具体实施方式

下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。

在本发明的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。

在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。

在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。

如图1-图5所示，本市实施例提供的吊运装置(以下简称为“装置”)，用以将零件100由第一工位吊运至第二工位。该装置包括传输机构1、若干个托盘机构2和到位夹紧机构3，传输机构1的两端分别位于第一工位和第二工位的上方；若干个托盘机构2水平间隔连接于传输机构1，托盘机构2包括基板21、X向限位件22、Y向限位件23和Z向限位件24，基板21的一侧连接传输机构1，以能在传输机构1的带动下移动，基板21的另一侧连接X向限位件22、Y向限位件23和Z向限位件24，Z向限位件24钩挂零件100，以将零件100由第一工位移动至第二工位，X向限位件22能抵接零件100，以限制零件100沿移动方向的晃动，Y向限位件23卡接零件100，以限制零件100在水平面内垂直于移动方向的晃动；到位夹紧机构3，设于传输机构1靠近第二工位一端的下方，能夹紧零件100。

该装置通过传输机构1提供带动零件100由第一工位移动至第二工位的动力。具体地，传输机构1由SEW电机驱动实现跨通道传输；传输机构1包括传输链，传输链长度为8660mm，传输速度为8.3mm/min，重复定位精度为±0.5mm。优选地，传输机构1可以选用APC积放链，也可以是能起到传送功能的其他结构，鉴于已有现有结构，在此不再过多赘述其具体结构。传输机构1下侧设有若干个托盘机构2，若干个托盘机构2水平间隔设置，以能使每个托盘机构2均能对应承载一个零件100，实现批量传输零件100、增加零件100缓存数量的目的，提高效率和自动化程度。具体地，传输链能驱动12组托盘机构2作直线、翻转运动，相邻托盘机构2之间的间距可以是600mm，以提供零件100的存储量，传输链可提供19min的零件100缓存以用于应对线体故障停歇，减少生产线故障停歇造成的可动率降低，进而造成对生产效率的影响；不同的托盘机构2之间可以设置缓冲阻尼机构，以保证托盘机构2的稳定运行，降低零件100发生碰撞的风险。优选地，托盘机构2的尺寸可以是1115mm×955mm×466mm。

具体地，托盘机构2通过基板21的一侧连接传输机构1，实现托盘机构2与传输机构1的连接；基板21的另一侧设有X向限位件22、Y向限位件23和Z向限位件24。其中，Z向限位件24用于钩挂零件100，以能吊运零件100，从而在竖直方向实现对零件100的限位。进一步地，Z向限位件24可以包括钩挂平面或者钩挂槽等结构实现可靠钩挂起零件100的目的。在通过Z向限位件24实现钩挂零件100后，此时零件100与地面间隔设置，传输机构1能带动零件100移动，为提高零件100传输过程中的稳定性，在基板21下侧还设有X向限位件22和Y向限位件23。本实施例中，零件100包括垂直于移动方向的抵接表面和用于卡接的限位结构，限位结构可以是限位孔或者限位槽；优选地，零件100为前围总成零件。X向限位件22抵接零件100的抵接表面，以减少零件100在沿移动方向的晃动；Y向限位件23卡接零件100的限位机构或卡接零件100的垂直于移动方向的两端，从而减少零件100在水平面内沿垂直于移动方向的晃动。也可以说，以零件100移动方向为前侧，反之为后侧，以水平面内垂直于移动方向为左右，该托盘机构2能通过Z向限位件24实现竖直方向限位、通过X向限位件22实现前后方向限位、通过Y向限位件23实现零件100左右方向的限位，从而实现零件100在吊运过程中多角度限位的稳定传输，缓解由于相邻的零件100晃动造成碰撞损坏。该装置还设有到位夹紧机构3，到位夹紧机构3设置在传输机构1下方靠近第二工位处，用于稳定经过传输的零件100，进一步减少零件100在进入下一工位时的晃动，从而缓解零件100到位后抓取困难的问题，进而提高生产效率。

优选地，基板21的平面度要求为0.02/1000mm，最大不超过0.1mm；基板21的厚度优选为15mm；在基板21的裙边喷黄色、装配面喷金黄色清漆，以便于装配时识别。

可选地，该装置还包括读写机构4，读写机构4设于传输机构1靠近第一工位和第二工位的一端，能识别到位夹紧机构3上的零件100。

读写机构4包括FRID读写系统，零件100上可以设置识别标签，通过FRID读写系统写入或读取识别标签，以获取零件100信息，从而保证不同零件100的传输位置正确性，保证车辆装配的可靠进行。具体地，可以在传输机构1靠近第一工位和第二工位处均设置读写机构4，以能在第一工位处写入车型信息，在第二工位处读取车型信息，准确识别进入或输出该装置的零件100的信息，通过两端读写机构4的设置，也能便于检查零件100的传输情况。

如图1-图6所示，可选地，基板21包括第一连接部211和第二连接部212，第一连接部211上侧连接传输机构1，第二连接部212的两端与第一连接部211的两端呈预设角度设置，Y向限位件23和Z向限位件24连接于第二连接部212，以使零件100的宽度方向与移动方向的夹角小于90°。

第一连接部211和第二连接部212可以一体成型，保证第二连接部212长度两端的延伸方向与第一连接部211长度的延伸方向呈预设角度设置即可。该基板21在装配后，由于第二连接部212的设置，能使零件100在钩挂后，其抵接表面与移动方向的夹角小于90°，从而能在移动过程中减少风阻等因素影响，不仅有助于保证移动速度，也能降低由于风阻过大而造成的晃动、磕碰及掉落等风险。

可选地，基板21上开设有若干个减重孔213。

由于传输机构1需要带动托盘机构2移动，在托盘机构2上开设减重孔213，可以减轻负载。具体地，第一连接部211和第二连接部212需要进行连接的位置为实体结构，在保证足够强度的前提下，可以开设若干个减重孔213，使基板21呈框架结构。

可选地，托盘机构2还包括多个相互连接的连接件25，Y向限位件23和Z向限位件24均设有若干个，Y向限位件23和Z向限位件24通过多个连接件25连接于第二连接部212的两端，连接件25呈L型。

第二连接部212的两端可以对称设置Y向限位件23和Z向限位件24，也可以根据零件100的结构，使第二连接部212两端Y向限位件23的位置、Z向限位件24的位置以及Y向限位件23与Z向限位件24的相对位置不同，能实现钩挂并限位零件100即可。Y向限位件23和Z向限位件24均可以通过若干个连接件25连接于第二连接部212端部。进一步地，通过不同连接件25之间的连接位置及连接件25的数量设置，实现Y向限位件23和Z向限位件24相对于基板21位置的初步确定。采用L型的连接件25，不仅便于通过连接不同的表面实现Y向限位件23或Z向限位件24空间位置调整，也便于提供较大的连接面，保证连接的可靠性。优选地，连接件25在连接时可以通过销定位、通过螺栓或螺钉连接，如采用两销两钉的结构连接。

可选地，Z向限位件24至少设有两个，两个Z向限位件24分别设于第二连接部212的两端，Y向限位件23至少设有四个，以使Z向限位件24的两侧均设有Y向限位件23。

由于Z向限位件24用于钩挂零件100，是提升零件100的主要结构，单个Z向限位件24虽能实现钩挂的目的，但受力较大且不易保证稳定性。本装置在设置两个Z向限位件24可靠钩挂零件100的同时，考虑到零件100容易在Z向限位件24上沿垂直于移动方向的方向左右移动，在每个Z向限位件24的两侧均设有Y向限位件23，从而对每个零件100的钩挂位置均实现左右限位作用，避免发生左右晃动。可以理解的是，Z向限位件24和Y向限位件23的设置数量和二者的相对位置，可以根据实际情况确定。具体地，Z向限位件24可以是梯形块状结构，以保证具有足够的强度；Y向限位件23为销状结构，从而能便于插入零件100的限位结构中或卡接零件100的左右两端。Z向限位件24和Y向限位件23沿移动方向的后侧设有连接件25，以能在带动零件100移动时，使零件100由于惯性作用抵靠于连接件25，避免由于惯性作用造成零件100滑脱；也可以在Z向限位件24和/或Y向限位件23上设置卡接结构，避免带动零件100时发生意外滑脱；卡接结构可以是卡接块、卡接槽等结构。

可选地，托盘机构2还包括支撑座26，X向限位件22通过支撑座26连接于基板21下侧，X向限位件22至少设有两个，两个X向限位件22沿第二连接部212的长度方向对称设置。

支撑座26可以包括支撑横杆261和支撑纵杆262，支撑纵杆262的一端连接基板21，另一端连接支撑横杆261，通过杆状结构能在实现连接支撑作用的同时，减小体积，减轻重量。支撑座26可以通过4个M10螺栓与基板21紧固连接；支撑纵杆262的一端可以设置连接块或连接面，以能增大与基板21的连接面积；支撑纵杆262的另一端连接于支撑横杆261的中部，以使设置在支撑横杆261的两个X向限位件22可以对称设置基板21形心所在直线的两侧，即沿第二连接部212的长度方向对称，以能在可靠抵接零件100的抵接表面、限制X向晃动、防止零件100磕碰及倾覆的同时，保证受力平衡。支撑座26尖角倒钝、去毛刺，表面进行发黑处理，以避免刮伤零件100；X向限位件22为尼龙块结构，以防止磕碰伤零件100。

可选地，托盘机构2还包括垫片27，连接件25的连接端面和支撑座26的连接端面均设有多个垫片27，以能通过增减垫片27的数量调节X向限位件22、Y向限位件23和Z向限位件24的支撑位置。

在通过不同连接件25的连接使X向限位件22、Y向限位件23和Z向限位件24实现初步限位后，可以根据零件100的结构，通过增减垫片27的数量实现X向限位件22、Y向限位件23和Z向限位件24分别在X向、Y向和Z向三个方向的精确调节，通过精确地限位使零件100相对于托盘机构2的位置固定，以保证在空中能可靠地实现对零件100的准确定位作用，限制零件100的晃动。例如，可以通过调节垫片27的数量，使X向限位件22沿移动方向的位置可调。具体地，垫片27的厚度可以是3mm的双向调节垫片。托盘机构2各结构之间可以通过两个销件定位、两个螺钉固定的方式固定，经过淬火处理，使表面硬度大于或等于HRC50，并发黑处理，防止生锈。

如图1-图12所示，可选地，到位夹紧机构3至少设有两个，两个到位夹紧机构3对称设于移动方向的两侧，到位夹紧机构3包括基座31、夹紧组件32和支撑组件33，基座31一端设于底面，支撑组件33和夹紧组件32连接于基座31的另一端，支撑组件33与夹紧组件32配合，以夹紧零件100。

如图7所示，两个到位夹紧机构3能分别夹紧零件100的左右两端，使零件100在第二工位处稳定。到位夹紧机构3通过基座31放置于地面上，使夹紧组件32和支撑组件33与地面间隔设置，从而能便于实现翻转等动作夹紧零件100的前后表面。具体地，夹紧组件32和支撑组件33能相向运动至夹紧或相背离运动至展开的初始状态，以能在零件100运动至到位夹紧机构3上方时实现夹紧，并在需要传输至下一工位时，通过展开避免发生干涉而影响零件100的移动。

如图8-图12所示，可选地，基座31包括两个脚座311和连接板312，连接板312的两端分别连接于两个脚座311。

两个脚座311沿垂直于移动方向的方向间隔设置，通过连接板312连接两个脚座311的顶部，以使支撑组件33与夹紧组件32能设置在连接板312。具体地，脚座311采用一体线切割，无需焊接结构，从而能增强支撑强度。

可选地，夹紧组件32包括第一摆动气缸321和第一夹爪322，第一摆动气缸321的固定部连接于基座31，第一夹爪322连接于第一摆动气缸321的转动部；支撑组件33包括第二摆动气缸331和第二夹爪332，第二摆动气缸331的固定部连接于基座31，第二夹爪332连接于第二摆动气缸331的转动部。

第一夹爪322和第二夹爪332均可以由若干个连接单体连接而成，连接单体的形状和尺寸不作具体限制，根据零件100的外形能实现夹紧即可。在夹紧时，第一夹爪322由第一摆动气缸321的转动部带动转动，以使第一夹爪322远离第一摆动气缸321的一端翻转至基座31上方；类似地，第二夹爪332的动作与第一夹爪322相似，从而通过第一夹爪322远离第一摆动气缸321的一端与第二夹爪332远离第二摆动气缸331的一端实现夹紧。进一步地，通过连接单体的形状及尺寸设置，也可以通过连接单体实现对零件100的夹持作用，以通过第一夹爪322和第二夹爪332共同实现夹紧零件100的作用。优选地，第一夹爪322和第二夹爪332的连接单体在连接时，可以在连接位置设置若干个垫片结构，以能通过增减垫片结构实现精确调节第一夹爪322和第二夹爪332的空间位置，更好地实现对零件100的夹紧。

可选地，第一夹爪322的一端连接第一摆动气缸321，第二夹爪332的一端连接第二摆动气缸331，第一夹爪322的另一端和第二夹爪332的另一端能抵接产生夹紧力以夹紧零件100，第一夹爪322和第二夹爪332上均设有第一限位件34，基座31上对应设有第二限位件313，第一限位件34能与第二限位件313对位配合，以限制夹紧力。

优选地，第一限位件34和第二限位件313二者中的一个包括块状结构，另一个包括槽状结构，通过块状结构和槽状结构的配合，使第一夹爪322和第二夹爪332在夹紧到一定程度后无法继续夹紧，避免由于第一夹爪322与第二夹爪332之间的夹紧力过大而造成对零件100的损坏问题。进一步地，块状结构和槽状结构二者中的一个可以设置凸出部，另一个可以设置内凹部，以能进一步通过凸出部和内凹部配合实现精确定位配合。第一限位件34的形状、尺寸以及设置位置能与第二限位件313实现配合即可。具体地，到位夹紧机构3的各结构可以通过销结构定位、通过螺栓或螺钉连接，以便于拆卸；在连接位置或配合位置均可以设置垫片结构，以能精确调整位置，准确对位配合。通过托盘机构2的垫片27和连接件25，以及到位夹紧机构3的连接单体和垫片结构等的设置，使该装置的可调性更好，能适用于多种不同车型的零件100。

可选地，第一摆动气缸321和第二摆动气缸331连接于连接板312下侧，且第一摆动气缸321和第二摆动气缸331并排反向设置，以减小到位夹紧机构3沿移动方向的长度。

第一摆动气缸321和第二摆动气缸331均在中部与连接板312的连接，避免由于连接固定部远离转动部的一端，而造成到位夹紧机构3沿移动方向的长度过长，不利于减少空间占用。本实施例中，在保证转动部转动不受干涉的前提下，并排反向设置第一摆动气缸321和第二摆动气缸331的方式，有助于在空间较小的厂房中布置该到位夹紧机构3。并且，由于采用支撑组件33和夹紧组件32配合夹紧、采用托盘机构2实现零件100的带动及限位，使该装置能适用于多种车型的零件100，提高适用性，减少车型引入带来的投资改造费用。

可选地，到位夹紧机构3还包括传感器35，传感器35设于第一夹爪322或第二夹爪332上，以在夹紧后通过传感器35检测零件100的位置和/或种类。

传感器35可以设置在到位夹紧机构3上的预设位置，能实现检测零件100的目的即可。优选地，传感器35包括到位检测传感器和零件识别传感器，由于该装置至少包括两个相互配合的到位夹紧机构3，因此，可以将到位检测传感器设置在其中一个支撑组件33的第二夹爪332上，将零件识别传感器设置在另一个支撑组件33的第二夹爪332上，以通过到位检测传感器检测零件100是否到达预设位置、通过零件识别传感器检测零件100的宽窄等外形差别以确定零件100的种类信息。零件识别传感器和读写机构4能相互配合，共同实现对零件100的信息识别，从而确保准确识别零件100的种类，避免由于识别失误造成零件100无法传输至相应的工位上，影响生产效率。

该装置还配备有必要的控制机构，包括线体PLC，以通过程序控制传输机构1、读写机构4和传感器35等的动作及使用，保证该装置能平稳传输、准确到位。操作人员需要定期进行PM(Preventive Maintenance and Productive Maintenance，预防性维修和生产维修)和TPM(Total Productive Maintenance，全员生产维修)，以检查Y向限位件23和Z向限位件24等的磨损量，其中，Y向限位件23的磨损量最大不超过0.2mm，Z向限位件24的磨损量最大不超过0.5mm，若检测不合格，需要及时更换，以避免由于限位精度下降造成零件100的空间定位不准确，进而导致无法可靠抓取零件100的问题发生。

在使用时，可以通过前序机器人抓手将零件100钩挂至第一工位处的托盘机构2上，通过读写机构4将车型信息写入识别标签中；钩挂及定位完成后，抓手退出，通过传输机构1传输零件100至第二工位；零件100到达第二工位后，通过到位夹紧机构4的夹紧组件32和支撑组件33翻转并夹紧零件100，实现对零件100的固定，传感器35检测零件100，向PLC反馈相应零件100到位信息，并通过RFID读取车型信息传输至下一线体PLC，实现与下一生产线的车型比对；比对成功后，通过机器人抓手抓取零件100，托盘机构2翻转由传输链翻转并传输至第一工位，从而完成一个流程的零件100的传输。

本实施例还提供一种车辆，该车辆包括零件100，通过上述的吊运装置吊装零件100，使零件100由第一工位移动至第二工位，以便于装配形成车辆。

该车辆可以是卡车，上述吊运装置采用单层吊装的形式，减少地面空间占用，同时设于地面上的到位夹紧机构3的空间占用较小，使该装置能适用于卡车厂焊装生产线空间狭小、高度限制以及厂房立柱、水气管路设置位置的情况，在提高生产效率的同时，能有效合理地利用空间。

显然，本发明的上述实施例仅仅是为了清楚说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1-5, the present embodiment provides a handling device (hereinafter simply referred to as "device") for handling a part 100 from a first station to a second station. The device comprises a transmission mechanism 1, a plurality of tray mechanisms 2 and an in-place clamping mechanism 3, wherein two ends of the transmission mechanism 1 are respectively positioned above a first station and a second station; the tray mechanisms 2 are horizontally connected to the transmission mechanism 1 at intervals, the tray mechanisms 2 comprise a base plate 21, an X-direction limiting piece 22, a Y-direction limiting piece 23 and a Z-direction limiting piece 24, one side of the base plate 21 is connected with the transmission mechanism 1 so as to be driven by the transmission mechanism 1 to move, the other side of the base plate 21 is connected with the X-direction limiting piece 22, the Y-direction limiting piece 23 and the Z-direction limiting piece 24, the Z-direction limiting piece 24 hooks the part 100 so as to move the part 100 from a first station to a second station, the X-direction limiting piece 22 can abut against the part 100 so as to limit the shaking of the part 100 along the moving direction, and the Y-direction limiting piece 23 is clamped with the part 100 so as to limit the shaking of the part 100 in a horizontal plane and perpendicular to the moving direction; the in-place clamping mechanism 3 is arranged below one end of the transmission mechanism 1 close to the second station and can clamp the part 100.

The device provides power for driving the part 100 to move from the first station to the second station through the transmission mechanism 1. Specifically, the transmission mechanism 1 is driven by a SEW motor to realize cross-channel transmission; the transmission mechanism 1 comprises a transmission chain, the length of the transmission chain is 8660mm, the transmission speed is 8.3mm/min, and the repeated positioning accuracy is +/-0.5 mm. Preferably, the transmission mechanism 1 may be an APC accumulation chain, or may be other structures that can perform a transmission function, and in view of existing structures, detailed structures thereof will not be repeated here. The transmission mechanism 1 downside is equipped with a plurality of tray mechanism 2, and a plurality of tray mechanism 2 horizontal interval sets up to enable every tray mechanism 2 homoenergetic to correspond and bear a part 100, realize the purpose of transmission part 100 in batches, increase part 100 buffer memory quantity, raise the efficiency and degree of automation. Specifically, the transmission chain can drive 12 groups of tray mechanisms 2 to do linear and overturning motions, the distance between every two adjacent tray mechanisms 2 can be 600mm to provide storage space of parts 100, the transmission chain can provide 19min of part 100 buffer for coping with line fault stop, and the reduction of the mobility caused by the line fault stop is reduced, so that the influence on the production efficiency is caused; buffer damping mechanisms can be arranged between different tray mechanisms 2 to ensure the stable operation of the tray mechanisms 2 and reduce the risk of collision of the parts 100. Preferably, the dimensions of the tray mechanism 2 may be 1115mm x 955mm x 466mm.

Specifically, the tray mechanism 2 is connected with the transmission mechanism 1 through one side of the substrate 21, so that the tray mechanism 2 is connected with the transmission mechanism 1; the other side of the base plate 21 is provided with an X-direction limiting piece 22, a Y-direction limiting piece 23 and a Z-direction limiting piece 24. The Z-direction limiting member 24 is used for hooking the part 100, so as to be capable of lifting the part 100, thereby limiting the part 100 in a vertical direction. Further, the Z-direction limiting member 24 may include a hooking surface or hooking groove for reliably hooking the component 100. After the hooking of the part 100 is realized through the Z-direction limiting piece 24, the part 100 is arranged at intervals with the ground, the transmission mechanism 1 can drive the part 100 to move, and in order to improve the stability of the part 100 in the transmission process, the lower side of the base plate 21 is also provided with an X-direction limiting piece 22 and a Y-direction limiting piece 23. In this embodiment, the part 100 includes an abutment surface perpendicular to the moving direction and a limiting structure for clamping, where the limiting structure may be a limiting hole or a limiting slot; preferably, the part 100 is a cowl assembly part. The X-direction limiting member 22 abuts against the abutment surface of the component 100 to reduce the shake of the component 100 in the moving direction; the Y-direction limiting member 23 engages with a limiting mechanism of the component 100 or engages with both ends of the component 100 perpendicular to the moving direction, thereby reducing the shake of the component 100 in the horizontal plane along the direction perpendicular to the moving direction. The tray mechanism 2 can be said to realize vertical direction limitation through the Z-direction limiting member 24, front-rear direction limitation through the X-direction limiting member 22, and left-right direction limitation of the part 100 through the Y-direction limiting member 23, thereby realizing stable transmission of the part 100 in multi-angle limitation in the lifting process and alleviating collision damage caused by shaking of adjacent parts 100. The device is also provided with an in-place clamping mechanism 3, and the in-place clamping mechanism 3 is arranged below the transmission mechanism 1 and close to the second station and used for stabilizing the part 100 which is transmitted, further reducing the shaking of the part 100 when entering the next station, further relieving the problem of difficulty in grabbing the part 100 after in place and further improving the production efficiency.

Preferably, the flatness requirement of the substrate 21 is 0.02/1000mm, and the maximum is not more than 0.1mm; the thickness of the substrate 21 is preferably 15mm; yellow paint is sprayed on the skirt edge of the base plate 21 and golden yellow paint is sprayed on the assembling surface so as to be convenient for recognition during assembling.

Optionally, the device further comprises a read-write mechanism 4, wherein the read-write mechanism 4 is arranged at one end of the transmission mechanism 1 near the first station and the second station, and can identify the part 100 on the clamping mechanism 3.

The read-write mechanism 4 comprises an FRID read-write system, an identification tag can be arranged on the part 100, and the identification tag is written or read through the FRID read-write system so as to acquire the information of the part 100, thereby ensuring the correctness of the transmission positions of different parts 100 and ensuring the reliable running of the vehicle assembly. Specifically, the transmission mechanism 1 can be arranged close to the first station and the second station and provided with the read-write mechanism 4 so as to write in the vehicle type information at the first station and read the vehicle type information at the second station, accurately identify the information of the part 100 entering or outputting the device, and the transmission condition of the part 100 can be conveniently checked through the arrangement of the read-write mechanisms 4 at two ends.

As shown in fig. 1 to 6, optionally, the substrate 21 includes a first connecting portion 211 and a second connecting portion 212, the upper side of the first connecting portion 211 is connected to the transmission mechanism 1, two ends of the second connecting portion 212 and two ends of the first connecting portion 211 are arranged at a preset angle, and the Y-directional limiting member 23 and the Z-directional limiting member 24 are connected to the second connecting portion 212, so that an included angle between the width direction and the moving direction of the part 100 is smaller than 90 °.

The first connecting portion 211 and the second connecting portion 212 may be integrally formed, so as to ensure that the extending directions of the two ends of the length of the second connecting portion 212 are set at a preset angle with the extending direction of the length of the first connecting portion 211. After the substrate 21 is assembled, due to the arrangement of the second connecting portion 212, the contact surface and the moving direction of the part 100 are enabled to be smaller than 90 ° after hooking, so that the influence of factors such as wind resistance can be reduced in the moving process, which is not only helpful for ensuring the moving speed, but also reducing the risks such as shaking, colliding and falling caused by overlarge wind resistance.

Optionally, the base plate 21 is provided with a plurality of lightening holes 213.

Since the conveying mechanism 1 needs to drive the tray mechanism 2 to move, the weight reducing holes 213 are formed in the tray mechanism 2, so that the load can be reduced. Specifically, the positions where the first connection portion 211 and the second connection portion 212 need to be connected are solid structures, and on the premise of ensuring sufficient strength, a plurality of lightening holes 213 may be formed, so that the substrate 21 is in a frame structure.

Optionally, the tray mechanism 2 further includes a plurality of connecting pieces 25 connected to each other, the Y-directional limiting pieces 23 and the Z-directional limiting pieces 24 are both provided with a plurality of Y-directional limiting pieces 23 and Z-directional limiting pieces 24, and the Y-directional limiting pieces 23 and the Z-directional limiting pieces 24 are connected to two ends of the second connecting portion 212 through the plurality of connecting pieces 25, where the connecting pieces 25 are L-shaped.

The Y-directional stoppers 23 and the Z-directional stoppers 24 may be symmetrically disposed at two ends of the second connection portion 212, or the positions of the Y-directional stoppers 23, the Z-directional stoppers 24, and the relative positions of the Y-directional stoppers 23 and the Z-directional stoppers 24 may be different from each other at two ends of the second connection portion 212 according to the structure of the component 100, so as to achieve hooking and limiting of the component 100. The Y-directional limiting member 23 and the Z-directional limiting member 24 may be connected to the end of the second connecting portion 212 through a plurality of connecting members 25. Further, by setting the connection positions between the different connection members 25 and the number of the connection members 25, preliminary determination of the positions of the Y-direction stopper 23 and the Z-direction stopper 24 with respect to the substrate 21 is achieved. The L-shaped connecting piece 25 is adopted, so that the space position adjustment of the Y-direction limiting piece 23 or the Z-direction limiting piece 24 is conveniently realized by connecting different surfaces, a larger connecting surface is conveniently provided, and the reliability of connection is ensured. Preferably, the connection member 25 may be positioned by a pin, by a bolt or screw connection, such as a two pin structure.

Optionally, at least two Z-directional limiting members 24 are provided, and two Z-directional limiting members 24 are respectively provided at two ends of the second connecting portion 212, and at least four Y-directional limiting members 23 are provided, so that two sides of the Z-directional limiting members 24 are provided with Y-directional limiting members 23.

Because the Z-direction limiting member 24 is used for hooking the part 100, which is a main structure of the lifting part 100, the single Z-direction limiting member 24 can achieve the purpose of hooking, but the force is large and the stability is not easy to be ensured. The device is provided with two Z-direction limiting pieces 24 and reliably hooks the part 100, and the part 100 is considered to move left and right on the Z-direction limiting pieces 24 along the direction perpendicular to the moving direction, and Y-direction limiting pieces 23 are arranged on two sides of each Z-direction limiting piece 24, so that the left and right limiting effect is realized on the hooking position of each part 100, and left and right shaking is avoided. It will be appreciated that the number of the Z-direction limiting members 24 and the Y-direction limiting members 23 and the relative positions thereof may be determined according to practical situations. Specifically, the Z-direction stopper 24 may have a trapezoidal block structure to ensure sufficient strength; the Y-direction stopper 23 has a pin-like structure, so that it can be easily inserted into the stopper structure of the component 100 or can be engaged with both left and right ends of the component 100. The rear sides of the Z-direction limiting piece 24 and the Y-direction limiting piece 23 along the moving direction are provided with connecting pieces 25, so that when the part 100 is driven to move, the part 100 can be abutted against the connecting pieces 25 due to inertia, and the part 100 is prevented from slipping due to the inertia; the clamping structure can also be arranged on the Z-direction limiting piece 24 and/or the Y-direction limiting piece 23, so that unexpected slipping when the part 100 is driven is avoided; the clamping structure can be a clamping block, a clamping groove and the like.

Optionally, the tray mechanism 2 further includes a supporting seat 26, the X-directional limiting members 22 are connected to the lower side of the base plate 21 through the supporting seat 26, at least two X-directional limiting members 22 are provided, and the two X-directional limiting members 22 are symmetrically disposed along the length direction of the second connecting portion 212.

The support base 26 may include a support cross bar 261 and a support longitudinal bar 262, one end of the support longitudinal bar 262 is connected to the substrate 21, and the other end is connected to the support cross bar 261, so that the support structure can realize a connection supporting function, and simultaneously reduce the volume and the weight. The supporting seat 26 can be fastened and connected with the base plate 21 through 4M 10 bolts; one end of the support rail 262 may be provided with a connection block or a connection surface to increase a connection area with the base plate 21; the other end of the support vertical rod 262 is connected to the middle of the support horizontal rod 261, so that two X-direction limiting members 22 disposed on the support horizontal rod 261 can be symmetrically disposed on two sides of a straight line where the centroid of the substrate 21 is located, that is, along the length direction of the second connecting portion 212, so as to ensure stress balance while reliably abutting against the abutting surface of the part 100, limiting X-direction shaking, preventing the part 100 from colliding with and overturning. The sharp corners of the supporting seat 26 are blunted, burrs are removed, and blackening treatment is carried out on the surfaces so as to avoid scratching the parts 100; the X-direction limiting member 22 has a nylon block structure to prevent the collision of the parts 100.

Optionally, the tray mechanism 2 further includes a spacer 27, and the connection end surface of the connecting member 25 and the connection end surface of the supporting seat 26 are provided with a plurality of spacers 27, so that the supporting positions of the X-direction limiting member 22, the Y-direction limiting member 23 and the Z-direction limiting member 24 can be adjusted by increasing or decreasing the number of the spacers 27.

After the X-direction limiting piece 22, the Y-direction limiting piece 23 and the Z-direction limiting piece 24 are initially limited through the connection of different connecting pieces 25, the X-direction limiting piece 22, the Y-direction limiting piece 23 and the Z-direction limiting piece 24 can be accurately adjusted in the X-direction, the Y-direction and the Z-direction respectively by increasing and decreasing the number of gaskets 27 according to the structure of the part 100, and the part 100 is fixed relative to the tray mechanism 2 through accurate limiting, so that the accurate positioning effect on the part 100 can be reliably realized in the air, and the shaking of the part 100 is limited. For example, the position of the X-direction stopper 22 in the moving direction can be adjusted by adjusting the number of the spacers 27. Specifically, the thickness of the spacer 27 may be a 3mm bi-directional adjustment spacer. The tray mechanism 2 can be fixed by two pin pieces and two screws, and is subjected to quenching treatment to ensure that the surface hardness is greater than or equal to HRC50, blackening treatment is carried out, and rust is prevented.

As shown in fig. 1-12, optionally, at least two in-place clamping mechanisms 3 are provided, the two in-place clamping mechanisms 3 are symmetrically arranged at two sides of the moving direction, the in-place clamping mechanism 3 comprises a base 31, a clamping component 32 and a supporting component 33, one end of the base 31 is arranged on the bottom surface, the supporting component 33 and the clamping component 32 are connected to the other end of the base 31, and the supporting component 33 is matched with the clamping component 32 to clamp the part 100.

As shown in fig. 7, the two in-place clamping mechanisms 3 can clamp the left and right ends of the part 100, respectively, so that the part 100 is stabilized at the second station. The in-place clamping mechanism 3 is placed on the ground through the base 31, and the clamping assembly 32 and the supporting assembly 33 are arranged at intervals from the ground, so that the front and rear surfaces of the part 100 can be clamped by the actions such as overturning and the like. Specifically, the clamping assembly 32 and the support assembly 33 can be moved toward each other to a clamped or moved away from each other to an initial state of deployment to enable clamping when the part 100 is moved over the in-place clamping mechanism 3 and to avoid interference by deployment to affect movement of the part 100 when it is desired to transfer to the next station.

As shown in fig. 8 to 12, the base 31 may alternatively include two legs 311 and a connection plate 312, and both ends of the connection plate 312 are connected to the two legs 311, respectively.

The two bases 311 are spaced apart in a direction perpendicular to the moving direction, and the tops of the two bases 311 are connected by a connection plate 312, so that the support assembly 33 and the clamping assembly 32 can be disposed on the connection plate 312. Specifically, the foot stand 311 is integrally wire-cut, and a welding structure is not required, so that the supporting strength can be enhanced.

Alternatively, the clamping assembly 32 includes a first swing cylinder 321 and a first clamping jaw 322, a fixed portion of the first swing cylinder 321 is connected to the base 31, and the first clamping jaw 322 is connected to a rotating portion of the first swing cylinder 321; the support assembly 33 includes a second swing cylinder 331 and a second clamping jaw 332, a fixed portion of the second swing cylinder 331 is connected to the base 31, and the second clamping jaw 332 is connected to a rotating portion of the second swing cylinder 331.

The first clamping jaw 322 and the second clamping jaw 332 may be formed by connecting a plurality of connecting monomers, and the shape and the size of the connecting monomers are not particularly limited, and clamping can be realized according to the shape of the part 100. During clamping, the first clamping jaw 322 is driven to rotate by the rotating part of the first swinging cylinder 321, so that one end of the first clamping jaw 322 far away from the first swinging cylinder 321 is turned over to the upper part of the base 31; similarly, the second clamping jaw 332 acts similarly to the first clamping jaw 322, such that clamping is achieved by the end of the first clamping jaw 322 remote from the first swing cylinder 321 and the end of the second clamping jaw 332 remote from the second swing cylinder 331. Further, by the shape and size of the connecting unit, the clamping action of the part 100 can be achieved by the connecting unit, so that the clamping action of the part 100 can be achieved by the first clamping jaw 322 and the second clamping jaw 332. Preferably, when the connecting units of the first clamping jaw 322 and the second clamping jaw 332 are connected, a plurality of gasket structures can be arranged at the connecting positions, so that the space positions of the first clamping jaw 322 and the second clamping jaw 332 can be accurately adjusted by increasing or decreasing the gasket structures, and clamping of the part 100 can be better realized.

Optionally, one end of the first clamping jaw 322 is connected to the first swing cylinder 321, one end of the second clamping jaw 332 is connected to the second swing cylinder 331, the other end of the first clamping jaw 322 and the other end of the second clamping jaw 332 can be abutted to generate a clamping force to clamp the part 100, the first clamping jaw 322 and the second clamping jaw 332 are respectively provided with a first limiting member 34, the base 31 is correspondingly provided with a second limiting member 313, and the first limiting member 34 can be matched with the second limiting member 313 in an alignment manner so as to limit the clamping force.

Preferably, one of the first limiting member 34 and the second limiting member 313 includes a block structure, and the other includes a groove structure, so that the first clamping jaw 322 and the second clamping jaw 332 cannot continue to clamp after being clamped to a certain degree through the cooperation of the block structure and the groove structure, and the problem of damage to the component 100 caused by excessive clamping force between the first clamping jaw 322 and the second clamping jaw 332 is avoided. Further, one of the block-like structure and the groove-like structure may be provided with a projection, and the other may be provided with a recess, so that a precise positioning fit can be further achieved by the projection and the recess fitting. The first stopper 34 may be shaped, sized, and positioned to mate with the second stopper 313. Specifically, each structure of the in-place clamping mechanism 3 can be positioned through a pin structure, and connected through bolts or screws so as to be convenient to disassemble; the gasket structure can be arranged at the connecting position or the matching position so as to accurately adjust the position and accurately align and match. The arrangement of the gasket 27 and the connecting piece 25 of the tray mechanism 2, the connecting monomer of the in-place clamping mechanism 3, the gasket structure and the like enables the adjustability of the device to be better, and the device can be suitable for parts 100 of various different vehicle types.

Alternatively, the first swing cylinder 321 and the second swing cylinder 331 are connected to the lower side of the connection plate 312, and the first swing cylinder 321 and the second swing cylinder 331 are disposed in opposite sides side by side to reduce the length of the in-place clamping mechanism 3 in the moving direction.

The first swing cylinder 321 and the second swing cylinder 331 are both connected with the connecting plate 312 in the middle, so that the situation that the length of the in-place clamping mechanism 3 along the moving direction is too long due to the fact that the connecting fixing part is far away from one end of the rotating part is avoided, and the space occupation is not reduced. In this embodiment, the first swing cylinder 321 and the second swing cylinder 331 are reversely arranged side by side under the premise of ensuring that the rotation of the rotation part is not interfered, which is helpful for arranging the in-place clamping mechanism 3 in a factory building with smaller space. In addition, the supporting component 33 and the clamping component 32 are matched for clamping, and the tray mechanism 2 is adopted for driving and limiting the part 100, so that the device can be suitable for the parts 100 of various vehicle types, the applicability is improved, and the investment and transformation cost caused by introducing the vehicle types is reduced.

Optionally, the in-place clamping mechanism 3 further comprises a sensor 35, the sensor 35 being provided on the first clamping jaw 322 or the second clamping jaw 332 to detect the position and/or kind of the part 100 after clamping by the sensor 35.

The sensor 35 may be disposed at a predetermined position on the in-place clamping mechanism 3, so as to achieve the purpose of detecting the part 100. Preferably, the sensor 35 comprises an in-place detecting sensor and a part identifying sensor, and since the device comprises at least two in-place clamping mechanisms 3 which are matched with each other, the in-place detecting sensor can be arranged on the second clamping jaw 332 of one supporting component 33, and the part identifying sensor can be arranged on the second clamping jaw 332 of the other supporting component 33, so that whether the part 100 reaches a preset position or not can be detected by the in-place detecting sensor, and the difference of the shapes of the part 100 and the like can be detected by the part identifying sensor to determine the type information of the part 100. The part identification sensor and the read-write mechanism 4 can be matched with each other to jointly realize information identification of the part 100, so that the type of the part 100 is accurately identified, and the problem that the part 100 cannot be transmitted to a corresponding station due to identification errors and the production efficiency is affected is avoided.

The device is also provided with necessary control mechanisms, including a wire PLC, so as to control the actions and the use of the transmission mechanism 1, the read-write mechanism 4, the sensor 35 and the like through programs, thereby ensuring that the device can be stably transmitted and accurately positioned. The operator needs to periodically perform PM (Preventive Maintenance and Productive Maintenance, preventive maintenance and production maintenance) and TPM (Total Productive Maintenance, full-man production maintenance) to check the wear amounts of the Y-directional stopper 23 and the Z-directional stopper 24, etc., wherein the wear amount of the Y-directional stopper 23 is not more than 0.2mm at maximum, and the wear amount of the Z-directional stopper 24 is not more than 0.5mm at maximum, and if the detection is failed, the replacement is required in time, so as to avoid inaccurate spatial positioning of the part 100 due to reduced limiting precision, and further cause the problem that the part 100 cannot be reliably grasped.

When the device is used, the part 100 can be hooked on the tray mechanism 2 at the first station through the preamble robot gripper, and the vehicle type information is written into the identification tag through the read-write mechanism 4; after the hooking and positioning are completed, the gripper withdraws and the part 100 is transmitted to a second station through the transmission mechanism 1; after the part 100 reaches the second station, the part 100 is turned over and clamped through the clamping component 32 and the supporting component 33 of the in-place clamping mechanism 4, the part 100 is fixed, the sensor 35 detects the part 100, feeds back in-place information of the corresponding part 100 to the PLC, reads the vehicle type information through the RFID and transmits the vehicle type information to the next line PLC, and the vehicle type comparison with the next production line is realized; after the comparison is successful, the part 100 is grabbed by the robot gripper, the tray mechanism 2 is overturned and overturned by the transmission chain and is transmitted to the first station, and therefore the transmission of the part 100 in one process is completed.

The present embodiment also provides a vehicle, which includes a part 100, and the part 100 is hoisted by the hoisting device, so that the part 100 moves from a first station to a second station, so as to be assembled to form the vehicle.

The vehicle can be a truck, the overhead hoist adopts a single-layer hoisting mode, the occupied ground space is reduced, and meanwhile, the occupied space of the in-place clamping mechanism 3 arranged on the ground is smaller, so that the device can be suitable for the conditions that the space of a truck factory welding production line is narrow, the height is limited, and the positions of factory upright posts and water vapor pipelines are arranged, and can effectively and reasonably utilize the space while the production efficiency is improved.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.