CN208747152U - A kind of magnetic suspension trolley conveying positioning system - Google Patents
A kind of magnetic suspension trolley conveying positioning system Download PDFInfo
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- CN208747152U CN208747152U CN201820330383.2U CN201820330383U CN208747152U CN 208747152 U CN208747152 U CN 208747152U CN 201820330383 U CN201820330383 U CN 201820330383U CN 208747152 U CN208747152 U CN 208747152U
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- trolley
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Abstract
The utility model discloses a kind of magnetic suspension trolley conveying positioning system and methods, are used for auto manufacturing's conveying technology field, including several work platforms, transition platform, trolley and central controller.The utility model uses magnetic levitation technology, is suspended in trolley on the magnetic suspended guide with position encoded information；The trolley is using compressed gas as power source；The trolley location information that the central controller is fed back according to magnetic suspended guide realizes the closed-loop control to trolley.After the trolley reaches work platform, magnetic suspended guide cancels magnetic field, and front and rear part round pin by the work platform of trolley X, Y-direction, diamond shape finger setting, Z-direction is positioned by the Z-direction tray of the work platform, to realize the accurate positioning of trolley.The utility model is able to achieve quick conveying, accurate positioning and the stable operation of trolley by the technical solution of above-mentioned magnetic suspension conveying positioning, and environmentally protective.
Description
Technical field
The utility model is used for auto manufacturing's conveying technology field, more particularly to the high speed of weld car workshop conveying
A kind of high-precision magnetic suspension trolley conveying positioning system and method.
Background technique
In automobile body-in-white welding conveying technology field, common workpiece between the stations such as rolling bed, reciprocating lever, servo slide table
Conveying equipment, have the characteristics that one it is common, i.e., workpiece conveying medium (such as trolley, sled, slide unit) during the motion
It need to be physically contacted.Power transmitting aspect, or by frictional force drives or rely on gear-rack drive；Guiding aspect, or according to
Slider guide is oriented to or relied on by idler wheel.But direct contact physically, friction will necessarily be generated, friction necessarily will cause
The waste of energy, the abrasion for causing part.To reduce the service life of equipment, environmentally protective requirement is not met.Meanwhile
Due to the presence of frictional resistance, the speed of service of traditional equipment is limited, is not able to satisfy the needs of the high productive temp of modern production line.
Utility model content
To solve the above problems, the utility model provides a kind of magnetic suspension trolley conveying positioning system and method, it can be real
High speed conveying, accurate positioning and the stable operation of existing workpiece conveying medium (trolley), and energy conservation and environmental protection.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of magnetic suspension trolley conveys positioning system
And method.The magnetic suspension trolley conveying positioning system includes work platform, the adjoining workstation of several settings on the conveyor line
Transition platform between platform rests in trolley and central controller on work platform etc..
Work platform top, the left and right sides are provided with magnetic suspended guide.The magnetic suspended guide can be by described
Centre controller generates or cancels in due course magnetic field.The magnetic suspended guide can produce the magnetic field of Y-direction and Z-direction, to limit described
Vehicle is in the position of Y-direction and Z-direction.The magnetic suspended guide is encoded along X to absolute position is equipped with, and trolley described in energy accurate feedback exists
The more specific location information of the work platform.Work platform top, the left and right sides are provided with several Z-direction trays, the support
Block can be accurately positioned the Z-direction position of the trolley.Among work platform top, front and rear part be respectively arranged a round pin and
One rhombus pin.The round pin and rhombus pin are driven by the cylinder, and are moved along Z-direction, can be accurately positioned the X of the trolley to
Y-direction position.The right lateral side on work platform top is provided with wireless charging module.
Its X can be arranged to length for connecting two adjacent work platforms in the transition platform according to actual needs
Degree.Transition platform top, the left and right sides are provided with magnetic suspended guide.The magnetic suspended guide can be controlled by the center
Device generates or cancels in due course magnetic field.
The trolley is the conveying medium of workpiece, and upper surface is the mounting plane of tooling, for installing positioning fixture,
Fixed workpiece.The trolley lower part, the left and right sides are provided with magnetcisuspension floating block, cooperate with the magnetic suspended guide of the work platform,
Trolley is set to be suspended on work platform.The trolley lower part, the left and right sides is provided with several Z-direction locating pieces, and described
The Z-direction tray of work platform cooperates, to be accurately positioned the Z-direction of trolley.Among the lower part of the trolley, front and rear part is respectively set
A pin hole is set, among work platform lower part, the round pin and rhombus pin of front and back cooperate, to be accurately positioned platform
The X of vehicle to and Y-direction.The trolley, to the driving force of movement, is provided in X by the Pneumatic assembly on trolley.The Pneumatic assembly, packet
The gas source containing driving, drive control valve, driving injection equipment, pressure test device etc., are arranged in the middle part of the trolley.The drive
It takes offence source, includes positive gas source, positive bailout gas, reversed gas source, reversed bailout gas.The drive control valve, is adopted
With analog signals control, it can be achieved that the Linear Control of throughput.The drive control valve, comprising forward driving control valve and instead
To drive control valve, mutual work cooperation can be realized by central controller.The driving injection equipment includes forward direction
It drives injection equipment and is driven in the reverse direction injection equipment, respectively trolley provides the driving force of forward and reverse.The air pressure detection
Device, the air pressure of real-time monitoring forward direction gas source and reversed gas source, when gas source air pressure forward or backwards is lower than setting value,
Alarm signal is issued to central controller.In the middle part of the trolley, it is provided with power module and wireless communication module.The power supply mould
Block is that trolley drive control valve, wireless communication module facility etc. provide electric energy, and can be controlled to center issue low battery alarm and
Request the signal of charging.The wireless communication module is connect, to make central controller with central controller by wireless network
It can control the drive control valve on the trolley, and the alarm of pressure test device on the trolley can be received, power module is low
The signal of electricity alarm and request charging.The right lateral side of the trolley lower part is provided with wireless charging module, when the trolley is fallen
After on position to the work platform, if the trolley issues the signal of request charging, the central controller just issues control
Signal cooperates the wireless charging module of the trolley wireless charging module and the work platform, to the electricity on the trolley
Source module charging.
The central controller can control the timing movement of the magnetic suspension trolley conveying positioning system.The timing is dynamic
Make or the control method be as follows:
The central controller issues control signal, and the magnetic suspended guide of the work platform is made to generate Y-direction and Z-direction
Magnetic field, so that the trolley is suspended on work platform.The central controller issues control signal, makes the work station
Among platform top, the cylinder of front and rear part drives round pin and rhombus pin to retract respectively.Then, the central controller, to described
The transmission process of vehicle is controlled using close-loop control mode.The close-loop control mode general procedure is as follows: the center control
Device issues control signal by wireless network, and the wireless communication module of the trolley receives control signal, and the control signal is straight
The effect of connecing to forward driving valve or is driven in the reverse direction valve, makes the forward driving valve or be driven in the reverse direction valve to be gradually opened or close, from
And the air-flow of the positive gas source or reversed gas source by forward driving valve or is driven in the reverse direction valve from forward driving spraying machine
Structure is driven in the reverse direction injection equipment ejection, generates forward driving power or reverse actuating force, promotes trolley edge+X to acceleration or deceleration
Movement；At the same time, the X of the magnetic suspended guide Real-time Feedback trolley of the work platform and the transition platform is to physical location
For information to the central controller, the central controller moment detects the physical location of the trolley, and compares and default in institute
The target position information for stating the trolley in central controller exports accurate voltage control information, by the trolley
Wireless communication module controls the forward driving valve of the trolley and is driven in the reverse direction the size of valve opening and closing, to control the trolley
Along+X to " the when m- displacement " curve moved；When the trolley reaches the preset subsequent work platform of the central controller
When stop position, the trolley is accurately parked in the position of subsequent work platform；So far, the central controller is to the trolley
The closed loop control process of transmission process is completed.Then, the central controller issues control signal, makes on the work platform
Among portion, the cylinder of front and rear part drives round pin and rhombus pin to stretch out respectively, thus positioning bogie the work platform X to
Y-direction position.The central controller issues control signal, and the magnetic suspended guide of the work platform is made to cancel Y-direction and Z-direction
Magnetic field, so that the Z-direction locating piece dropping place of the trolley is on the work platform Z-direction tray.So far, the trolley completes
From the work platform, until the high speed conveying and pinpoint process of subsequent work platform.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawing:
Fig. 1 is the utility model structure axonometric drawing；
Fig. 2 is the utility model structure axonometric drawing；
Fig. 3 is the utility model the structure left view；
Fig. 4 is the utility model structure axonometric drawing；
Fig. 5 is the utility model structure axonometric drawing；
Fig. 6 is the utility model structure axonometric drawing；
Fig. 7 is the utility model structure axonometric drawing.
Specific embodiment
Referring to Figure 1 to Figure 7, that show the specific structures of the preferred embodiment of the utility model.But the utility model
Actual use direction be not limited thereto.
The utility model provides a kind of magnetic suspension trolley conveying positioning system and method.The magnetic suspension trolley conveying is fixed
Position system includes transition platform 2 between several setting work platform 1, operated adjacent platforms on the conveyor line, rests in work
Make trolley 3 and the central controller 4 etc. on platform.
1 top of work platform, the left and right sides are provided with magnetic suspended guide 11.The magnetic suspended guide 11 can pass through institute
It states central controller 4 and generates or cancel in due course magnetic field.The magnetic suspended guide 11 can produce the magnetic field of Y-direction and Z-direction, to limit
The trolley 3 is in the position of Y-direction and Z-direction.The magnetic suspended guide 11 is encoded along X to absolute position is equipped with, can accurate feedback
More specific location information of the trolley 3 in the work platform 1.1 top of work platform, the left and right sides are provided with several Z
To tray 12, the tray 12 can be accurately positioned the Z-direction position of the trolley 3.Among 1 top of work platform, front and back
Portion is respectively arranged a round pin 13 and a rhombus pin 14.The round pin and rhombus pin are driven by cylinder 15,16 respectively, along Z-direction
Movement, can be accurately positioned the X of the trolley 3 to Y-direction position.The right lateral side on work platform top is provided with wireless
Charging module 17.
The transition platform 2, for connecting two adjacent work platforms 1, can be arranged according to actual needs its X to
Length.2 top of transition platform, the left and right sides are provided with magnetic suspended guide 21.The magnetic suspended guide 21 can be by described
Central controller 4 generates in due course or revocation magnetic field.
The trolley 3 is the conveying medium of workpiece, and upper surface is the mounting plane 31 of tooling, for installing locating clip
Tool, fixed workpiece.3 lower part of trolley, the left and right sides are provided with magnetcisuspension floating block 32, the magnetic suspension guide with the work platform 1
Rail 11 cooperates, and trolley 1 is enable to be suspended on work platform 1.3 lower part of trolley, the left and right sides are fixed provided with several Z-directions
Position block 33 cooperates with the Z-direction tray 12 of the work platform 1, to be accurately positioned the Z-direction of trolley 3.The trolley 3
Among lower part, front and rear part is respectively arranged pin hole 341,342, among 1 lower part of work platform, 13 He of round pin of front and back
Rhombus pin 14 cooperates, thus be accurately positioned the X of trolley 3 to and Y-direction.The trolley 3 in X to the driving force of movement, by platform
Pneumatic assembly 35 on vehicle 3 provides.The Pneumatic assembly 35 includes driving gas source 351, drive control valve 352, driving spraying machine
Structure 353, pressure test device 354 etc., are arranged in the middle part of the trolley.The driving gas source 351 includes positive gas source
3511, positive bailout gas 3512, reversed gas source 3513, reversed bailout gas 3514.The drive control valve 352 uses
Analog signals control the Linear Control, it can be achieved that throughput.The drive control valve 352 includes forward driving control valve
3521 and it is driven in the reverse direction control valve 3522, mutual work cooperation can be realized by central controller 4.The driving injection
Mechanism 353 comprising forward driving injection equipment 3531 and is driven in the reverse direction injection equipment 3532, respectively trolley 3 provide it is positive and
Reversed driving force.Forward direction is worked as in the pressure test device 354, the air pressure of real-time monitoring forward direction gas source and reversed gas source
Or reversed gas source air pressure issues alarm signal to central controller 4 when being lower than setting value.3 middle part of trolley, is provided with electricity
Source module 36 and wireless communication module 37.The power module 36 is 3 drive control valve 352 of trolley, wireless communication module 37 is set
It applies etc. and electric energy is provided, and the signal of low battery alarm and request charging can be issued to central controller 4.The wireless communication module
37, it is connect by wireless network with central controller 4, so that central controller 4 be made to can control the drive control on the trolley 3
Valve 352, and the alarm signal of pressure test device 354 on the trolley 3 can be received, the alarm of 36 low battery of power module and request
The signal of charging.The right lateral side of 3 lower part of trolley is provided with wireless charging module 38, when 3 dropping place of trolley to the work
After making on platform 1, if the trolley 3 issues the signal of request charging, the central controller 4 just issues control signal, makes
The wireless charging module 17 of 3 wireless charging module 38 of trolley and the work platform cooperates, to the power supply on the trolley 3
Module 36 charges.
The central controller 4 can control the timing movement of the magnetic suspension trolley conveying positioning system.The timing is dynamic
Make or the control method be as follows:
The central controller 4 issues control signal, and the magnetic suspended guide 11 of the work platform 1 is made to generate Y-direction and Z
To magnetic field, so that the trolley 3 is suspended on work platform 1.The central controller 4 issues control signal, makes described
It works among 1 top of platform, the cylinder 15,16 of front and rear part drives round pin 13 and rhombus pin 14 to retract respectively.Then, the center
Controller 4 controls the transmission process of the trolley 3 using close-loop control mode.The close-loop control mode general procedure
As follows: the central controller 4 issues control signal by wireless network, and the wireless communication module 37 of the trolley 1 receives control
Signal processed, the control signal directly act on to forward driving valve 3521 or are driven in the reverse direction valve 3522, make the forward driving valve
It 3521 or is driven in the reverse direction valve 3522 and is gradually opened or closes, thus the gas of the forward direction gas source 3511 or reversed gas source 3513
Stream is by forward driving valve 3521 or is driven in the reverse direction valve 3522 from forward driving injection equipment 3531 or is driven in the reverse direction injection equipment
3532 spray, and generate forward driving power or reverse actuating force, trolley 3 is promoted to move along+X to acceleration or deceleration；At the same time, institute
The X of the magnetic suspended guide 11 of work platform 1 and the transition platform 2,21 Real-time Feedback trolleys is stated to actual position information to institute
Central controller 4 is stated, 4 moment of central controller detects the physical location of the trolley 1, and compares and default in the center
The target position information of the trolley 1 in controller 4 exports accurate voltage control information, by wireless on the trolley 3
Communication module 37 controls the forward driving valve 3521 of the trolley 3 and is driven in the reverse direction the size of the opening and closing of valve 3522, to control institute
Trolley 3 is stated along+X to " the when m- displacement " curve moved；When the trolley 3 reaches the preset next work of the central controller 4
When making the stop position of platform 1, the trolley 3 is accurately parked in the position of subsequent work platform 1；So far, the central controller 4
The closed loop control process of the transmission process of the trolley 3 is completed.Then, the central controller 4 issues control signal, makes
Among 1 top of work platform, the cylinder 15,16 of front and rear part drives round pin 13 and rhombus pin 14 to stretch out respectively, to position
Trolley 3 the work platform 1 X to Y-direction position.The central controller 4 issues control signal, makes the work station
The magnetic suspended guide 11 of platform 1 cancels the magnetic field of Y-direction and Z-direction, so that 33 dropping place of Z-direction locating piece of the trolley 3 is in the work
On the Z-direction tray 12 of platform 1.So far, the trolley 3 is completed from the work platform 1, until the height of subsequent work platform 1
Speed conveying and pinpoint process.
Certainly, the utility model creation is not limited to above embodiment, and those skilled in the art are not disobeying
Equivalent deformation or replacement can be also made under the premise of back the spirit of the present invention, these equivalent variation or replacement are all contained in this
Apply in claim limited range.
Claims (11)
1. a kind of magnetic suspension trolley conveys positioning system, it is characterised in that: including several settings work platforms on the conveyor line,
Transition platform between operated adjacent platform rests in trolley and central controller on work platform.
2. a kind of magnetic suspension trolley according to claim 1 conveys positioning system, it is characterised in that: on the work platform
Portion, the left and right sides are provided with magnetic suspended guide；The magnetic suspended guide can be generated or be cancelled in due course by the central controller
Magnetic field；The magnetic suspended guide can produce the magnetic field of Y-direction and Z-direction, to limit the trolley in the position of Y-direction and Z-direction.
3. a kind of magnetic suspension trolley according to claim 2 conveys positioning system, it is characterised in that: the work platform
Magnetic suspended guide is encoded along X to absolute position is equipped with, and trolley described in energy accurate feedback is believed in the specific location of the work platform
Breath；Work platform top, the left and right sides are provided with several Z-direction trays, and the tray can be accurately positioned the trolley
Z-direction position；Among work platform top, front and rear part is respectively arranged a round pin and a rhombus pin；The round pin and
Rhombus pin is driven by the cylinder, and is moved along Z-direction, can be accurately positioned the X of the trolley to Y-direction position；The work platform
The right lateral side on top is provided with wireless charging module.
4. a kind of magnetic suspension trolley according to claim 2 conveys positioning system, it is characterised in that: the transition platform,
For connecting two adjacent work platforms, its X can be set according to actual needs to length；Transition platform top,
The left and right sides is provided with magnetic suspended guide；The magnetic suspended guide can be generated or be cancelled in due course magnetic by the central controller
?.
5. a kind of magnetic suspension trolley according to claim 1 conveys positioning system, it is characterised in that: the trolley is work
The conveying medium of part, upper surface are the mounting plane of tooling, for installing positioning fixture, fixed workpiece；The trolley lower part,
The left and right sides is provided with magnetcisuspension floating block, cooperates with the magnetic suspended guide of the work platform, trolley is enable to be suspended in work platform
On；The trolley lower part, the left and right sides are provided with several Z-direction locating pieces, the Z-direction tray phase interworking with the work platform
It closes, to be accurately positioned the Z-direction of trolley；Among the lower part of the trolley, front and rear part is respectively arranged a pin hole, with the work
Among platform lower part, the round pin and rhombus pin of front and back cooperate, thus be accurately positioned the X of trolley to and Y-direction.
6. a kind of magnetic suspension trolley according to claim 5 conveys positioning system, it is characterised in that: the trolley X to
The driving force of movement is provided by the Pneumatic assembly on trolley；The Pneumatic assembly includes driving gas source, drive control valve, driving
The middle part of the trolley is arranged in injection equipment, pressure test device；The driving gas source, it is standby comprising positive gas source, forward direction
With gas source, reversed gas source, reversed bailout gas；The drive control valve is controlled using analog signals, it can be achieved that throughput
Linear Control；The drive control valve comprising forward driving control valve and is driven in the reverse direction control valve, can pass through central controller
Realize mutual work cooperation；The driving injection equipment comprising forward driving injection equipment and is driven in the reverse direction spraying machine
The driving force of structure, respectively trolley offer forward and reverse；The pressure test device, real-time monitoring forward direction gas source and reversed
The air pressure of gas source issues alarm signal to central controller when gas source air pressure forward or backwards is lower than setting value.
7. a kind of magnetic suspension trolley according to claim 5 conveys positioning system, it is characterised in that: in the middle part of the trolley,
Provided with power module and wireless communication module；The power module is trolley drive control valve, wireless communication module facility mentions
For electric energy, and the signal for issuing low battery alarm and request charging can be controlled to center；The wireless communication module, by wireless
Network is connect with central controller, so that central controller be made to can control the drive control valve on the trolley, and can receive institute
State the alarm of pressure test device on trolley, the signal of the alarm of power module low battery and request charging.
8. a kind of magnetic suspension trolley according to claim 5 conveys positioning system, it is characterised in that: the trolley lower part
Right lateral side is provided with wireless charging module, after in the trolley dropping place to the work platform, if trolley sending is asked
The signal of charging is sought, the central controller just issues control signal, makes the trolley wireless charging module and the work station
The wireless charging module of platform cooperates, and charges to the power module on the trolley.
9. a kind of magnetic suspension trolley according to claim 6 conveys positioning system, it is characterised in that: the center control
Device can control the timing movement of the magnetic suspension trolley conveying positioning system.
10. a kind of magnetic suspension trolley according to claim 9 conveys positioning system, it is characterised in that: the center control
Device issues control signal, and the magnetic suspended guide of the work platform is made to generate the magnetic field of Y-direction and Z-direction, so that the trolley suspends
On work platform；The central controller issues control signal, makes among work platform top, the gas of front and rear part
Cylinder drives round pin and rhombus pin to retract respectively；Then, the central controller uses closed loop control to the transmission process of the trolley
Mode processed controls.
11. a kind of magnetic suspension trolley according to claim 10 conveys positioning system, it is characterised in that: the closed-loop control
Process is as follows: the central controller, issues control signal by wireless network, the wireless communication module of the trolley receives control
Signal processed, the control signal directly act on to forward driving valve or are driven in the reverse direction valve, make the forward driving valve or reversed drive
Dynamic valve is gradually opened or closes, so that the air-flow of the forward direction gas source or reversed gas source passes through forward driving valve or reversed drive
Dynamic valve is from forward driving injection equipment or is driven in the reverse direction injection equipment ejection, generates forward driving power or reverse actuating force, promotes
Trolley is moved along+X to acceleration or deceleration；At the same time, the magnetic suspended guide of the work platform and the transition platform is real-time
The X of trolley is fed back to actual position information to the central controller, and the central controller moment detects the reality of the trolley
Border position, and the target position information for defaulting in the trolley in the central controller is compared, export accurate voltage control
Information controls the forward driving valve of the trolley and is driven in the reverse direction valve opening and closing by the wireless communication module on the trolley
Size, to control the trolley along+X to " the when m- displacement " curve moved；When the trolley reaches the central controller
When the stop position of preset subsequent work platform, the trolley is accurately parked in the position of subsequent work platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820330383.2U CN208747152U (en) | 2018-03-12 | 2018-03-12 | A kind of magnetic suspension trolley conveying positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820330383.2U CN208747152U (en) | 2018-03-12 | 2018-03-12 | A kind of magnetic suspension trolley conveying positioning system |
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| Publication Number | Publication Date |
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| CN208747152U true CN208747152U (en) | 2019-04-16 |
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ID=66050181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201820330383.2U Active CN208747152U (en) | 2018-03-12 | 2018-03-12 | A kind of magnetic suspension trolley conveying positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118744900A (en) * | 2024-06-20 | 2024-10-08 | 苏州纵苇科技有限公司 | A device for improving the positioning accuracy of fixtures on multi-movers |
-
2018
- 2018-03-12 CN CN201820330383.2U patent/CN208747152U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118744900A (en) * | 2024-06-20 | 2024-10-08 | 苏州纵苇科技有限公司 | A device for improving the positioning accuracy of fixtures on multi-movers |
| CN118744900B (en) * | 2024-06-20 | 2025-01-10 | 苏州纵苇科技有限公司 | Device for improving in-place accuracy of jig on multiple movers |
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