuit connector 213 and the positioning detection element 214 are both electrically connected to the PLC controller. The female terminal panel 211 is also provided with several alignment holes 215. In this embodiment, the positioning detection element 214 is a proximity sensor. The connecting ends of the female terminal air circuit connector 212, the connecting ends of the female terminal circuit connector 213, and the sensing ends of the proximity sensor are all arranged downwards. One alignment hole 215 is provided at each of the diagonal positions of the female terminal panel 211.

[0023] like Figure 2 , Figure 5 , Figure 12 and Figure 13As shown, the second connection control mechanism 900 includes an electrical quick-connect male terminal 910 and a second valve island 920 connected to the electrical quick-connect male terminal 910. The electrical quick-connect male terminal 910 is installed at the abutting end of the trolley body 700 and extends out of the trolley body 700, and the position of the electrical quick-connect male terminal 910 corresponds to the position of the electrical quick-connect female terminal 210. The flexible positioning mechanism 800 is connected to the second valve island 920. In this embodiment, the second valve island 920 is installed at the abutting end of the trolley body 700 and extends out of the trolley body 700. To avoid the second valve island 920 affecting the alignment between the upper trolley and the trolley positioning switching device, the second valve island 920 is located at a position corresponding to the first valve island 220. The electrical quick-connect male terminal 910 includes a connecting block 916 and a male terminal panel 911. The male terminal panel 911 is connected to the trolley body 700 through the connecting block 916. The male terminal air circuit connector 912 and the male terminal circuit connector 913 are respectively inserted into the male terminal panel 911 at the positions corresponding to the female terminal air circuit connector 212 and the female terminal circuit connector 213. The male terminal air circuit connector 912 is connected to the second valve island 920, and the male terminal circuit connector 913 is electrically connected to the second valve island 920. The detection block 914 and the alignment pin 915 are respectively connected to the male terminal panel 911 at the positions corresponding to the position detection element 214 and the alignment hole 215. In this embodiment, the connection ends of the male gas connector 912 and the male circuit connector 913 are both facing upwards. The detection block 914 and the alignment pin 915 are both connected to the upper surface of the male panel 911, and the alignment pin 915 can be set to correspond to the number and position of the alignment holes 215.

[0024] like Figure 2 and Figure 4 As shown, to make the connection distance between the electrical quick-connect female terminal 210 and the electrical quick-connect male terminal 910 adjustable, a plurality of limiting blocks 260 are connected to the top of the first support 250. The limiting blocks 260, by contacting the lower surface of the female terminal panel 211, can limit the contact distance between the electrical quick-connect female terminal 210 and the electrical quick-connect male terminal 910. It should be noted that the distance between the electrical quick-connect female terminal 210 and the electrical quick-connect male terminal 910 can also be adjusted by setting corresponding shims at the limiting blocks 260.

[0025] like Figures 6 to 8 , Figure 10 and Figure 11As shown, the initial limiting mechanism 600 includes a rotating assembly 610, a limiting roller 620, a limit switch 630, and a first mounting base 640. The rotating assembly 610 and the limit switch 630 are both electrically connected to the first valve island 220. In this embodiment, the rotating assembly 610 is a first tilting cylinder. The fixed end of the first tilting cylinder and the limit switch 630 are both mounted on the ground via the first mounting base 640. The rotating end of the first tilting cylinder is connected to the limiting roller 620. The rotation axis of the first tilting cylinder is perpendicular to the horizontal plane, and the rolling axis of the limiting roller 620 is parallel to the horizontal plane. When the initial limiting mechanism 600 is in the limiting state, that is, when the first tilting cylinder drives the limiting roller 620 to rotate to a position close to the limit switch 630, there is an accommodating gap between the limiting roller 620 and the limit switch 630. Figure 7 and Figure 12 As shown, the initial trigger 750 includes a lever plate vertically connected to the bottom of the trolley body 700. When the upper trolley is limited by the initial limiting mechanism 600, the lever plate is located in the receiving gap. It should be noted that the setting of the limiting roller 620 can avoid interference with the displacement of the trolley body 700 when the lifting limiting mechanism 400 moves on the trolley body 700.

[0026] like Figure 1 , Figure 3 , Figures 8 to 10 As shown, the height-direction positioning detection mechanism 310 includes a first sensor 311 and a first bracket 312. The first sensor 311 is electrically connected to the first valve island 220. The first sensor 311 is mounted above the switching frame 100 via the first bracket 312, with the sensing end of the first sensor 311 facing downwards. The first sensor 311 is used to detect the height-direction positioning of the trolley body 700. In this embodiment, to enable the height-direction positioning detection mechanism 310 to detect whether the trolley body 700 is in position in the height direction at more than one point, multiple height-direction positioning detection mechanisms 310 are installed on the abutment frame 110 and the guide frame 120, such as... Figure 10 As shown.

[0027] like Figure 1 , Figure 3 , Figures 8 to 10 , Figure 14As shown, the horizontal positioning detection mechanism 320 includes a second bracket 322 connected to the abutment frame 110. A plurality of second sensors 321 are mounted on the second bracket 322, with the sensing ends of the second sensors 321 facing the inner side of the three-sided surrounding structure, i.e., towards the inner side of the abutment frame 110. The second sensors 321 are electrically connected to the first valve island 220. The trolley sensing element 740 includes a trolley sensing block 741 connected to the abutment end of the trolley body 700. The trolley sensing block 741 has a plurality of sensing protrusions 742, which are used for horizontal positioning detection and trolley detection in conjunction with the plurality of second sensors 321. It should be noted that the abutment end of the trolley body 700 refers to the end of the trolley body 700 that is close to the abutment frame 110.

[0028] In this embodiment, the loading trolley can have different numbers or positions of sensing protrusions 742 on the trolley sensing block 741 depending on the different types of parts to be loaded. The second bracket 322 can be equipped with a second sensor array 321. The number and position of contact points between the second sensor array 321 and the sensing protrusions 742 can distinguish the types of parts loaded on the loading trolley, thus obtaining different trolley information. Furthermore, since the horizontal positioning detection mechanism 320 is located at the abutment frame 110, when the sensing protrusions 742 contact the second sensor 321, a trolley positioning signal can be obtained after the loading trolley has reached its position in the forward direction.

[0029] Example 2 This embodiment is a second embodiment of a flexible upper component positioning system. This embodiment is similar to the first embodiment, except that, as Figure 1 , Figure 3 , Figure 6 , Figures 8 to 10 , Figure 12 and Figure 13 As shown, the trolley body 700 includes a worktable 711, a guide plate 712 connected to the edge of the worktable 711, multiple flexible positioning mechanisms 800 are installed on the worktable 711, a male end panel 911 is connected to the worktable 711 through a connecting block 916, a second valve island 920 is installed at the abutting end of the worktable 711 and extends out of the worktable 711, a lever is vertically connected to the bottom of the worktable 711, a trolley sensing block 741 is connected to the abutting end of the worktable 711, and a first sensor 311 is used to detect the height of the guide plate 712.

[0030] Side guide wheels 760 are arranged and connected at both edges of the guide plate 712. The rotation axis of the side guide wheels 760 is perpendicular to the horizontal plane. The side guide wheels 760 are used to roll and abut against the inner side of the guide frame 120, which can improve the smoothness of the movement and guidance of the upper part trolley at the trolley positioning and switching device. Figure 3 , Figure 9 and Figure 10 As shown, pressure blocks 121 are arranged and connected on the top of the guide frame 120 along its guiding direction. When the upper trolley enters the trolley positioning and switching device, the pressure blocks 121 are located above the guide plate 712. It should be noted that the pressure blocks 121 can also be used to limit the movement of the trolley body 700 in the height direction.

[0031] like Figures 8 to 10 , Figure 12 As shown, the lifting and limiting mechanism 400 includes several second lifting components 420 mounted on the switching frame 100, with the lifting end of each second lifting component 420 connected to a limiting pin 410. The lifting and limiting structure 720 includes several limiting slots 721 connected to the bottom of the worktable 711, with the positions of the limiting slots 721 corresponding to the positions of the limiting pins 410. The lifting and limiting mechanism 400 also includes several third lifting components 440 mounted on the switching frame 100, with the lifting end of each third lifting component 440 connected to a limiting support block 430. The lifting and limiting structure 720 includes several limiting plates 722 connected to the bottom of the worktable 711, with the positions of the limiting plates 722 corresponding to the positions of the limiting support blocks 430. In this embodiment, the lifting and limiting mechanism 400 is located inside the three-sided surrounding structure. The second lifting components 420 and the third lifting components 440 are both second telescopic cylinders, and the fixed ends of the second telescopic cylinders can be fixed to the inside of the three-sided surrounding structure via plates. It should be noted that the position and quantity settings of the limit pin 410 and the limit support block 430 can be set according to actual usage requirements.

[0032] like Figure 1 , Figure 3 , Figure 6 , Figure 9 , Figure 10 and Figure 12 As shown, the abutment frame 110 is provided with a first alignment structure 500, and a second alignment structure 730 is installed at the bottom of the worktable 711 corresponding to the position of the first alignment structure 500. The arrangement of the first alignment structure 500 and the second alignment structure 730 can improve the alignment convenience between the upper trolley and the trolley positioning switching device. The first alignment structure 500 includes several concave parts connected to the inner side of the abutment frame 110, and the second alignment structure 730 includes several convex parts connected to the bottom of the trolley body 700. The positions of the convex parts correspond to the positions of the concave parts, and the convex parts and concave parts match. In this embodiment, the convex parts can be set to an approximately V-shape.

[0033] like Figure 12 and Figure 13 As shown, the workbench 711 is detachably connected to a handrail 715, and the upper surface of the workbench 711 is connected to a lifting lug 717. The bottom of the workbench 711 is connected to casters 713, a foot brake structure 714, and a forklift cover 716. The handrail 715 and casters 713 facilitate the pushing of the loading trolley. The handrail 715 can be inserted into the workbench 711 via a pin. The forklift cover 716 and the lifting lug 717 make the loading trolley suitable for different transportation conditions.

[0034] like Figure 6 , Figure 8 and Figure 10 As shown, the switching frame 100 also includes a guide plate 130 arranged along the guiding direction of the guide frame 120. The lifting and limiting mechanism 400 is located between the guide plate 130 and the guide frame 120. The guide plate 130 is provided to allow the casters 713 to roll along the guide plate 130, reducing wear on the floor of the workshop production line. An inlet plate 140 is connected to one end of the guide frame 120 away from the abutment frame 110. The two inlet plates 140 are flared to facilitate the inlet of the loading trolley.

[0035] Example 3 This embodiment is a third embodiment of a flexible upper component positioning system. This embodiment is similar to Embodiment 1 or 2, except that, as Figure 1 , Figure 13 , Figures 15 to 21 As shown, the multiple flexible positioning mechanisms 800 include several first flexible integrated positioning mechanisms 810 and support mechanisms 830 installed on the trolley body 700, and several second flexible integrated positioning mechanisms 820 installed near the edge of the trolley body 700.

[0036] like Figure 18 and Figure 19 As shown, the first flexible integrated positioning mechanism 810 can be set in one or more sets on the worktable 711 according to actual usage requirements. The first flexible integrated positioning mechanism 810 includes a fourth lifting component 811 connected to the worktable 711. The lifting end of the fourth lifting component 811 is connected to a positioning element 812, a derived sensing element 813, and a position sensing element 814. The derived sensing element 813 and the position sensing element 814 are located on both sides of the positioning element 812. The fourth lifting component 811, the derived sensing element 813, and the position sensing element 814 are all electrically connected to the second valve island 920.

[0037] In this embodiment, the first flexible integrated positioning mechanism 810 further includes a second mounting base 819 connected to the lifting end of the fourth lifting assembly 811. A first adjusting frame 815 and a second adjusting frame 816 are connected to the second mounting base 819. The loading surfaces of the first adjusting frame 815 and the second adjusting frame 816 are respectively connected to the derived sensing element 813 and the positioning sensing element 814. In this embodiment, the loading surface of the first adjusting frame 815 is inclined relative to the horizontal plane, and the loading surface of the second adjusting frame 816 is parallel to the horizontal plane, which facilitates the adaptation of the positions of the derived sensing element 813 and the positioning sensing element 814 to the vehicle model parts. Both the first adjusting frame 815 and the second adjusting frame 816 are provided with oblong holes, which are connected to the second mounting base 819. The oblong holes facilitate fine-tuning of the positions of the derived sensing element 813 and the positioning sensing element 814. Preferably, the extension direction of the oblong hole on the first adjusting bracket 815 is parallel to the horizontal plane, and the extension direction of the oblong hole on the second adjusting bracket 816 is perpendicular to the horizontal plane. Preferably, the positioning element 812 is a positioning pin, which is connected to the second mounting base 819 through a pin seat. The derived sensing element 813 and the positioning sensing element 814 are both third sensors.

[0038] like Figure 18 and Figure 19 As shown, the first flexible integrated positioning mechanism 810 also includes a height limiting arm 817 and a contact block 818. One end of the height limiting arm 817 is connected to the fixed end of the fourth lifting assembly 811, and the contact block 818 is connected to the other end of the height limiting arm 817. The contact block 818 is located directly above the lifting end of the fourth lifting assembly 811.

[0039] like Figure 20 As shown, the second flexible integrated positioning mechanism 820 includes a first flipping component connected to the trolley body 700. The flipping end of the first flipping component is connected to a first support member 821 and an upper guide member 822. The upper guide member 822 has a bending portion 823 connected to one end away from the first flipping component. The bending portion 823 is located outside the first support member 821 and is bent in the direction of the outer side of the worktable 711.

[0040] like Figures 15 to 17 , Figure 20 As shown, the first support member 821 can be any one of an L-shaped support block 801, a flat support block 802, or an irregularly shaped support block. The irregularly shaped support block includes a first protrusion 803 and a second protrusion 804 arranged side-by-side. The support surface of the first protrusion 803 includes a flat surface and an inclined surface, while the support surface of the second protrusion 804 includes a stepped surface. The arrangement of the L-shaped support block 801, the flat support block 802, and the irregularly shaped support block can be used to adapt to the positioning and fitting of different parts in various vehicle models.

[0041] In this embodiment, the rotation axis of the first flipping assembly is parallel to the horizontal plane. The first flipping assembly includes a third telescopic cylinder 824, a connecting rod assembly 825, and a connecting arm 826. The telescopic end of the third telescopic cylinder 824 is connected to the connecting arm 826 through the connecting rod assembly 825. The first support member 821 and the upper guide member 822 are both installed on the connecting arm 826. The first flipping assembly also includes an adjustable seat 828 and a support portion 829. The adjustable seat 828 is installed on the worktable 711. Multiple sets of mounting holes are arranged on the adjustable seat 828. The support portion 829 is connected to the adjustable seat 828 through the mounting holes. The connecting rod assembly 825 is movably connected to the support portion 829. The fixed end of the third telescopic cylinder 824 is hinged to the support portion 829. The mounting holes not only facilitate the position adjustment of the first support member 821 and the upper guide member 822, improving the adaptability of the second flexible integrated positioning mechanism 820 to different parts of different vehicle models, but also allow for the installation of multiple sets of first tilting components on the adjustable seat 828, enabling each set of first tilting components to adapt to different parts of different vehicle models. When the first tilting component is tilted to the working state, the connecting arm 826 can abut against the support portion 829 to achieve a limit, preventing excessive swinging of the first tilting component. Figure 16 As shown, the upper guide member 822 is provided with an oblong hole, through which the upper guide member 822 is connected to the connecting arm 826. The oblong hole facilitates fine-tuning of the position of the upper guide member 822. Preferably, the upper guide member 822 and the bending portion 823 are integrally formed.

[0042] like Figure 1 and Figure 13 As shown, the second flexible integrated positioning mechanism 820 can be set at the edge of the workbench 711 according to actual usage requirements. In one or more sets of the second flexible integrated positioning mechanism 820, the flip end of the first flip component is also equipped with a fourth sensor 827 that is electrically connected to the second valve island 920. Specifically, the fourth sensor 827 is installed on the connecting arm 826.

[0043] like Figure 13 and Figure 21As shown, the support mechanism 830 includes a first support block 831, a fourth telescopic cylinder 832, and a mounting plate 833. The fourth telescopic cylinder 832 is vertically arranged, and its fixed end is connected to the workbench 711. The mounting plate 833 is connected to the telescopic end of the fourth telescopic cylinder 832. The first support block 831 is mounted on the mounting plate 833. The support mechanism 830 can be used to support the bottom plate of the luggage compartment of the part, further improving the support stability of the flexible positioning mechanism 800. The fourth telescopic cylinder 832 is electrically connected to the second valve island 920. In this embodiment, one or more sets of support mechanisms 830 can be set at the edge of the workbench 711 according to actual usage requirements. Preferably, one set of support mechanisms 830 is provided, such as... Figure 13 As shown. In this embodiment, the shape and number of the first support block 831 can be selected according to the actual usage scenario. Preferably, the first support block 831 can be L-shaped and two can be symmetrically arranged on the mounting plate 833.

[0044] like Figure 13 , Figure 16 and Figure 17 As shown, the multiple flexible positioning mechanisms 800 also include a flexible support positioning mechanism 840 mounted on the trolley body 700. One or more sets of flexible support positioning mechanisms 840 can be installed at the edge of the workbench 711 according to actual usage requirements. In this embodiment, the flexible support positioning mechanism 840 includes a second flipping assembly 841 mounted on the workbench 711, with a second support member 842 connected to the flipping end of the second flipping assembly 841. In one or more sets of flexible support positioning mechanisms 840, a fifth sensor 843 is also installed at the swinging end of the second flipping assembly 841. In this embodiment, the structure of the second flipping assembly 841 is similar to or the same as the structure of the first flipping assembly. In this embodiment, both the second flipping assembly 841 and the fifth sensor 843 are electrically connected to the second valve island 920.

[0045] Example 4 This embodiment is an example of a loading method, applied to the flexible loading and positioning system described in any of embodiments one to three. The loading method includes the following steps: S1. The moving loading trolley enters the trolley positioning switching device and continues to move along the guide frame 120 until the initial trigger 750 triggers the limit switch 630 of the initial limit mechanism 600. The initial limit mechanism 600 sends the detected trolley initial position signal to the PLC controller of the first connection control mechanism 200; and the trolley sensing element 740 triggers the horizontal position combination detection mechanism 320. The horizontal position combination detection mechanism 320 sends the detected trolley information signal and the trolley forward position signal to the PLC controller. After receiving the initial position signal of the trolley, the S2.PLC controller drives the rotation component 610 of the initial limit mechanism 600, and the initial trigger 750 is limited between the limit roller 620 and the limit switch 630 of the initial limit mechanism 600. After receiving the trolley forward positioning signal, the S3.PLC controller drives the lifting limit mechanism 400 to lift the trolley body 700, and the height positioning detection mechanism 310 sends the detected trolley height positioning signal to the PLC controller. After receiving the trolley height arrival signal, the S4.PLC controller drives the first lifting component 240 of the first connection control mechanism 200, and the electrical quick-connect female terminal 210 of the first connection control mechanism 200 is connected to the electrical quick-connect male terminal 910 of the second connection control mechanism 900. Based on the received trolley information signal, the S5.PLC controller sequentially controls the flexible positioning mechanism 800 to perform flexible switching positioning via the electrical quick-connect female terminal 210 and the electrical quick-connect male terminal 910.

[0046] Specifically, step S1 includes: moving the loading trolley, the loading trolley entering the trolley positioning switching device and continuing to move along the guide frame 120, the worktable 711 moving closer to the abutment frame 110, the side guide wheel 760 rolling abutting against the guide frame 120, the second alignment structure 730 moving closer to the first alignment structure 500 and achieving coarse alignment; continuously moving the loading trolley until the initial trigger 750 triggers the limit switch 630, the limit switch 630 sending the detected trolley initial position signal to the PLC controller through the first valve island 220; and the trolley sensing element 740 triggering the second sensor 321, the second sensor 321 sending the detected trolley information signal and the trolley forward position signal to the PLC controller through the first valve island 220.

[0047] Specifically, step S2 includes: after receiving the initial positioning signal of the trolley, the PLC controller drives the rotating assembly 610 through the first valve island 220, the limit roller 620 rotates closer to the limit switch 630, and the initial trigger 750 is limited in the receiving gap between the limit roller 620 and the limit switch 630, thus completing the initial positioning.

[0048] Specifically, step S3 includes: after receiving the trolley forward positioning signal, the PLC controller drives the second lifting assembly 420 and the third lifting assembly 440 through the first valve island 220, the limit pin 410 moves upward and extends into the limit slot 721, the limit support block 430 moves upward and contacts the limit plate 722, the worktable 711 is lifted up until the first sensor 311 contacts the guide plate 712, and the first sensor 311 sends the detected trolley height positioning signal to the PLC controller through the first valve island 220.

[0049] Specifically, step S4 includes: after receiving the trolley height arrival signal, the PLC controller drives the first lifting component 240 through the first valve island 220, the electrical quick-connect female terminal 210 moves down and docks with the electrical quick-connect male terminal 910. During the downward movement, the alignment hole 215 and the alignment pin 915 are inserted until the arrival detection element 214 contacts the detection block 914. The arrival detection element 214 sends the control connection arrival signal to the PLC controller through the first valve island 220. At this time, the connection between the female air circuit connector 212 and the male air circuit connector 912 is completed, as well as the connection between the female circuit connector 213 and the male circuit connector 913 is completed.

[0050] Specifically, step S5 includes: the PLC controller, based on the received trolley information signal, sequentially controls the flexible positioning mechanism 800 to perform flexible switching positioning via the electrical quick-connect female terminal 210, the electrical quick-connect male terminal 910, and the second valve island 920; wherein: the first flexible integrated positioning mechanism 810, the second flexible integrated positioning mechanism 820, the support mechanism 830, and the flexible support positioning mechanism 840 are operated according to the trolley information signal to achieve part positioning, specifically: The first and / or second flip components 841 and / or the third telescopic cylinder 824 at the required support and positioning position of the corresponding part move to the working state, so that the corresponding positioning member 812, derived sensing member 813, position sensing member 814, first support member 821, bending part 823, fourth sensor 827, second support member 842, and fifth sensor 843 are arranged upwards. The bending part 823 is used for part guidance, the positioning member 812 is used for part positioning, the first support member 821 and the second support member 842 are used for part support, the derived sensing member 813 is used for part derivative identification detection, and the position sensing member 814, fourth sensor 827, and fifth sensor 843 are all used for position detection. The remaining first flexible integrated positioning mechanism 810, second flexible integrated positioning mechanism 820, and flexible support positioning mechanism 840 remain in a non-working state to avoid unnecessary interference to the part. In addition, the corresponding part can be supported at the bottom of the luggage compartment of the vehicle body through the support mechanism 830.

[0051] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A flexible mounting and positioning system, characterized in that, The device includes a loading trolley and a trolley positioning and switching device. The trolley positioning and switching device includes a switching frame (100), a first connection control mechanism (200) installed on the switching frame (100), a height direction positioning detection mechanism (310), and a lifting limit mechanism (400). The switching frame (100) includes an abutment frame (110) and guide frames (120) connected to both ends of the abutment frame (110). The abutment frame (110) is provided with a horizontal direction positioning combination detection mechanism (320), and an initial limit mechanism (600) is provided between the guide frames (120). The height direction positioning detection mechanism (310), the lifting limit mechanism (400), the horizontal direction positioning combination detection mechanism (320), and the initial limit mechanism (600) are all connected to the first connection control mechanism (200). The loading trolley includes a trolley body (700) and a plurality of flexible positioning mechanisms (800) mounted on the trolley body (700). The trolley body (700) is equipped with a lifting limiting structure (720), a trolley sensor (740), and an initial trigger (750) at positions corresponding to the lifting limiting mechanism (400), the horizontal positioning combination detection mechanism (320), and the initial limiting mechanism (600), respectively. The trolley body (700) is also provided with a second connection control mechanism (900). The connection control end of the second connection control mechanism (900) corresponds to the position of the connection control end of the first connection control mechanism (200). The flexible positioning mechanism (800) is connected to the second connection control mechanism (900).

2. The flexible mounting positioning system according to claim 1, characterized in that, The first connection control mechanism (200) includes a PLC controller, an electrical quick-connect female terminal (210), a first valve island (220), and a pneumatic triplet (230). The electrical quick-connect female terminal (210) and the first valve island (220) are electrically connected to the PLC controller, and the electrical quick-connect female terminal (210) and the first valve island (220) are conductively connected to the pneumatic triplet (230). The first connection control mechanism (200) also includes a first lifting assembly (240). The electrical quick-connect female terminal (210) is connected to the abutment frame (110) through the first lifting assembly (240). The height direction arrival detection mechanism (310), the lifting limit mechanism (400), the horizontal direction arrival combination detection mechanism (320), and the initial limit mechanism (600) are all connected to the first valve island (220). The second connection control mechanism (900) includes an electrical quick-connect male terminal (910) and a second valve island (920) connected to the electrical quick-connect male terminal (910). The electrical quick-connect male terminal (910) is installed at the abutting end of the trolley body (700) and extends out of the trolley body (700). The position of the electrical quick-connect male terminal (910) corresponds to the position of the electrical quick-connect female terminal (210). The flexible positioning mechanism (800) is connected to the second valve island (920).

3. The flexible mounting positioning system according to claim 2, characterized in that, The electrical quick-connect female terminal (210) includes a first support (250) connected to the abutment frame (110), the fixed end of the first lifting assembly (240) is connected to the first support (250), the lifting end of the first lifting assembly (240) is connected to a female terminal panel (211), the female terminal panel (211) is plugged with a female terminal air circuit connector (212), a female terminal circuit connector (213), and a position detection element (214), the female terminal air circuit connector (212) is connected to the air outlet end of the pneumatic triplet (230), and the female terminal circuit connector (213) and the position detection element (214) are both electrically connected to the PLC controller; the female terminal panel (211) is also provided with several alignment holes (215). The electrical quick-connect male terminal (910) includes a male terminal panel (911) connected to the trolley body (700). The male terminal panel (911) has a male terminal air circuit connector (912) and a male terminal circuit connector (913) inserted at positions corresponding to the female terminal air circuit connector (212) and the female terminal circuit connector (213). The male terminal air circuit connector (912) is connected to the second valve island (920), and the male terminal circuit connector (913) is electrically connected to the second valve island (920). The male terminal panel (911) has a detection block (914) and a positioning pin (915) connected at positions corresponding to the positioning detection element (214) and the alignment hole (215).

4. The flexible mounting positioning system according to claim 1, characterized in that, The initial limiting mechanism (600) includes a rotating assembly (610), a limiting roller (620), and a limit switch (630). The rotating end of the rotating assembly (610) is connected to the limiting roller (620). The rotation axis of the rotating assembly (610) is perpendicular to the horizontal plane, and the rolling axis of the limiting roller (620) is parallel to the horizontal plane. When the initial limiting mechanism (600) is in the limiting state, there is a accommodating gap between the limiting roller (620) and the limit switch (630). The initial trigger (750) includes a lever connected to the bottom of the trolley body (700). When the upper trolley is in a limited state by the initial limiting mechanism (600), the lever is located in the receiving gap.

5. The flexible mounting positioning system according to claim 1, characterized in that, The height-direction positioning detection mechanism (310) includes a first sensor (311) and a first bracket (312). The first sensor (311) is mounted above the switching frame (100) via the first bracket (312). The first sensor (311) is used to perform height-direction positioning detection with the trolley body (700); and / or: The horizontal positioning combination detection mechanism (320) includes a second bracket (322) connected to the abutment frame (110), and a plurality of second sensors (321) are mounted on the second bracket (322); the trolley sensing component (740) includes a trolley sensing block (741) connected to the abutment end of the trolley body (700), and the trolley sensing block (741) is provided with a plurality of sensing protrusions (742), which are used to perform horizontal positioning detection and trolley detection with the plurality of second sensors (321).

6. The flexible mounting positioning system according to claim 1, characterized in that, The trolley body (700) includes a workbench (711), a guide plate (712) connected to the edge of the workbench (711), and multiple flexible positioning mechanisms (800) are installed on the workbench (711); wherein: Side guide wheels (760) are arranged and connected at both sides of the guide plate (712), and the side guide wheels (760) are used to roll against the guide frame (120); and / or: pressure blocks (121) are arranged and connected on the guide frame (120) along its guiding direction, and when the loading trolley enters the trolley positioning switching device, the pressure blocks (121) are located above the guide plate (712).

7. The flexible upper part positioning system according to any one of claims 1 to 6, characterized in that, The lifting and limiting mechanism (400) includes a plurality of second lifting components (420) mounted on the switching frame (100), the lifting ends of the second lifting components (420) being connected to limiting pins (410); the lifting and limiting structure (720) includes a plurality of limiting slots (721) connected to the bottom of the trolley body (700), the positions of the limiting slots (721) corresponding to the positions of the limiting pins (410); and / or: The lifting and limiting mechanism (400) includes a plurality of third lifting components (440) installed on the switching frame (100), and the lifting end of the third lifting component (440) is connected to a limiting support block (430); the lifting and limiting structure (720) includes a plurality of limiting plates (722) connected to the bottom of the trolley body (700), and the position of the limiting plate (722) corresponds to the position of the limiting support block (430).

8. The flexible upper part positioning system according to any one of claims 1 to 6, characterized in that, The abutment frame (110) is provided with a first alignment structure (500), and a second alignment structure (730) is installed on the trolley body (700) at a position corresponding to the first alignment structure (500); wherein: The first alignment structure (500) includes a plurality of concave parts connected to the abutment frame (110), and the second alignment structure (730) includes a plurality of convex parts connected to the bottom of the trolley body (700). The positions of the plurality of convex parts correspond to the positions of the plurality of concave parts, and the convex parts match the concave parts.

9. The flexible upper part positioning system according to any one of claims 1 to 6, characterized in that, The multiple flexible positioning mechanisms (800) include several first flexible integrated positioning mechanisms (810) and support mechanisms (830) mounted on the trolley body (700), and several second flexible integrated positioning mechanisms (820) mounted near the edge of the trolley body (700); wherein: The first flexible integrated positioning mechanism (810) includes a fourth lifting assembly (811) connected to the trolley body (700). The lifting end of the fourth lifting assembly (811) is connected to a positioning element (812), a derived sensing element (813), and a position sensing element (814). The derived sensing element (813) and the position sensing element (814) are located on both sides of the positioning element (812); and / or: The second flexible integrated positioning mechanism (820) includes a first flipping component connected to the trolley body (700). The flipping end of the first flipping component is connected to a first support member (821) and an upper guide member (822). The upper guide member (822) has a bent portion (823) connected to one end away from the first flipping component.

10. A method for mounting a component in the flexible mounting positioning system according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Move the loading trolley, the loading trolley enters the trolley positioning switching device and continues to move along the guide frame (120) until the initial trigger (750) triggers the limit switch (630) of the initial limit mechanism (600), the initial limit mechanism (600) sends the detected trolley initial position signal to the PLC controller of the first connecting control mechanism (200); and the trolley sensor (740) triggers the horizontal direction position combination detection mechanism (320), the horizontal direction position combination detection mechanism (320) sends the detected trolley information signal and the trolley forward position signal to the PLC controller; S2. After receiving the initial position signal of the trolley, the PLC controller drives the rotation component (610) of the initial limit mechanism (600), and the initial trigger (750) is limited between the limit roller (620) of the initial limit mechanism (600) and the limit switch (630). S3. After receiving the trolley forward positioning signal, the PLC controller drives the lifting limit mechanism (400) to lift the trolley body (700), and the height direction positioning detection mechanism (310) sends the detected trolley height positioning signal to the PLC controller. S4. After receiving the trolley height arrival signal, the PLC controller drives the first lifting component (240) of the first connection control mechanism (200), and the electrical quick-connect female terminal (210) of the first connection control mechanism (200) is connected to the electrical quick-connect male terminal (910) of the second connection control mechanism (900); S5. The PLC controller controls the flexible positioning mechanism (800) to perform flexible switching positioning in sequence through the electrical quick-connect female terminal (210) and electrical quick-connect male terminal (910) according to the received trolley information signal.

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