Assembly system and assembly equipment for engineering machinery landing leg assembly

Abstract

The invention discloses an assembly system and assembly equipment for an engineering machinery supporting leg assembly. The assembly system comprises an underframe assembly placing device, a lifting device and a lifting device, the supporting leg combining device comprises a position adjusting module, a pushing mechanism and a clamping and centering mechanism, the clamping and centering mechanism is used for clamping the supporting leg and enabling the central axis of the supporting leg to coincide with the central axis of the clamping space, and the pushing mechanism is arranged at the end, away from the chassis assembly placing device, of the clamping and centering mechanism and used for pushing the supporting leg into the supporting leg mounting cavity; the position adjusting module is movably arranged below the clamping and centering mechanism and the pushing mechanism and is used for adjusting the spatial position of the supporting leg; the image acquisition device is used for acquiring a placement image set of the underframe assembly; the control system is used for controlling the position adjusting module to execute position adjusting operation according to the placed image set so that the central axis of the supporting leg can coincide with the actual installation axis of the supporting leg installation cavity, and the assembling efficiency and the assembling quality of the supporting leg assembly can be improved.

Description

Technical Field

[0001] This application belongs to the technical field of assembly equipment, and particularly relates to an assembly system and assembly equipment for a boom support assembly of construction machinery. Background Art

[0002] The chassis and the boom support assembly are the main components of construction machinery. The boom support assembly is usually up to 4m long and weighs 2.5 tons. The boom support assembly is installed in the inner cavity of the chassis and fixed by a chain or a fixed pin. The left and right gaps between the boom support assembly and the inner cavity of the chassis are generally 6mm - 8mm, and the upper and lower gaps are 4mm - 6mm. The prior art generally adopts primitive operation methods such as manual operation to assemble the boom support and the chassis. The above-mentioned assembly method easily causes the unilateral position deviation of the boom support and the chassis to exceed the clearance requirement, and it is impossible to ensure that the central axis of the boom support is basically coincident with the central axis of the boom support installation cavity of the chassis assembly. Furthermore, it will cause damage to the paint due to knocking the boom support and / or the chassis during the installation process, or the problem that the boom support is stuck and cannot be pulled out. Summary of the Invention

[0003] The purpose of this application is to provide an assembly system and assembly equipment for a boom support assembly of construction machinery. The assembly system for the boom support assembly of construction machinery has the advantages of reducing labor intensity and improving the assembly efficiency and assembly quality of the boom support assembly.

[0004] To achieve the above purpose, the first aspect of this application provides an assembly system for a boom support assembly of construction machinery. The boom support assembly includes a chassis component and a boom support. A boom support installation cavity for installing the boom support is formed inside the chassis component. The assembly system includes:

[0005] A chassis component placement device for placing the chassis component;

[0006] A boom support assembling device, including a position adjustment module, a pushing mechanism, and a clamping and centering mechanism. The clamping and centering mechanism is used to clamp the boom support and make the central axis of the boom support coincide with the central axis of the clamping space. The pushing mechanism is arranged at one end of the clamping and centering mechanism away from the chassis component placement device and is used to push the boom support into the boom support installation cavity. The position adjustment module is movably arranged below the clamping and centering mechanism and the pushing mechanism and is used to adjust the spatial position of the boom support;

[0007] An image acquisition device for acquiring a set of placement images of the chassis component;

[0008] A control system, communicatively connected to the image acquisition device and the boom support assembling device, and used to control the position adjustment module to perform a position adjustment operation according to the set of placement images, so that the central axis of the boom support coincides with the actual installation axis of the boom support installation cavity.

[0009] In an embodiment of this application, the chassis component placement device includes:

[0010] The first connection bracket, on the top surface of which a chassis tray placement area is formed;

[0011] The chassis tray mechanism, which is used to load the chassis assembly;

[0012] The first positioning mechanism, which is arranged on the first connection bracket and used to position the chassis tray mechanism.

[0013] In an embodiment of the present application, the chassis assembly placement device further includes a second positioning mechanism arranged on the chassis tray mechanism and used to position the chassis assembly.

[0014] In an embodiment of the present application, an internally formed first connection area on the first connection bracket is in communication with the outside at one side, and the assembly system further includes a chassis transfer device that is movably arranged in the working area of the assembly system and used to transfer the chassis tray mechanism to the chassis tray placement area.

[0015] In an embodiment of the present application, the position adjustment module includes a rotating mechanism arranged on the load-bearing platform of the leg assembly device and capable of rotating, and the pushing mechanism and the clamping and centering mechanism are both arranged on the rotating mechanism.

[0016] In an embodiment of the present application, the position adjustment module further includes a translation mechanism movably arranged on the load-bearing platform, and the rotating mechanism is arranged on the translation mechanism.

[0017] In an embodiment of the present application, the position adjustment module further includes a lifting mechanism arranged on the translation mechanism and capable of vertical lifting, and the rotating mechanism is arranged on the lifting mechanism.

[0018] In an embodiment of the present application, the image acquisition device includes:

[0019] The first mounting bracket, which is arranged at the top end of the first connection bracket of the chassis assembly placement device;

[0020] The first image acquisition device, which is movably arranged on the first mounting bracket and used to acquire the image of the rear leg mounting hole of the chassis assembly.

[0021] In an embodiment of the present application, the image acquisition device further includes:

[0022] The second mounting bracket, which is arranged at one end of the position adjustment module close to the first mounting bracket;

[0023] The second image acquisition device, which is arranged on the second mounting bracket and used to acquire the image of the mounting end face of the leg mounting cavity of the chassis assembly.

[0024] In an embodiment of the present application, the assembly system further includes:

[0025] The outrigger connection assembly is arranged on one side of the chassis mounting device and at one end of the outrigger assembly device;

[0026] The outrigger tray is used for loading outriggers;

[0027] The outrigger transfer device is movably arranged in the working area of the assembly system and is used for transferring the outrigger tray onto the outrigger connection assembly.

[0028] In an embodiment of the present application, the assembly system further includes an alignment assembly arranged on the top of the outrigger connection assembly and used for aligning the outrigger tray.

[0029] In an embodiment of the present application, the assembly system further includes a limit assembly arranged on the outrigger tray and used for restricting the position of the outrigger on the outrigger tray.

[0030] The second aspect of the present application provides an assembly device, which includes the above-mentioned assembly system for the outrigger assembly of construction machinery.

[0031] It can be seen from the above technical solutions that the assembly system includes a chassis component placement device, an outrigger assembly device, an image acquisition device, and a control system. The outrigger assembly device includes a position adjustment module, a pushing mechanism, and a clamping and centering mechanism. The clamping and centering mechanism is used for clamping the outrigger and making the central axis of the outrigger coincide with the central axis of the clamping space. The pushing mechanism is arranged at one end of the clamping and centering mechanism away from the chassis component placement device and is used for pushing the outrigger into the outrigger installation cavity of the chassis component. The position adjustment module is movably arranged below the clamping and centering mechanism and the pushing mechanism and is used for adjusting the spatial position of the outrigger; the image acquisition device is used for acquiring the placement image set of the chassis component; the control system is communicatively connected with the image acquisition device and the outrigger assembly device and is used for controlling the position adjustment module to perform position adjustment operations according to the placement image set, so that the central axis of the outrigger coincides with the actual installation axis of the outrigger installation cavity. The assembly system for the outrigger assembly of construction machinery can acquire the placement image set of the chassis component, and can also perform position adjustment operations according to the placement image set, so that the central axis of the outrigger coincides with the actual installation axis of the outrigger installation cavity, without manual operation, reducing the labor intensity during the assembly of the outrigger assembly, being able to avoid knocking the outrigger and / or the chassis during the installation process and damaging the paint on the outrigger, and being able to avoid the problem that the outrigger is stuck in the outrigger installation cavity and cannot be pulled out, improving the assembly efficiency and assembly quality of the outrigger assembly.

[0032] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific embodiments section. Description of the Drawings

[0033] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of the assembly system in the embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of the structure of the first docking rack in the embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of the structure of the chassis tray in the embodiment of the present application;

[0037] Figure 4 It is a schematic diagram of the structure of the leg docking assembly and the leg tray in the embodiment of the present application;

[0038] Figure 5 This is a schematic diagram of the structure of the leg assembly device in the embodiment of the present application;

[0039] Figure 6 This is a structural schematic diagram of the translation mechanism in the embodiment of the present application;

[0040] Figure 7 This is a structural schematic diagram of the lifting mechanism in the embodiment of the present application;

[0041] Figure 8 This is a schematic diagram of the structure of the rotating mechanism in the embodiment of the present application;

[0042] Figure 9 This is a schematic diagram of the structure of the pushing mechanism and the clamping and centering mechanism in the embodiment of the present application;

[0043] Figure 10 This is a structural schematic diagram of the clamping and centering mechanism in an embodiment of the present application;

[0044] Figure 11 This is a schematic diagram of the structure of the support unit in the embodiment of the present application (the lifting beam is in a horizontal state);

[0045] Figure 12 This is a schematic diagram of the structure of the support unit in the embodiment of the present application (the lifting beam is in a vertical state);

[0046] Figure 13 This is a schematic diagram of the structure of the centering unit in the embodiment of the present application;

[0047] Figure 14 This is a structural diagram of the first perspective of the push mechanism in the embodiment of the present application;

[0048] Figure 15 It is a schematic structural diagram of the second perspective of the pushing mechanism in the embodiment of the present application;

[0049] Figure 16 It is a schematic diagram for collecting an image of the rear leg mounting hole in the embodiment of the present application;

[0050] Figure 17 It is a schematic structural diagram of the first mounting bracket and the first image collector in the embodiment of the present application;

[0051] Figure 18 It is a schematic structural diagram of the light source and the first image collector in the embodiment of the present application;

[0052] Figure 19 It is a schematic structural diagram of the second mounting bracket and the second image collector in the embodiment of the present application;

[0053] Figure 20 It is a schematic diagram of the preset angle in the embodiment of the present application;

[0054] Figure 21 It is a schematic diagram of the preset angle and the deflection angle in the embodiment of the present application;

[0055] Figure 22 It is a schematic diagram of the preset angle in the embodiment of the present application;

[0056] Figure 23 It is a schematic diagram of the mounting end face in the embodiment of the present application;

[0057] Figure 24 It is a partially enlarged schematic diagram of the mounting end face in the embodiment of the present application;

[0058] Figure 25 It is a schematic diagram of the state of the leg assembly when not assembled in the embodiment of the present application;

[0059] Figure 26 It is a schematic diagram of the state of the leg assembly after assembly in the embodiment of the present application.

[0060] Explanation of reference numerals

[0061] 1 - Underframe assembly placement device; 101 - First connection frame; 102 - Underframe tray placement area; 103 - Underframe tray mechanism; 1031 - Underframe tray; 1032 - Front guide block; 1033 - Intermediate guide block; 1034 - Rear guide block; 104 - First positioning mechanism; 1041 - Front guide wheel; 1042 - Intermediate guide wheel; 1043 - Rear guide wheel; 105 - Manual operation standing area; 106 - Second positioning mechanism; 1061 - First positioning piece; 1062 - Second positioning piece; 1063 - Positioning plate; 107 - Support assembly; 1071 - First moving guide rail; 1072 - Support piece; 2 - Underframe assembly; 201 - Rear leg mounting hole; 202 - Leg mounting cavity; 203 - Underframe; 204 - Door panel; 3 - Leg assembly device; 301 - Position adjustment module; 302 - Pushing mechanism; 3021 - First pushing table; 3022 - First pushing guide rail; 3023 - First pushing slider; 3024 - First pushing driving part; 3025 - Second pushing table; 3026 - Second pushing guide rail; 3027 - Second pushing slider; 3028 - Second pushing driving part; 3029 - Third pushing driving part; 30210 - Push rod; 30211 - Push rod guiding assembly; 303 - Clamping and centering mechanism; 3031 - First support unit; 3032 - Second support unit; 3033 - Third support unit; 3034 - Support bracket; 3035 - Swing oil cylinder; 3036 - Lifting crossbeam; 3037 - Guide wheel; 3038 - First centering unit; 3039 - Second centering unit; 30310 - Third moving track; 30311 - First centering bracket; 30312 - Second centering bracket; 30313 - Centering gear; 30314 - First centering rack; 30315 - Centering oil cylinder; 30316 - Centering slider; 304 - Load-bearing table; 305 - Rotating mechanism; 3051 - Wear-resistant plate; 3052 - Rotating driving part; 3053 - Rotary assembly; 3054 - Rotating table; 3055 - Ball; 306 - Translating mechanism; 3061 - Translating driving part; 3062 - Rack; 3063 - Slider; 3064 - Second moving guide rail; 3065 - Moving table; 3066 - Lifting installation space; 307 - Lifting mechanism; 3071 - Lifting table; 3072 - Lift; 4 - Leg; 5 - Image acquisition device; 501 - First mounting bracket; 502 - First image acquirer; 503 - Fourth moving guide rail; 504 - Light source; 505 - Second mounting bracket; 506 - Second image acquirer; 6 - Fence; 7 - Leg connection component; 701 - First connection support piece; 702 - Second connection support piece; 703 - Second connection area; 8 - Leg tray; 9 - Leg transfer device; 10 - Limit component; 1001 - First limit piece; 1002 - Second limit piece; 11 - Horizontal weld; 12 - Vertical weld; 13 - Horizontal line; 14 - Vertical line; a - Preset angle; b - Deflection angle. Specific Embodiments

[0062] The following describes in detail the specific embodiments of the present application with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and understanding the present application, and are not used to limit the present application.

[0063] An embodiment of the present application provides an assembly system for a boom support assembly of construction machinery. The boom support assembly includes a chassis assembly 2 and a boom 4 (as Figure 25 - Figure 26 shown). A boom installation cavity 202 for installing the boom 4 is formed inside the chassis assembly 2, as Figure 1 shown. The assembly system includes:

[0064] A chassis assembly placement device 1 for placing the chassis assembly 2;

[0065] A boom fitting device 3, including a position adjustment module 301, a pushing mechanism 302, and a clamping and centering mechanism 303. The clamping and centering mechanism 303 is used to clamp the boom 4 and make the central axis of the boom 4 coincide with the central axis of the clamping space. The pushing mechanism 302 is arranged at one end of the clamping and centering mechanism 303 away from the chassis assembly placement device 1 and is used to push the boom 4 into the boom installation cavity 202. The position adjustment module 301 is movably arranged below the clamping and centering mechanism 303 and the pushing mechanism 302 and is used to adjust the spatial position of the boom 4;

[0066] An image acquisition device 5 for acquiring a set of placement images of the chassis assembly 2;

[0067] A control system, communicatively connected to the image acquisition device 5 and the boom fitting device 3, and used to control the position adjustment module 301 to perform a position adjustment operation according to the set of placement images, so that the central axis of the boom 4 coincides with the actual installation axis of the boom installation cavity 202.

[0068] Specifically, the outrigger assembly in this embodiment is applicable to construction machinery, which includes but is not limited to concrete pump trucks, truck cranes, truck-mounted cranes, etc. In this embodiment, both the number of outriggers 4 in the outrigger assembly and the number of outrigger mounting cavities 202 are multiple. The multiple outriggers 4 include a first outrigger and a second outrigger (both the first outrigger and the second outrigger in this embodiment are the front outriggers of the construction machinery). The multiple outrigger mounting cavities 202 include a first outrigger mounting cavity for mounting the first outrigger and a second outrigger mounting cavity for mounting the second outrigger. The above two outrigger mounting cavities 202 are formed inside the chassis assembly 2. There are two rear outrigger mounting holes 201 on the chassis assembly 2 in this embodiment. The above two rear outrigger mounting holes 201 include a first rear outrigger mounting hole and a second rear outrigger mounting hole, both of which are located at the rear end of the chassis assembly 2 and are used to mount the two rear outriggers of the construction machinery respectively; the placement image set includes the image of the first rear outrigger mounting hole, the image of the second rear outrigger mounting hole on the chassis assembly 2, and the image of the mounting end face of the outrigger mounting cavity 202; there are two outrigger assembling devices 3 in this embodiment. The above two outrigger assembling devices 3 include a first outrigger assembling device for mounting the first outrigger and a second outrigger assembling device for mounting the second outrigger. The structures of the first outrigger assembling device and the second outrigger assembling device are the same.

[0069] Before the outrigger 4 and the chassis assembly 2 are installed together, the chassis assembly 2 is pre-placed on the chassis assembly placement device 1 and in a preset position; the outrigger 4 is clamped in the clamping space of the clamping and centering mechanism 303, and the central axis of the outrigger 4 coincides with the central axis of the clamping space. The control system (such as a PLC control system) controls the image acquisition device 5 to acquire the placement image set of the chassis assembly 2 when the chassis assembly 2 is in the preset position, the outrigger 4 is clamped in the clamping space of the clamping and centering mechanism 303, and the central axis of the outrigger 4 coincides with the central axis of the clamping space. After the image acquisition device 5 finishes acquisition, it sends the placement image set to the control system. The control system performs image recognition processing on the rear outrigger mounting hole images and mounting end face images in the placement image set, and then determines the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole on the chassis assembly 2 based on the results of the image recognition processing of the rear outrigger mounting hole images; calculates the deflection angle of the chassis assembly 2 according to the first coordinate data and the second coordinate data, where the deflection angle is the angle between the actual central axis of the chassis assembly 2 in the width direction and the theoretical central axis of the chassis assembly 2 in the width direction. The position adjustment operations in this embodiment include rotation operation, translation operation, and lifting operation. The control system calls the corresponding preset program according to the product model, performs rotation, translation, and lifting operations, runs the outrigger assembling device 3 to the preset position, and controls the position adjustment module 301 to first perform the rotation operation after determining the deflection angle so that the central axis of the outrigger 4 is parallel to the central axis of the outrigger mounting cavity 202 of the chassis assembly 2.

[0070] Further, the chassis assembly 2 includes a chassis 203 and a door panel 204 welded to the chassis 203. A leg mounting cavity 202 is formed inside the chassis 203. The door panel 204 is disposed on the chassis 203 and at the entrance end of the leg mounting cavity 202 (the notch formed on the door panel 204 is the entrance of the leg mounting cavity 202), and the door panel 204 and the chassis 203 are fixed together by welding. After the chassis 203 and the door panel 204 are welded, the connection position between the two is at the edge position of the entrance end of the leg mounting cavity 202, that is, a plurality of irregularly shaped weld seams will be formed at the edge position of the entrance end of the leg mounting cavity 202. Among them, the plurality of weld seams include a horizontal weld seam 11 at the top of the leg mounting cavity 202 and a vertical weld seam 12 on the vertical side of the leg mounting cavity 202. The horizontal weld seam 11 and the vertical weld seam 12 may both form protruding portions protruding towards the direction where the leg mounting cavity 202 is located. The existence of the above-mentioned protruding portions will affect the installation of the leg 4 and the chassis assembly 2, that is, it will cause the actual installation space of the leg 4 in the leg mounting cavity 202 to decrease. The area covered by the horizontal weld seam 11 is the horizontal weld seam area, and the area covered by the vertical weld seam 12 is the vertical weld seam area. The installation end face of the leg mounting cavity 202 refers to the vertical plane where the entrance of the leg mounting cavity 202 is located. Both the horizontal weld seam area and the vertical weld seam area are located on the installation end face of the leg mounting cavity 202.

[0071] The control system determines the horizontal weld seam area and the vertical weld seam area at the connection position between the chassis 203 and the door panel 204 based on the result of image recognition processing of the installation end face image, and then determines the installation center coordinates of the installation end face according to the horizontal weld seam area and the vertical weld seam area (the installation center coordinates of the installation end face refer to the center coordinates on the installation end face of the leg mounting cavity 202 that are adapted to the actual installation space of the leg 4 considering the protruding portions. The central axis of the actual installation space of the leg 4 in the leg mounting cavity 202 passes through the installation center coordinates of the installation end face. The actual installation axis of the leg mounting cavity 202 is the central axis of the actual installation space of the leg 4 in the leg mounting cavity 202). After that, the control system controls the position adjustment module to perform translation operations and lifting operations based on the installation center coordinates of the installation end face, so that the central axis of the leg 4 coincides with the actual installation axis of the leg mounting cavity 202. On this basis, the control system then controls the pushing mechanism 302 to apply a pushing force to the leg 4 to push the leg 4 into the leg mounting cavity 202, and then uses a fixing pin to connect the leg 4 and the chassis assembly 2 together, that is, the installation cooperation between the leg 4 and the chassis assembly 2 is completed (as Figure 26 shown).

[0072] The assembly system for the outrigger assembly of construction machinery provided in this embodiment can collect the placement image set of the chassis assembly 2 and perform position adjustment operations according to the placement image set, so that the central axis of the outrigger 4 coincides with the actual installation axis of the outrigger installation cavity 202, without manual operation, reducing the labor intensity during the assembly of the outrigger assembly, avoiding knocking the outrigger 4 and / or the chassis 203 during the installation process and damaging the paint on the outrigger 4, and also avoiding the problem that the outrigger 4 is stuck in the outrigger installation cavity 202 and cannot be pulled out, improving the assembly efficiency and assembly quality of the outrigger assembly.

[0073] In one embodiment of the present application, as Figure 2 shown, the chassis assembly placement device 1 includes:

[0074] A first connection frame 101, on the top surface of which there is formed a chassis tray placement area 102;

[0075] A chassis tray mechanism 103 for loading the chassis assembly 2;

[0076] A first positioning mechanism 104, arranged on the first connection frame 101 and used for positioning the chassis tray mechanism 103.

[0077] Specifically, the first positioning mechanism 104 includes a front guide wheel 1041, an intermediate guide wheel 1042, and a rear guide wheel 1043 that are sequentially and spaced apart along the length direction of the chassis tray placement area 102 on the top surface of the first connection frame 101. Among them, the central axes of the front guide wheel 1041 and the rear guide wheel 1043 are parallel to the central axis of the chassis tray placement area 102, and the central axis of the intermediate guide wheel 1042 is perpendicular to the central axis of the chassis tray placement area 102. The chassis tray mechanism 103 includes a chassis tray 1031, a front guide block 1032, an intermediate guide block 1033, and a rear guide block 1034. The chassis tray 1031 can load the chassis assembly 2. The front guide block 1032 is arranged on one side in the width direction of the chassis tray 1031 and is used to cooperate with the front guide wheel 1041. The intermediate guide block 1033 is arranged on one side in the width direction of the chassis tray 1031 and is used to cooperate with the intermediate guide wheel 1042. The rear guide block 1034 is arranged on one side in the width direction of the chassis tray 1031 and is used to cooperate with the rear guide wheel 1043. In this embodiment, both the front guide block 1032 and the rear guide block 1034 are inverted triangular structures, and the intermediate guide block 1033 is a dovetail groove structure. When the chassis tray mechanism 103 loaded with the chassis assembly 2 is placed on the first connection frame 101, the first positioning mechanism 104 and the chassis tray mechanism 103 cooperate with each other to guide and limit it in the axial direction (i.e., the front-rear direction) and the width direction (i.e., the left-right-back direction) of the chassis tray 1031, automatically aligning the chassis tray 1031, which can effectively improve the installation and positioning accuracy of the chassis tray mechanism 103 and the chassis assembly 2, and further facilitate ensuring the accuracy when the chassis assembly 2 is subsequently installed and matched with the leg 4.

[0078] In an embodiment of the present application, a manual operation standing area 105 is further formed on the first connection frame 101. The manual operation standing area 105 is located on the periphery of the chassis tray placement area 102, facilitating the operator to stand in the manual operation standing area 105 to inspect or operate on the chassis assembly 2 according to actual needs.

[0079] In an embodiment of the present application, as Figure 3 shown, the chassis assembly placement device 1 further includes a second positioning mechanism 106 that is arranged on the chassis tray mechanism 103 and is used to position the chassis assembly 2.

[0080] Specifically, the second positioning mechanism 106 includes a first positioning member 1061 and a second positioning member 1062 which are both L-shaped and arranged at the same axial end of the chassis tray 1031. The first positioning member 1061 and the second positioning member 1062 are respectively located on both sides of the width direction of the chassis tray 1031 and both serve as the hoisting and upper-line reference for the chassis assembly 2. The tops of the first positioning member 1061 and the second positioning member 1062 form a positioning plate 1063, and a limiting area is formed on the positioning plate 1063. The limiting area is used to limit the position of the door panel 204 of the chassis assembly 2 away from one end of the rear leg mounting hole 201. Through the above structural design, the initial position of the chassis assembly 2 can be positioned when the chassis assembly 2 is installed on the chassis tray 1031.

[0081] In an embodiment of the present application, the chassis assembly placing device 1 further includes multiple groups of support components 107 (such as two groups) spaced along the width direction of the chassis tray 1031 on the top of the chassis tray 1031. Each group of support components 107 includes a first moving guide rail 1071 and multiple support members 1072 (such as two). The first moving guide rail 1071 is distributed along the axial direction of the chassis tray 1031, and the support members 1072 are movably arranged on the first moving guide rail 1071. The multiple support members 1072 cooperate together to support the chassis assembly 2. By changing the position of the support members 1072 on the first moving guide rail 1071, the chassis tray mechanism 103 can be compatible with chassis assemblies 2 of different models and sizes, and the applicable range of the chassis assembly placing device 1 can be expanded. Further, a first pin hole is provided on the support member 1072, a connecting portion extending downward is formed at the bottom of the chassis assembly 2, and a second pin hole corresponding to the first pin hole is provided on the connecting portion. The chassis assembly placing device 1 further includes a first connecting pin, and the first connecting pin can sequentially pass through the first pin hole and the second pin hole to reliably connect the chassis assembly 2 and the chassis tray mechanism 103 together.

[0082] In an embodiment of the present application, a first connection area communicating with the outside at one side is formed inside the first connection frame 101. The assembly system further includes a chassis transfer device movably arranged in the working area of the assembly system and used to transfer the chassis tray mechanism 103 to the chassis tray placing area 102.

[0083] Specifically, the chassis transfer device in this embodiment can be selected as an AGV (Automated Guided Vehicle) transfer vehicle. The AGV transfer vehicle includes a first moving chassis and a first lifting mechanism. The first moving chassis can move in the working area of the assembly system and can enter the first connection area through the opening position connected to the outside through the first connection area. The chassis tray mechanism 103 is liftably arranged on the first moving chassis through the first lifting mechanism.

[0084] Before assembling the outrigger assembly, the operator first places the chassis tray mechanism 103 on the chassis transfer device. The control system controls the first mobile chassis to move so as to transfer the chassis tray mechanism 103 and the chassis assembly 2 thereon to the first connection area. During the above movement, the first lifting mechanism is in the lifted state, and the bottom surface of the chassis tray mechanism 103 is higher than the highest position of the first positioning mechanism 104. After the first mobile chassis finishes moving, control the first lifting mechanism to perform a lowering operation so that the chassis tray mechanism 103 falls to the chassis tray placement area 102. During the falling process, the first positioning mechanism 104 guides and positions the chassis tray mechanism 103 so that the chassis tray mechanism 103 is in an accurate position on the chassis tray placement area 102.

[0085] In an embodiment of the present application, as Figure 5 , Figure 8 shown, the position adjustment module 301 includes a rotating mechanism 305 provided on the load-bearing platform 304 of the outrigger assembly device 3 and capable of rotating. The pushing mechanism 302 and the clamping and centering mechanism 303 are both provided on the rotating mechanism 305.

[0086] Specifically, the first outrigger assembly device and the second outrigger assembly device in this embodiment further include a load-bearing platform 304 installed in a pre-dug pit. The rotating mechanism 305 includes a wear-resistant plate 3051, a rotation driving member 3052, a slewing assembly 3053, a rotating table 3054, and ball bearings 3055. The wear-resistant plate 3051 is provided on the periphery of the rotation driving member 3052. The rotation driving member 3052 is communicatively connected to the control system and can be selected as a servo motor with a deceleration function. The slewing assembly 3053 is provided on one side of the rotation driving member 3052 and is drivingly connected to the rotation driving member 3052. The rotating table 3054 is provided above the slewing assembly 3053 and rotates with the slewing assembly 3053. The ball bearings 3055 can be selected as rolling bull's eyes and the number is multiple. The multiple ball bearings 3055 are provided below the rotating table 3054 and are in rolling contact with the wear-resistant plate 3051, increasing the smoothness of the rotation of the rotating table 3054. The pushing mechanism 302 and the clamping and centering mechanism 303 are both provided on the rotating table 3054. Under the control of the control system, the rotation driving member 3052 drives the slewing assembly 3053 to rotate, and the slewing assembly 3053 then drives the rotating table 3054, the pushing mechanism 302, the clamping and centering mechanism 303, and the clamped outrigger 4 to rotate in sequence so as to adjust the angle of the central axis of the outrigger 4.

[0087] In an embodiment of the present application, as Figure 6 shown, the position adjustment module 301 further includes a translation mechanism 306 movably provided on the load-bearing platform 304, and the rotating mechanism 305 is provided on the translation mechanism 306.

[0088] Specifically, the translation mechanism 306 includes a translation driving member 3061, a gear, a rack 3062, a slider 3063, a second moving guide rail 3064, and a moving platform 3065. The rack 3062 is arranged on the load-bearing platform 304. The translation driving member 3061 (such as a servo motor) is arranged on the moving platform 3065 and is communicatively connected to the control system. The gear is arranged at the driving output end of the translation driving member 3061 and meshes with the rack 3062. The second moving guide rail 3064 is arranged on the load-bearing platform 304 and is parallel and spaced apart from the rack 3062. The slider 3063 is arranged at the bottom of the moving platform 3065 and can move along the second moving guide rail 3064. The rotating mechanism 305 is arranged above the moving platform 3065. Under the control of the control system, the translation driving member 3061 drives the gear to rotate, and the gear drives the moving platform 3065 to move along the rack 3062. The slider 3063 and the second moving guide rail 3064 increase the smoothness of the movement of the moving platform 3065. When the moving platform 3065 moves, it drives the rotating mechanism 305, the pushing mechanism 302, the clamping and centering mechanism 303, and the clamped leg 4 to move, so as to adjust the distance between the central axis of the leg 4 and the actual installation axis of the leg installation cavity 202 on the horizontal plane.

[0089] In an embodiment of the present application, as Figure 7 shown, the position adjustment module 301 further includes a lifting mechanism 307 arranged on the translation mechanism 306 and capable of lifting vertically. The rotating mechanism 305 is arranged on the lifting mechanism 307.

[0090] Specifically, a lifting installation space 3066 recessed downward from top to bottom is formed on the moving platform 3065. The lifting mechanism 307 includes a lifting platform 3071 and a lifter 3072. The lifter 3072 is arranged in the lifting installation space 3066 in a vertically movable manner and is communicatively connected to the control system. The lifting platform 3071 is arranged on the lifter 3072. The lifter 3072 can be selected as a T-shaped screw lifter. The rotating mechanism 305 is arranged above the lifting platform 3071. Under the control of the control system, the lifter 3072 performs the lifting function, driving the rotating mechanism 305, the pushing mechanism 302, the clamping and centering mechanism 303, and the clamped leg 4 to lift, so as to adjust the spatial height of the central axis of the leg 4. Further, the lifting mechanism 307 further includes a guiding component arranged in the lifting installation space 3066 and used for guiding the lifting of the lifting platform 3071.

[0091] Further, in this embodiment, the relative positional relationship among the rotating mechanism 305, the translation mechanism 306, and the lifting mechanism 307 can also be adjusted to: the rotating mechanism 305 is arranged on the load-bearing platform 304, the translation mechanism 306 is rotatably arranged on the rotating mechanism 305, the lifting mechanism 307 is arranged on the translation mechanism 306 in a vertically movable manner, and the clamping and centering mechanism 303 and the pushing mechanism are arranged on the lifting mechanism 307.

[0092] In one embodiment of the present application, as Figure 9 - Figure 12 shown, the clamping and centering mechanism 303 includes a first support unit 3031, a second support unit 3032, and a third support unit 3033 that are all arranged on the rotating table 3054. The first support unit 3031, the second support unit 3032, and the third support unit 3033 are spaced apart along the axial direction of the rotating table 3054 on the rotating table 3054 and each include a support bracket 3034, a swing oil cylinder 3035, a lifting cross beam 3036, and a guide wheel 3037. The swing oil cylinder 3035 is communicatively connected to the control system. The support bracket 3034 is fixed to the rotating table 3054 by bolts. The lifting cross beam 3036 is rotatably arranged on the top of the support bracket 3034. The swing oil cylinder 3035 is arranged on the support bracket 3034 and is drivingly connected to the lifting cross beam 3036. The guide wheel 3037 is rotatably arranged on the lifting cross beam 3036. Further, in the first support unit 3031 and the second support unit 3032, the central axis of the guide wheel 3037 is perpendicular to the width direction of the rotating table 3054; in the third support unit 3033, the central axis of the guide wheel 3037 is consistent with the width direction of the rotating table 3054. In this embodiment, the number of the first support unit 3031, the second support unit 3032, and the third support unit 3033 is two each. The two first support units 3031 are staggeredly distributed along the width direction of the rotating table 3054 on the rotating table 3054. The two second support units 3032 are staggeredly distributed along the width direction of the rotating table 3054 on the rotating table 3054. The two third support units 3033 are staggeredly distributed along the width direction of the rotating table 3054 on the rotating table 3054. The top surfaces of all the first support units 3031, the second support units 3032, and the third support units 3033 together form the support surface of the support leg 4. The guide wheel 3037 is used to guide the movement of the support leg 4. The control system controls the swing oil cylinder 3035 to extend or retract, which can realize the deployment or retraction of the lifting cross beam 3036, that is, realize the switching between two postures of the lifting cross beam 3036 being horizontal or vertical, so as to avoid it during the lifting or pushing process of the support leg 4.

[0093] In one embodiment of the present application, as Figure 10 、 Figure 13As shown, the clamping and centering mechanism 303 further includes a first centering unit 3038 and a second centering unit 3039 both arranged on the rotating table 3054. The first centering unit 3038 and the second centering unit 3039 are spaced apart along the axial direction of the rotating table 3054 on the rotating table 3054 and each includes two third moving tracks 30310, two centering sliders 30316, a first centering bracket 30311, a second centering bracket 30312, a centering gear 30313, a first centering rack 30314, a second centering rack, and a centering oil cylinder 30315. The two third moving tracks 30310 are spaced apart along the length direction of the rotating table 3054, and a single third moving track 30310 is arranged along the width direction of the rotating table 3054. The first centering bracket 30311 and the second centering bracket 30312 are distributed oppositely. The first centering bracket 30311 is movably arranged on a third moving track 30310 through a centering slider 30316, and the second centering bracket 30312 is movably arranged on the other third moving track 30310 through the other centering slider 30316. The centering gear 30313 is rotatably arranged on the gear mounting plate and is located between the first centering bracket 30311 and the second centering bracket 30312. The first centering rack 30314 is arranged on the first centering bracket 30311 and meshes with the centering gear 30313. The second centering rack is arranged on the second centering bracket 30312 and meshes with the centering gear 30313. The centering oil cylinder 30315 is arranged between the first centering bracket 30311 and the second centering bracket 30312 and is drivingly connected to the first centering bracket 30311. The control system is communicatively connected to the centering oil cylinder 30315. The centering oil cylinder 30315 can pull the first centering bracket 30311 to move towards the central position of the third moving track 30310. The first centering rack 30314 on the first centering bracket 30311 pushes the centering gear 30313 to rotate, thereby driving the second centering rack and the second centering bracket 30312 to move along the central position of the third moving track 30310, and further clamping the leg 4 to ensure that the central axis of the leg 4 coincides with the clamping central axis between the first centering bracket 30311 and the second centering bracket 30312. In this embodiment, the clamping space is jointly formed by the support surface, the first centering bracket 30311, and the second centering bracket 30312, and the central axis of the clamping space is the clamping central axis between the first centering bracket 30311 and the second centering bracket 30312.

[0094] In an embodiment of the present application, as Figure 14 - Figure 15The pushing mechanism 302 includes a first pushing platform 3021, a first pushing guide rail 3022, a first pushing slider 3023, a first pushing driving member 3024 (such as a servo motor), a pushing gear, a pushing rack, a second pushing platform 3025, a second pushing guide rail 3026, a second pushing slider 3027, a second pushing driving member 3028 (such as a hydraulic cylinder), a third pushing driving member 3029 (such as a hydraulic cylinder), and a push rod 30210. Among them, the first pushing driving member 3024, the second pushing driving member, and the third pushing driving member 3029 are communicatively connected to the control system. The first pushing guide rail 3022 is arranged on the rotating table 3054 along the axial direction of the rotating table 3054. The first pushing slider 3023 is arranged at the bottom of the first pushing platform 3021 and can move along the first pushing guide rail 3022. The pushing rack is arranged on the rotating table 3054 and is parallel to the first pushing guide rail 3022. The pushing gear is arranged at the driving output end of the first pushing driving member 3024 and meshes with the pushing rack. Driven by the first pushing driving member 3024, the pushing gear rotates and drives the first pushing platform 3021 to move along the first pushing guide rail 3022. The second pushing guide rail 3026 is arranged on the first pushing platform 3021 and is parallel to the first pushing platform 3021. The second pushing slider 3027 is arranged at the bottom of the second pushing platform 3025 and can move along the second pushing guide rail 3026. The second pushing driving member 3028 is arranged on the first pushing platform 3021 and is drivingly connected to the second pushing platform 3025 for driving the second pushing platform 3025 to move along the second pushing guide rail 3026. When the first pushing platform 3021 and / or the second pushing platform move, they can both drive the leg 4 to move away from the push rod 30210. The third pushing driving member 3029 is arranged on the second pushing platform 3025 and is drivingly connected to the push rod 30210 for driving the push rod 30210 to apply a pushing force to the leg 4 so as to push the leg 4 into the leg mounting cavity 202.

[0095] Further, the pushing mechanism 302 further includes a push rod guiding assembly 30211 arranged on the first pushing platform 3021 and used for guiding the push rod 30210.

[0096] In an embodiment of the present application, the assembly system further includes a fence 6 arranged outside the leg assembling device 3 to prevent operators from accidentally entering the area where the leg assembling device 3 is located and causing safety accidents during the process of the leg assembling device 3 performing corresponding operations.

[0097] In an embodiment of the present application, as Figure 16 - Figure 19 shown, the image acquisition device 5 includes:

[0098] A first mounting bracket 501, arranged at the top of the first connection bracket 101 of the chassis component placing device 1;

[0099] The first image collector 502 is movably arranged on the first mounting bracket 501 and is used to acquire the image of the rear leg mounting hole of the chassis assembly 2.

[0100] Specifically, the first mounting bracket 501 in this embodiment is in a portal shape and is located at one end of the first connection area close to the outside. A fourth moving guide rail 503 is further provided on the top of the first mounting bracket 501. The fourth moving guide rail 503 is arranged longitudinally (i.e., the axial direction of the chassis tray placement area 102). A connecting block that can move axially along it is also provided on the fourth moving guide rail 503. The first image collector 502 is connected to the connecting block. After the chassis transfer device completes the transfer, the chassis assembly 2 is located below the first image collector 502, and the end of the chassis assembly 2 where the rear leg mounting hole 201 is located is close to the first mounting bracket 501. The first image collector 502 is communicatively connected to the control system and can be selected as a camera (such as a 2D camera, a 3D camera or a laser detection camera). Under the control of the control system, the first image collector 502 can automatically acquire the image of the rear leg mounting hole on the chassis assembly 2.

[0101] Furthermore, the image acquisition device 5 further includes a moving driving component for driving the connecting block to move. The moving driving component may include a driving motor and a lead screw. The driving motor is communicatively connected to the control system. One end of the lead screw is drivingly connected to the driving motor, and the other end of the lead screw passes through the connecting block and is threadedly connected to the connecting block. When the driving motor rotates, it can drive the connecting block and the first image collector 502 to move along the fourth moving guide rail 503, thereby realizing the adjustment of the image acquisition area of the fourth moving guide rail 503.

[0102] In the embodiment of the present application, the assembly system further includes an information reader (such as an RFID reader / writer) arranged on the first connection frame 101 and communicatively connected to the control system. An information label (such as an RFID electronic label) is provided on the chassis assembly 2. Information such as the size of the chassis assembly 2 and the size of the leg 4 corresponding to the chassis assembly 2 is stored in the information label. The information reader is used to read the information stored in the information label and can send the read information to the control system. Position information of the first image collector 502 corresponding to the leg 4 is stored in the control system. After receiving the information sent by the information reader, the control system adjusts the first image collector 502 to the corresponding position based on the above information, so as to more clearly and completely acquire the image of the rear leg mounting hole 201, which is beneficial to expanding the applicable range of the assembly system.

[0103] In an embodiment of the present application, there are two rear leg mounting holes 201 on the chassis assembly 2, namely the first leg mounting cavity and the second rear leg mounting hole. There are two first image collectors 502, fourth moving rails 503, connecting blocks, and moving drive assemblies. A set of the first image collector 502, fourth moving rail 503, connecting block, and moving drive assembly are arranged on the first side in the width direction of the first mounting bracket 501 for collecting images of the first leg mounting cavity; another set of the first image collector 502, fourth moving rail 503, connecting block, and moving drive assembly are arranged on the second side in the width direction of the first mounting bracket 501 for collecting images of the second rear leg mounting hole. Both of the two first image collectors 502 send the collected rear leg mounting hole images to the control system, and the control system determines the first coordinate data of the center of the first leg mounting cavity and the second coordinate data of the center of the second rear leg mounting hole on the chassis assembly 2 based on the above two rear leg mounting hole images.

[0104] In an embodiment of the present application, the image acquisition device 5 further includes a light source 504 arranged on the first mounting bracket 501 for increasing the brightness within the image acquisition area of the first image collector 502 so as to improve the image acquisition quality of the first image collector 502.

[0105] In an embodiment of the present application, the image acquisition device 5 further includes:

[0106] A second mounting bracket 505 arranged at one end of the position adjustment module 301 close to the first mounting bracket 501;

[0107] A second image collector 506 arranged on the second mounting bracket 505 and used for acquiring the installation end face image of the leg mounting cavity 202.

[0108] Specifically, in this embodiment, the second image collector 506 can be selected as a camera (such as a 2D camera, 3D camera, or laser detection camera) and is communicatively connected to the control system. The second mounting bracket 505 is arranged at one end of the rotary table 3054 close to the first mounting bracket 501. After the chassis transfer device completes the transfer, the leg mounting cavity 202 is located at one end close to the second mounting frame. Under the control of the control system, the second image collector 506 can automatically acquire the installation end face image of the leg mounting cavity 202 on the chassis assembly 2.

[0109] Further, there are two leg mounting cavities 202 on the chassis assembly 2, namely the first leg mounting cavity and the second leg mounting cavity. There are also two second image collectors 506 and two second mounting brackets 505. One set of the second image collector 506 and the second mounting bracket 505 is arranged on the first side in the width direction of the first connection bracket 101 for collecting images of the first leg mounting cavity; the other set of the second image collector 506 and the second mounting bracket 505 is arranged on the second side in the width direction of the first connection bracket 101 for collecting images of the second leg mounting cavity. Both of the two second image collectors 506 send the collected mounting end face images to the control system, and the control system can respectively determine the mounting center coordinates of the mounting end faces corresponding to the first leg mounting cavity and the second leg mounting cavity based on the above two mounting end face images.

[0110] In an embodiment of the present application, as Figure 4 shown, the assembly system further includes:

[0111] A leg connection component 7, arranged on one side of the chassis assembly placing device 1 and at one end of the leg assembling device 3;

[0112] A leg tray 8 for loading the legs 4;

[0113] A leg transfer device 9, movably arranged in the working area of the assembly system and used to transfer the leg tray 8 to the leg connection component 7.

[0114] Specifically, the leg connection component 7 includes a first connection support member 701 and a second connection support member 702 that are spaced apart in the transverse direction. The tops of the first connection support member 701 and the second connection support member 702 jointly form a tray connection space for connecting the leg tray 8. Both the first connection support member 701 and the second connection support member 702 are fixed to the ground in the working area of the assembly system by anchor bolts and are located at the longitudinal end of the leg assembling device 3. A second connection area 703 is formed between the first connection support member 701 and the second connection support member 702, and the second connection area 703 is located below the tray connection space. The leg transfer device 9 includes a second moving chassis and a second lifting mechanism. The second moving chassis can move within the working area of the assembly system and can enter the second connection area 703. The leg tray 8 is arranged on the second moving chassis in a liftable manner through the second lifting mechanism.

[0115] Before assembling the leg assembly, the operator places the leg tray 8 on the leg transfer device 9, and the control system controls the second moving chassis to move to the second connection area 703 to transfer the leg tray 8 to the tray connection space.

[0116] In an embodiment of the present application, the assembly system further includes an alignment component disposed on the top of the leg connection component 7 and used for aligning the leg tray 8.

[0117] Specifically, the alignment component includes four alignment members respectively disposed at the four corner positions on the top of the leg connection component 7. Each alignment member includes two adjacent and inclined plate portions. In this embodiment, the eight inclined plate portions can jointly act to align the leg tray 8 when it falls into the tray connection space. During the movement of the second mobile chassis, the second lifting mechanism is in the lifting state, and the bottom surface of the leg tray 8 is higher than the highest position of the alignment component; after the movement of the second mobile chassis is completed, the second lifting mechanism is controlled to perform a lowering operation so that the leg tray 8 drops into the tray connection space. During the dropping process, the alignment component aligns and positions the leg tray 8 so that the leg tray 8 is in an accurate position in the tray connection space.

[0118] In an embodiment of the present application, the assembly system further includes a limiting component 10 disposed on the leg tray 8 and used for restricting the position of the leg 4 on the leg tray 8.

[0119] Specifically, the limiting component 10 in this embodiment includes a first limiting member 1001 and a second limiting member 1002 both disposed on the top surface of the leg tray 8 and spaced apart along the width direction of the leg tray 8. An accommodation space for accommodating the leg 4 is formed between the first limiting member 1001 and the second limiting member 1002. The first limiting member 1001 and the second limiting member 1002 can jointly act to prevent the leg 4 from moving along the width direction of the leg tray 8 during transportation on the leg tray 8, laying a foundation for accurately transferring it to the leg assembly device 3 subsequently.

[0120] Further, a third pin hole is provided at the bottom of the leg tray 8, and a pin connection portion is provided at the top of the leg transfer device 9. A fourth pin hole corresponding to the third pin hole is provided on the pin connection portion. The assembly system further includes a second connection pin. The second connection pin can sequentially pass through the third pin hole and the fourth pin hole to reliably connect the leg tray 8 and the leg transfer device 9 together.

[0121] In an embodiment of the present application, the assembly system further includes a hydraulic station and hydraulic pipelines connected to the hydraulic station. The hydraulic pipelines are also connected to each hydraulic accessory of the second pushing driving member 3028 and the third pushing driving member 3029 in the pushing mechanism 302. When pushing the leg 4 into the leg installation cavity 202, the hydraulic station provides a hydraulic power source for the second pushing driving member 3028 and the third pushing driving member 3029; when 50% of the total length of the leg 4 is pushed into the leg installation cavity 202, the chassis hydraulic pipeline and the leg hydraulic pipeline are connected together.

[0122] In an embodiment of the present application, when the outrigger 4 and the chassis assembly 2 need to be assembled together, the control system is configured to perform the following steps:

[0123] Step S101: Determine that the outrigger 4 and the chassis assembly 2 are respectively in their respective preset installation states.

[0124] Before assembling the outrigger assembly, the operator first places the chassis tray mechanism 103 on the chassis transfer device; the second positioning mechanism 106 positions the chassis assembly 2 and places the chassis assembly 2 on the chassis tray mechanism 103; then the control system controls the chassis transfer device to move to transfer the chassis tray mechanism 103 and the chassis assembly 2 thereon to the first docking area. During the above transfer process, the bottom surface of the chassis tray mechanism 103 is higher than the highest position of the first positioning mechanism 104; after the chassis transfer device finishes the transfer, the control system controls the chassis transfer device to perform a lowering operation so that the chassis tray mechanism 103 drops to the chassis tray placement area 102. After the chassis transfer device finishes lowering, it sends a signal indicating the completion of lowering to the control system. At this time, the chassis assembly 2 is in its corresponding preset installation position in its corresponding preset installation attitude. In this case, it is determined that the chassis assembly 2 is in its corresponding preset installation state.

[0125] Before transferring the outrigger 4, the operator first places the outrigger tray 8 on the outrigger transfer device 9, and then the operator can also place the outrigger 4 on the outrigger tray 8 by means of a crane. Then the control system controls the outrigger transfer device 9 to move to transfer the outrigger tray 8 and the outrigger 4 thereon to the second docking area 703. During the above transfer process, the bottom surface of the outrigger tray 8 is higher than the highest position of the guiding assembly; after the outrigger transfer device 9 finishes the transfer, the control system controls the outrigger transfer device 9 to perform a lowering operation so that the outrigger tray 8 drops onto the outrigger docking assembly 7.

[0126] In this embodiment, the leg assembly system also includes an information reader (such as an RFID read / write head) arranged on the first docking frame 101 and communicatively connected to the control system. An information tag (such as an RFID electronic tag) is provided on the base frame component 2. The information tag stores information such as the size of the base frame component 2 and the size of the leg 4 corresponding to the base frame component 2. The information reader is used to read the information stored in the information tag and can send the read information to the control system. After the transfer of the leg 4 is completed and the control system receives the information sent by the information reader, the leg assembly device 3 is controlled to perform the clamping and centering operation and the position adjustment operation based on the above information. After the clamping and centering operation is completed, the leg 4 is clamped in the clamping area by the leg assembly device 3, and the central axis of the leg 4 coincides with the central axis of the clamping area; after the position adjustment operation is completed, the leg 4 faces the direction of the leg installation cavity 202, and the leg assembly device 3 sends a position adjustment completion signal to the control system after the position adjustment operation is completed. At this time, the leg 4 is in its corresponding preset installation position with its corresponding preset installation posture. In this case, it is determined that the leg 4 is in its corresponding preset installation state. That is, after receiving the signal that the lowering of the chassis transfer device is completed and the signal that the position adjustment operation of the leg assembly device 3 is completed, the control system can determine that the leg 4 and the chassis assembly 2 are respectively in their respective preset installation states.

[0127] Step S102: obtaining first coordinate data of the center of the first leg mounting cavity and second coordinate data of the center of the second rear leg mounting hole on the chassis assembly 2.

[0128] Specifically, Figure 20 As shown, after the automatic assembly program of the leg assembly system is debugged, the control system constructs a three-dimensional model of the chassis component 2, and constructs a first coordinate system with the midpoint between the center of the first leg mounting cavity and the center of the second rear leg mounting hole in the three-dimensional model as the coordinate origin (x0, y0), and the straight line passing through the coordinate origin (x0, y0) and perpendicular to the line between the center of the first leg mounting cavity and the center of the second rear leg mounting hole in the three-dimensional model is the theoretical central axis of the chassis component 2 in the width direction.

[0129] In this embodiment, after the base frame assembly 2 is transferred to the first docking rack 101 , the first rear leg mounting hole and the second rear leg mounting hole are both located at the end of the base frame assembly 2 away from the first mounting bracket 501 . The control system controls the first image collector 502 to collect the image of the rear leg mounting holes of the base frame component 2 from above the base frame component 2, and the first image collector 502 then sends the image of the rear leg mounting holes to the control system. After receiving the above-mentioned rear leg mounting hole image, the control system performs feature recognition (such as arc feature) on it to identify the first rear leg mounting hole and the second rear leg mounting hole; in addition, the control system also pre-stores the spatial position information of the first image collector 502. After the control system recognizes the image of the rear leg mounting holes, it can determine the size of the first leg mounting cavity, the distance between the first leg mounting cavity and the first image collector 502, the size of the second rear leg mounting hole and the distance between the first leg mounting cavity and the first image collector 502. Based on the above data and the spatial position information of the first image collector 502, the control system can obtain the first coordinate data of the center of the first leg mounting cavity and the second coordinate data of the center of the second rear leg mounting hole in the first coordinate system.

[0130] Step S103: Calculate the deflection angle of the chassis assembly 2 according to the first coordinate data and the second coordinate data, wherein the deflection angle is the angle between the actual center axis of the chassis assembly 2 in the width direction and the theoretical center axis of the chassis assembly 2 in the width direction.

[0131] Specifically, the control system determines the first coordinate data (x01, y01) of the center of the first leg mounting cavity and the second coordinate data (x02, y02) of the center of the second rear leg mounting hole based on the image captured by the first image collector 502, and then connects the two centers with a first straight line, and further determines the midpoint between the two centers, and determines that the straight line passing through the midpoint and perpendicular to the first straight line is the second straight line, and the second straight line is the actual center axis of the base frame assembly 2 in the width direction.

[0132] like Figure 21 As shown, after determining the theoretical center axis and the actual center axis of the chassis assembly 2 in the width direction, the control system further determines two angles between the two center axes. The smaller of the two angles is the deflection angle in this embodiment. The control system can determine the deflection angle based on the following formula:

[0133] b=arcsin((y01-y02) / (x01-x02)) (1)

[0134] Among them, b is the deflection angle, y01 is the vertical coordinate in the first coordinate data, y02 is the vertical coordinate in the second coordinate data, x01 is the horizontal coordinate in the first coordinate data, and x02 is the horizontal coordinate in the second coordinate data.

[0135] Step S104: Determine the installation center coordinates of the installation end face of the outrigger mounting cavity 202.

[0136] In an embodiment of the present application, the chassis assembly 2 includes a chassis 203 and a door panel 204 welded to the chassis 203. Determining the installation center coordinates of the installation end face of the outrigger mounting cavity 202 in step S104 further includes steps S201 - S203, where:

[0137] Step S201: Obtain an image of the installation end face of the outrigger mounting cavity 202.

[0138] Specifically, in this embodiment, the installation end face of the outrigger mounting cavity 202 refers to the vertical plane where the entrance of the outrigger mounting cavity 202 is located. Both the horizontal weld area and the vertical weld area are located on the installation end face of the outrigger mounting cavity 202. After the second image collector 506 completes the image acquisition of the installation end face of the outrigger mounting cavity 202, the acquired image is sent to the control system, and the control system can obtain the image of the installation end face of the outrigger mounting cavity 202.

[0139] Step S202: Determine the horizontal weld area and the vertical weld area at the connection position between the chassis 203 and the door panel 204 according to the installation end face image.

[0140] Specifically, after obtaining the installation end face image, the control system performs feature recognition on it based on an image recognition algorithm. For example, it first recognizes the welds, and then further recognizes the horizontal weld area and the vertical weld area based on the position and coverage area of the welds.

[0141] Step S203: Determine the installation center coordinates of the installation end face according to the horizontal weld area and the vertical weld area.

[0142] In an embodiment of the present application, determining the installation center coordinates of the installation end face according to the horizontal weld area and the vertical weld area in step S203 further includes steps S301 - S303, where:

[0143] Step S301: Obtain the third coordinate data of the point on the horizontal weld area closest to the outrigger mounting cavity 202 in the first direction.

[0144] Specifically, as Figure 22 shown, in the three-dimensional model of the chassis assembly 2, the control system takes the corner point on the upper end of the door panel 204 far from the first outrigger mounting cavity (or the second rear outrigger mounting hole) side as the origin (X0, Z0), takes the horizontal line 13 passing through the origin as the X-axis, and takes the vertical line 14 passing through the origin as the Z-axis to establish a second coordinate system. In the second coordinate system, the intersection coordinates of the central axis of the outrigger mounting cavity 202 and the installation end face are (X1, Z1).

[0145] Further, the first direction refers to the vertically downward direction, the horizontal weld region is distributed along the horizontal direction. After the control system identifies the horizontal weld region on the installation end face image, it can further identify the outer contour of the horizontal weld region and obtain the coordinate data of each point constituting the outer contour. By comparing the Z-axis coordinates of the above-mentioned coordinate data of each point, it is possible to determine the point on the horizontal weld region closest to the leg mounting cavity 202 in the first direction and the third coordinate data of this point.

[0146] Step S302: Obtain the fourth coordinate data of the point on the vertical weld region closest to the leg mounting cavity 202 in the second direction.

[0147] Specifically, in this embodiment, the vertical weld region is on the vertical side of the leg mounting cavity 202 away from the first leg mounting cavity (or the second rear leg mounting hole), and the second direction refers to the direction horizontally towards the leg mounting cavity 202. The vertical weld region is distributed along the vertical direction. After the control system identifies the vertical weld region on the installation end face image, it can further identify the outer contour of the vertical weld region and obtain the coordinate data of each point constituting the outer contour. By comparing the X-axis coordinates of the above-mentioned coordinate data of each point, it is possible to determine the point on the vertical weld region closest to the leg mounting cavity 202 in the second direction and the fourth coordinate data of this point.

[0148] Step S303: Determine the installation center coordinates of the installation end face according to the third coordinate data and the fourth coordinate data.

[0149] In an embodiment of the present application, step S303 of determining the installation center coordinates of the installation end face of the leg mounting cavity 202 according to the third coordinate data and the fourth coordinate data further includes steps S401 - S404, where:

[0150] Step S401: Determine the horizontal line 13 passing through the point where the third coordinate data is located according to the third coordinate data;

[0151] Step S402: Determine the vertical line 14 passing through the point where the fourth coordinate data is located according to the fourth coordinate data;

[0152] Step S403: Determine the intersection coordinates of the horizontal line 13 and the vertical line 14.

[0153] Specifically, after the control system determines the third coordinate data, it can determine the linear equation of the horizontal line 13 passing through the point where the third coordinate data is located based on the third coordinate data; similarly, after the control system determines the fourth coordinate data, it can determine the linear equation of the vertical line 14 passing through the point where the fourth coordinate data is located based on the fourth coordinate data; then, the control system solves the above two linear equations to calculate the intersection coordinates of the horizontal line 13 passing through the point where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located.

[0154] Step S404: Determine the installation center coordinates of the leg installation cavity 202 on the installation end face according to the intersection coordinates.

[0155] Specifically, as Figure 22 - Figure 24 shown, after the control system calculates the intersection coordinates of the horizontal line 13 of the point where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located, the intersection coordinates (X2, Z2) of the horizontal line 13 of the point where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located can be obtained.

[0156] Further, the control system can obtain the installation center coordinates of the leg installation cavity 202 on the installation end face based on the following method:

[0157] X4 = X1 - (X2 - X0) (2)

[0158] wherein, X4 is the X-axis coordinate value of the installation center coordinates of the leg installation cavity 202 on the installation end face; X1 is the X-axis coordinate value of the intersection coordinates of the central axis of the leg installation cavity 202 and the installation end face; X2 is the X-axis coordinate value of the intersection coordinates of the horizontal line 13 of the point where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located; X0 is the X-axis coordinate value of the origin.

[0159] Z4 = Z1 - (Z2 - Z0) (3)

[0160] wherein, Z4 is the Z-axis coordinate value of the installation center coordinates of the leg installation cavity 202 on the installation end face; Z1 is the Z-axis coordinate value of the intersection coordinates of the central axis of the leg installation cavity 202 and the installation end face; Z2 is the Z-axis coordinate value of the intersection coordinates of the horizontal line 13 of the point where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located; Z0 is the Z-axis coordinate value of the origin.

[0161] That is, the installation center coordinates of the leg installation cavity 202 are (X1 - (X2 - X0), Z1 - (Z2 - Z0)).

[0162] Step S105: Control the leg to perform a position adjustment operation according to the deflection angle b and the installation center coordinates of the installation end face, so that the central axis of the leg coincides with the actual installation axis of the leg installation cavity 202.

[0163] In an embodiment of the present application, controlling the leg to perform a position adjustment operation according to the deflection angle b and the installation center coordinates of the installation end face in step S105 so that the central axis of the leg coincides with the actual installation axis of the leg installation cavity 202 further includes steps S401 - step S402, wherein:

[0164] Step S401: Control the outrigger to perform a first adjustment operation according to the deflection angle b, so that the central axis of the outrigger is parallel to the actual installation axis of the outrigger installation cavity 202 of the chassis assembly 2.

[0165] In an embodiment of the present application, step S401 of controlling the outrigger 4 to perform a first adjustment operation according to the deflection angle b further includes steps S501 - S504, where:

[0166] Step S501: Obtain a preset angle a between the central axis of the chassis assembly 2 in the width direction and the central axis of the outrigger installation cavity 202.

[0167] Specifically, in this embodiment, the preset angle a refers to the angle between the central axis of the chassis assembly 2 in the width direction and the central axis of the outrigger installation cavity 202 in the three-dimensional model. This preset angle a is pre-stored in the control system and can be retrieved when needed. Further, the angle between the central axis of the first outrigger installation cavity and the central axis of the chassis assembly 2 in the width direction is the first angle, and the angles between the central axes of the second outrigger installation cavities and the central axis of the chassis assembly 2 in the width direction are the second angles, and the first angle is equal to the second angle.

[0168] Step S502: Calculate the difference and the sum value between the preset angle a and the deflection angle b.

[0169] The control system can calculate the difference between the preset angle a and the deflection angle b based on the following formula:

[0170] x03 = a - b (4)

[0171] Where x03 is the difference between the preset angle and the deflection angle, and a is the preset angle.

[0172] The control system can calculate the sum value between the preset angle a and the deflection angle b based on the following formula:

[0173] x04 = a + b (5)

[0174] Where x04 is the sum value between the preset angle and the deflection angle.

[0175] Step S503: Control the first outrigger to perform a first rotation operation according to the difference.

[0176] Step S504: Control the second outrigger to perform a second rotation operation according to the sum value.

[0177] Specifically, after the control system calculates the difference between the preset included angle a and the deflection angle b, it controls the rotating mechanism 305 of the first leg assembly device to perform a rotating operation, so that the rotating mechanism 305 drives the first leg above it to rotate (at this time, the rotation operation of the first leg is the first rotation operation), and the rotation angle value of the first leg is x03. After the first leg rotates in place, the central axis of the first leg is parallel to the actual installation axis of the first leg installation cavity;

[0178] Similarly, after the control system calculates the sum value between the preset included angle a and the deflection angle b, it controls the rotating mechanism 305 of the second leg assembly device to perform a rotating operation, so that the rotating mechanism 305 drives the second leg above it to rotate (at this time, the rotation operation of the second leg is the second rotation operation), and the rotation angle value of the second leg is x04. After the second leg rotates in place, the central axis of the second leg is parallel to the actual installation axis of the second leg installation cavity.

[0179] Step S402: Control the leg to perform a second adjustment operation according to the installation center coordinates, so that the central axis of the leg 4 coincides with the actual installation axis of the leg installation cavity 202.

[0180] In an embodiment of the present application, controlling the leg to perform a second adjustment operation according to the installation center coordinates in step S402 so that the central axis of the leg 4 coincides with the actual installation axis of the leg installation cavity 202 further includes steps S601 - S602, where:

[0181] Step S601: Control the translation mechanism 306 to perform a translation operation according to the horizontal coordinate value of the installation center coordinates of the installation end face, so that the central axis of the leg 4 clamped by the clamping mechanism and the actual installation axis of the leg installation cavity 202 are in the same vertical plane.

[0182] Specifically, in this embodiment, the horizontal coordinate value of the installation center coordinates of the installation end face is the X-axis coordinate value of the installation center coordinates of the installation end face.

[0183] After the control system determines the installation center coordinates of the installation end face, it controls the translation mechanisms 306 of the first leg assembly device and the second leg assembly device to perform translation operations respectively, so that the translation mechanism 306 drives the leg 4 above it to translate. The translation distance of both legs 4 is X1 - (X2 - X0). After the first leg and the second leg both translate in place, the central axis of the first leg and the actual installation axis of the first leg installation cavity are in the same vertical plane, and the central axis of the second leg and the actual installation axis of the second leg installation cavity are in the same vertical plane.

[0184] Step S602 : controlling the lifting mechanism 307 to perform a lifting operation according to the vertical coordinate value of the installation center coordinate of the installation end surface, so that the central axis of the leg clamped by the clamping mechanism coincides with the actual installation axis of the leg installation cavity 202 .

[0185] Specifically, after determining the installation center coordinates of the installation end face, the control system controls the lifting mechanisms 307 of the first leg assembling device and the second leg assembling device to perform lifting operations, so that the lifting mechanisms 307 drive the legs 4 above them to rise. The rising distances of the two legs 4 are both Z1-(Z2-Z0). After the first leg and the second leg are both raised into place, the central axis of the first leg coincides with the actual installation axis of the first leg mounting cavity, and the central axis of the second leg coincides with the actual installation axis of the second leg mounting cavity.

[0186] In this embodiment, the order of execution of the parallel operation and the lifting operation can also be exchanged. If the lifting operation is performed first, then after the lifting operation is completed, the central axis of the first leg and the actual installation axis of the first leg mounting cavity are on the same horizontal plane, and the central axis of the second leg and the actual installation axis of the second leg mounting cavity are on the same horizontal plane; if the translation operation is performed thereafter, the central axis of the first leg and the actual installation axis of the first leg mounting cavity can be made to coincide with each other, and the central axis of the second leg can be made to coincide with each other.

[0187] Step S106 : controlling the pushing mechanism 302 of the leg assembly assembly system to perform a pushing operation to insert the leg into the leg installation cavity 202 .

[0188] In one embodiment of the present application, controlling the pushing mechanism 302 of the leg assembly system to perform a pushing operation in step S106 includes:

[0189] Step S701: Control the pushing mechanism 302 to perform a first pushing operation so that the leg 4 of a preset length is inserted into the leg installation cavity 202;

[0190] Step S702 : controlling the pushing mechanism 302 to perform a second pushing operation so that the supporting leg 4 is completely inserted into the supporting leg installation cavity 202 .

[0191] Specifically, the first leg assembling device and the second leg assembling device in this embodiment also each include a pushing mechanism 302 communicatively connected to the control system. The pushing mechanism 302 is used to push the leg 4 into the leg installation cavity 202. The preset length in this embodiment is 50% of the total length of the leg 4. That is, the control system first controls the first pushing driving member 3024 to act. Driven by the first pushing driving member 3024, the pushing gear rotates and drives the first pushing table 3021 to move along the first pushing guide rail 3022. During the above process, the control system controls the swing cylinder 3035 of the second supporting unit 3032 to act, so as to pull down the supporting cross beam 3036 connected thereto to a vertical posture, so as to complete the first pushing operation;

[0192] After step S502 is completed, the control system controls the pushing mechanism to first perform the first pushing operation, insert 50% of the leg 4 into the leg installation cavity 202 to complete the first-stage pushing; after step S601 is completed, the control system controls the pushing mechanism to first perform the second pushing operation. The hydraulic station drives the second pushing driving member 3028 to act, and the second pushing table 3025 moves along the second pushing guide rail 3026 on the first pushing table 3021. When the leg 4 moves to the third supporting unit 3033, the second pushing driving member 3028 stops acting. The control system controls the swing cylinders 3035 of the first supporting unit 3031 and the third supporting unit 3033 to act respectively, so as to pull down the supporting cross beam 3036 connected thereto to a vertical posture; then the hydraulic station drives the third pushing driving member 3029 to push the push rod 30210 to act, and inserts the leg 4 completely into the leg installation cavity 202 to complete the installation of the leg 4 in the leg installation cavity 202.

[0193] Another embodiment of the present application provides an assembly device, which includes the assembly system for the construction machinery leg assembly in the above embodiment.

[0194] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0195] In this application, unless otherwise clearly specified or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or capable of communicating with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the connection inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0196] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0197] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An assembly system for an outrigger assembly of an engineering machinery, characterized in that: The leg assembly comprises a base frame component (2) and a leg (4), a leg installation cavity (202) for installing the leg (4) is formed inside the base frame component (2), and the assembly system comprises: A chassis assembly placement device (1) for placing the chassis assembly (2); A leg assembly device (3), comprising a position adjustment module (301), a pushing mechanism (302), and a clamping and centering mechanism (303) arranged on one side of the chassis component placement device (1), the clamping and centering mechanism (303) being used to clamp the leg (4) and make the central axis of the leg (4) coincide with the central axis of the clamping space, the pushing mechanism (302) being arranged at one end of the clamping and centering mechanism (303) away from the chassis component placement device (1) and being used to push the leg (4) into the leg installation cavity (202), and the position adjustment module (301) being movably arranged below the clamping and centering mechanism (303) and the pushing mechanism (302) and being used to adjust the spatial position of the leg (4); An image acquisition device (5) for acquiring a set of placement images of the chassis component (2); A control system is communicatively connected with the image acquisition device (5) and the leg assembly device (3) and is used to control the position adjustment module (301) to perform a position adjustment operation according to the placement image set, so that the central axis of the leg (4) coincides with the actual installation axis of the leg installation cavity (202).

2. The assembly system for an engineering machinery outrigger assembly according to claim 1, characterized in that: The chassis assembly placement device (1) comprises: A first docking rack (101), wherein a bottom frame tray placement area (102) is formed on the top surface of the first docking rack (101); A chassis tray mechanism (103) for loading the chassis assembly (2); A first positioning mechanism (104) is arranged on the first docking frame (101) and is used to position the base frame tray mechanism (103).

3. The assembly system for an engineering machinery outrigger assembly according to claim 2, characterized in that: The chassis component placement device (1) further comprises a second positioning mechanism (106) which is arranged on the chassis tray mechanism (103) and is used to position the chassis component (2).

4. The assembly system for an engineering machinery outrigger assembly according to claim 2, characterized in that: A first docking area is formed inside the first docking rack (101) and one side of the docking area is connected to the outside. The assembly system also includes a chassis (203) transfer device which is movably arranged in the working area of ​​the assembly system and is used to transfer the chassis tray mechanism (103) to the chassis tray placement area (102).

5. The assembly system for an engineering machinery outrigger assembly according to claim 1, characterized in that: The position adjustment module (301) comprises a rotating mechanism (305) which is arranged on a load-bearing platform (304) of the leg assembly device (3) and is rotatable, and the pushing mechanism (302) and the clamping and centering mechanism (303) are both arranged on the rotating mechanism (305).

6. The assembly system for an engineering machinery outrigger assembly according to claim 5, characterized in that: The position adjustment module (301) further comprises a translation mechanism (306) movably arranged on the load-bearing platform (304), and the rotation mechanism (305) is arranged on the translation mechanism (306).

7. The assembly system for an engineering machinery outrigger assembly according to claim 6, characterized in that: The position adjustment module (301) further comprises a lifting mechanism (307) which is arranged on the translation mechanism (306) and can be lifted and lowered vertically, and the rotation mechanism (305) is arranged on the lifting mechanism (307).

8. The assembly system for an engineering machinery outrigger assembly according to claim 1, characterized in that: The image acquisition device (5) comprises: A first mounting bracket (501) is arranged on the top of a first docking rack (101) of the base frame assembly placement device (1); A first image collector (502) is movably arranged on the first mounting bracket (501) and is used to acquire an image of the rear leg mounting holes of the base frame assembly (2).

9. The assembly system for an engineering machinery outrigger assembly according to claim 8, characterized in that: The image acquisition device (5) further comprises: A second mounting bracket (505) is arranged on one end of the position adjustment module (301) close to the first mounting bracket (501); A second image collector (506) is arranged on the second mounting bracket (505) and is used to obtain an installation end surface image of the support leg mounting cavity (202).

10. The assembly system for an engineering machinery outrigger assembly according to claim 1, characterized in that: The assembly system further comprises: A leg connecting assembly (7) is arranged on one side of the base frame assembly placement device (1) and located at one end of the leg assembling device (3); A leg tray (8) for loading the legs (4); A leg transfer device (9) is movably arranged in the working area of ​​the assembly system and is used to transfer the leg tray (8) to the leg docking assembly (7).

11. The assembly system for an engineering machinery outrigger assembly according to claim 10, characterized in that: The assembly system further comprises a guiding assembly which is arranged on the top of the leg docking assembly (7) and is used for guiding the leg tray (8).

12. The assembly system for an engineering machinery outrigger assembly according to claim 10, characterized in that: The assembly system further comprises a limiting component (10) which is arranged on the leg tray (8) and is used to limit the position of the leg (4) on the leg tray (8).

13. An assembly device, characterized in that: The assembly equipment comprises an assembly system for an engineering machinery outrigger assembly according to any one of claims 1-12.

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