Positioning assembly tooling and method

Abstract

The present specification discloses a positioning assembly tool and method. The positioning assembly tool in the embodiment of the present specification includes a positioning assembly tool assembly, and the positioning assembly tool assembly includes two first accommodating parts arranged in parallel and two second accommodating parts arranged in parallel. The two second accommodating parts are placed between the two first accommodating parts, and the first accommodating parts are arranged vertically between the second accommodating parts. In the embodiment of the present specification, the first longitudinal rod of the connecting rod mechanism is placed in the first accommodating part, and the parallel rod of the connecting rod mechanism is placed in the second accommodating part. This kind of tool enables the relative positions of the parts in the connecting rod mechanism to be determined before assembly, and then the assembly process of the connecting rod mechanism is completed, which makes the assembly operation simple, reduces the difficulty of assembly, and greatly improves the assembly efficiency.

Description

Technical Field

[0001] The present specification relates to the field of robot technology, and in particular to a positioning and assembly tool and method for a connecting rod mechanism in a self-guided robot. Background Art

[0002] Currently, equipment such as automated guided vehicles (AGVs) (eg, self-guided robots) have been widely used in warehousing, logistics and other fields to realize automated transportation of goods.

[0003] The connecting rod mechanism is the core transmission component of the self-guided robot. When the connecting rod mechanism is connected to the motor reducer in the self-guided robot, the self-guided robot can complete the reciprocating lifting action, thereby completing the cargo handling work. Figure 2 As shown, the connecting rod mechanism 2 is composed of two first longitudinal rods 21, two parallel rods 22, two longitudinal rod shafts 23, two second longitudinal rods 24 and other parts.

[0004] A first longitudinal rod 21 and a second longitudinal rod 24 are provided on the left side of the connecting rod mechanism 2, and a first longitudinal rod 21 and a second longitudinal rod 24 are also provided on the right side of the connecting rod mechanism 2. The second longitudinal rod 24 is arranged above the first longitudinal rod 21, and the first longitudinal rod 21 and the second longitudinal rod 24 are arranged in parallel. The front ends of the first longitudinal rod 21 and the second longitudinal rod 24 on the left side are connected to the front ends of the first longitudinal rod 21 and the second longitudinal rod 24 on the right side through a parallel rod 22; the rear ends of the first longitudinal rod 21 and the second longitudinal rod 24 on the left side are connected to the rear ends of the first longitudinal rod 21 and the second longitudinal rod 24 on the right side through another parallel rod 22. Among them, the first longitudinal rod 21 on the left side and the first longitudinal rod 21 on the right side are symmetrically symmetrical with the center of the parallel rod 22 as the center; the second longitudinal rod 24 on the left side and the second longitudinal rod 24 on the right side are also symmetrically symmetrical with the center of the parallel rod 22 as the center.

[0005] Both ends of each first longitudinal rod 21 are provided with a first mounting hole assembly 211, both ends of each parallel rod 22 are provided with a third mounting hole 221, and both ends of each second longitudinal rod 24 are provided with a second mounting hole assembly 241. The mounting holes in the first mounting hole assembly 211 of the first longitudinal rod 21 on the left side, the mounting holes in the second mounting hole assembly 241 of the second longitudinal rod 24 on the left side, and the third mounting holes 221 at the left ends of the two parallel rods 22 are all coaxially arranged; wherein, a longitudinal rod shaft 23 passes through the mounting hole at the rear end of the second longitudinal rod 24, the third mounting hole 221 at the left end of a parallel rod 22, the mounting hole at the rear end of the first longitudinal rod 21, the mounting hole at the front end of the second longitudinal rod 24, the mounting hole at the front end of the first longitudinal rod 21, and the third mounting hole 221 at the left end of another parallel rod 22 in sequence, so as to connect the first longitudinal rod 21 on the left side, the second longitudinal rod 24 on the left side, and the left ends of the two parallel rods 22. In addition, the connection method between the first longitudinal rod 21 on the right side, the second longitudinal rod 24 on the right side and the right ends of the two parallel rods 22 is similar and will not be described in detail.

[0006] Currently, the assembly of the connecting rod mechanism is mostly done manually. Since many parts in the connecting rod mechanism are connected in a movable manner, it is difficult to control the relative positions of the parts in the movable connection during the manual assembly process, making the assembly difficult, the operation cumbersome, and the assembly efficiency extremely low. Summary of the invention

[0007] The embodiments of the present specification provide a positioning and assembly tool, and also provide a positioning and assembly method to partially solve the problems existing in the above-mentioned prior art.

[0008] The embodiments of this specification adopt the following technical solutions:

[0009] A positioning and assembly tool provided in this specification includes a positioning and assembly tool component, and the positioning and assembly tool component includes:

[0010] Two first receiving portions arranged in parallel, used for accommodating first longitudinal rods of the linkage mechanism;

[0011] Two second receiving portions arranged in parallel, used for accommodating parallel rods of the connecting rod mechanism;

[0012] The two second accommodating portions are both placed between the two first accommodating portions, and the first accommodating portions are vertically arranged to the second accommodating portions.

[0013] Optionally, the positioning and assembly tooling assembly further includes a fixing plate, and the first accommodating portion and the second accommodating portion are both arranged on the fixing plate.

[0014] Optionally, a first accommodating groove is provided inside the first accommodating portion, and the inner dimensions of the first accommodating groove match the outer dimensions of the first longitudinal rod.

[0015] Optionally, a first mounting hole assembly is installed at both ends of the first longitudinal rod, and the first mounting hole assembly includes a first upper mounting hole and a first lower mounting hole, wherein the axis of the first upper mounting hole is parallel to the axis of the first lower mounting hole. The first upper mounting holes of the two first mounting hole assemblies at both ends of the first longitudinal rod are coaxially arranged, and the first lower mounting holes of the two first mounting hole assemblies at both ends of the first longitudinal rod are also coaxially arranged. The inner dimensions of the first accommodating groove match the outer dimensions of the first lower mounting hole.

[0016] Optionally, a concentric hole is provided at both the front and rear ends of the first receiving portion, and the two concentric holes are coaxially arranged. When the first longitudinal rod is placed in the first receiving slot, the first lower mounting hole of the first longitudinal rod is coaxially arranged with the two concentric holes of the first receiving slot.

[0017] Optionally, a bearing portion is further provided on the upper side of the first accommodating portion, and the bearing portion includes an integrally formed connecting portion and an arc-shaped portion, the lower side of the connecting portion is connected to the first accommodating portion, and the upper side of the connecting portion is connected to the arc-shaped portion; the longitudinal cross-section of the arc-shaped portion is arc-shaped, and the central axis of the arc-shaped portion is arranged parallel to the first accommodating portion, and the arc-shaped portion is used to bear the second longitudinal rod.

[0018] Optionally, the bearing portions on the two first accommodating portions are bilaterally symmetrical with the center of a line connecting the two first accommodating portions as the symmetry center.

[0019] Optionally, the bearing portion is arranged on the upper inner side of the first accommodating portion, and the opening direction of the arc-shaped portion in the bearing portion faces outward.

[0020] Optionally, the bearing portion is arranged on the upper outer side of the first accommodating portion, and the opening direction of the arc-shaped portion in the bearing portion faces inward.

[0021] Optionally, the center of the arc-shaped portion coincides with the center of the second longitudinal rod supported by the arc-shaped portion.

[0022] Optionally, a second accommodating groove is formed through the second accommodating portion, and the inner dimensions of the second accommodating groove match the outer dimensions of the parallel rods.

[0023] Optionally, a longitudinal cross-section of the second accommodation portion is concave.

[0024] Optionally, a minimum height of the second accommodating groove is higher than a maximum height of the first accommodating portion.

[0025] Optionally, the positioning and assembly tooling further includes a working platform, and the positioning and assembly tooling components are all arranged on the working platform.

[0026] Optionally, the work platform includes an operating desktop, a connecting frame, and casters, the casters are installed at the bottom of the connecting frame, the horizontally arranged operating desktop is installed on the top of the connecting frame, and the positioning and assembly tooling components are all arranged on the operating desktop of the work platform.

[0027] Optionally, the positioning assembly tool further includes connecting bolts, and fixing holes are provided at four corners of the fixing plate, and the connecting bolts pass through the fixing holes to connect the fixing plate to the operating desktop.

[0028] Optionally, the caster is a movable caster or a fixed caster.

[0029] Optionally, the number of the positioning and assembly tooling components is two, three or four, and the two, three or four positioning and assembly tooling components are arranged side by side on the working platform.

[0030] A positioning and assembly method provided in this specification, using the above-mentioned positioning and assembly tooling, specifically includes:

[0031] The first longitudinal rod is horizontally placed in the first accommodating portion, the parallel rod is horizontally placed in the second accommodating portion, and the first longitudinal rod is connected to the parallel rod via a longitudinal rod shaft.

[0032] Optionally, the first longitudinal rod is connected to the parallel rods via a longitudinal rod shaft, specifically comprising: placing the second longitudinal rod horizontally on the bearing portion so that the first longitudinal rod is arranged parallel to the second longitudinal rod, and connecting the first longitudinal rod, the second longitudinal rod and the parallel rods via the longitudinal rod shaft.

[0033] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0034] The positioning assembly tool in the embodiment of this specification includes a positioning assembly tool assembly, and the positioning assembly tool assembly includes two first accommodating parts arranged in parallel and two second accommodating parts arranged in parallel. The two second accommodating parts are placed between the two first accommodating parts, and the first accommodating parts are arranged vertically between the second accommodating parts. In the embodiment of this specification, the first longitudinal rod of the connecting rod mechanism is placed in the first accommodating part, and the parallel rod of the connecting rod mechanism is placed in the second accommodating part. This kind of tooling makes it possible to determine the relative positions of the parts in the connecting rod mechanism before assembly, and then complete the assembly process of the connecting rod mechanism, which makes the assembly operation simple, reduces the difficulty of assembly, and greatly improves the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0036] Figure 1A Workflow diagram of the cargo picking system provided for this specification;

[0037] Figure 1B A schematic diagram of the structure of the self-guided robot provided for this manual;

[0038] Figure 1C Schematic diagram of the structure of the goods provided for this manual placed on the inventory rack;

[0039] Figure 1D Schematic diagram of the structure of the goods provided for this manual placed on the sowing wall;

[0040] Figure 2 A schematic diagram of the structure of the connecting rod mechanism provided for this manual;

[0041] Figure 3 A schematic diagram of the structure of the first longitudinal rod in the connecting rod mechanism provided in this specification;

[0042] Figure 4 A schematic diagram of the structure of the second longitudinal rod in the connecting rod mechanism provided in this specification;

[0043] Figure 5 A schematic diagram of the structure of the positioning assembly tooling components provided for this manual;

[0044] Figure 6 A schematic diagram of the structure of the first accommodating portion and the bearing portion in the positioning and assembly tooling assembly provided in this specification;

[0045] Figure 7 A layout diagram of the load-bearing part in the positioning assembly tooling assembly provided in this specification;

[0046] Figure 8 Another layout diagram of the load-bearing part in the positioning assembly tooling assembly provided in this specification;

[0047] Fig. 9 A schematic diagram of the structure of the second accommodation portion in the positioning and assembly tooling assembly provided in this specification;

[0048] Fig.10 This is a schematic diagram of the structure of the linkage mechanism and the positioning assembly tooling provided in this manual.

[0049] The meaning of the accompanying drawings: 1-positioning assembly tooling assembly, 2-connecting rod mechanism, 21-first longitudinal rod, 211-first mounting hole assembly, 2111-first upper mounting hole, 2112-first lower mounting hole, 22-parallel rod, 221-third mounting hole, 23-longitudinal rod shaft, 24-second longitudinal rod, 241-second mounting hole assembly, 2411-second upper mounting hole, 2412-second lower mounting hole, 3-first accommodating portion, 31-first accommodating groove, 32-concentric hole, 4-second accommodating portion, 41-second accommodating portion Slot, 5-fixing plate, 51-fixing hole, 6-bearing part, 61-connecting part, 62-arc-shaped part, 7-working platform, 71-operating table, 72-connecting frame, 73-castor, 10-self-guided robot, 100-operating table, 101-driving mechanism, 102-lifting mechanism, 103-image sensor, 20-controller, 30-inventory area, 310-inventory bracket, 311-QR code mark, 312-support frame, 40-picking workstation, 50-turnover box, 60-goods, 70-staff. DETAILED DESCRIPTION

[0050] Exemplary embodiments are described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0051] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this specification. The singular forms "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0052] It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0053] The self-guided robot 10 provided in the embodiment of this specification can be applied to a cargo picking system. Figure 1A As shown, Figure 1A The flowchart is a flow chart of a cargo picking system in a warehouse environment. The cargo picking system includes: a self-guided robot 10, a remote controller 20, an inventory area 30, and a picking workstation 40. The inventory area 30 contains a plurality of shelves or shelf-like inventory racks 310, on which various inventory goods are placed, or inventory racks 310 are placed with inventory containers, in which various inventory goods are contained, and a plurality of inventory racks 310 form a group, and different groups are arranged in an array.

[0054] The staff 70 operates the controller 20 through the operation console 100. The controller 20 communicates wirelessly with the self-guided robot 10. The self-guided robot 10 performs the handling task under the control of the controller 20. For example, the controller 20 selects an inventory rack 310 or an inventory container on the inventory rack 310 for an order according to the inventory information. The inventory rack 310 or the inventory container contains the order goods of the order. In addition, the controller 20 selects a picking workstation 40 and a self-guided robot 10 for the order, and plans a navigation path from the original position to the selected picking workstation 40 for the selected self-guided robot 10. The self-guided robot 10 travels along the empty space in the array of inventory racks 310 (a part of the passageway of the self-guided robot 10) according to the navigation path. In order to facilitate planning of the navigation path for the self-guided robot 10, the working area of ​​the self-guided robot 10 (the working area at least includes the inventory area 30 and the area where the picking workstation 40 is located) can be divided into several sub-areas (i.e., cells) in advance, and the self-guided robot 10 moves from sub-area to sub-area to form a motion trajectory.

[0055] Among them, the compartments on the inventory rack 310 can be loaded with inventory containers such as boxes or pallets, the boxes can contain disassembled inventory items (such as canned cola), and the pallets can be placed on pallets of inventory items (such as boxes of cola). The self-guided robot 10 can carry the entire inventory rack 310 to the picking workstation 40 for goods picking operations, or it can grab the inventory container (such as a box or pallet) on the inventory rack 310 and carry the inventory container to the picking workstation 40 for goods picking operations. Of course, the inventory rack 310 can also use other suitable loading methods to load boxes, pallets or other types of inventory containers, all of which are within the protection scope of the embodiments of this specification.

[0056] Take the self-guided robot 10 carrying the inventory rack 310 as an example. Figure 1BAs shown, the self-guided robot 10 may include a driving mechanism 101, through which the self-guided robot 10 can move in the working area. The self-guided robot 10 may also include a lifting mechanism 102 for carrying the inventory rack 310. The self-guided robot 10 can move to the bottom of the inventory rack 310, lift the inventory rack 310 by the lifting mechanism 102, and carry it to the assigned picking workstation 40. When the lifting mechanism 102 is raised, the entire inventory rack 310 is lifted from the ground so that the self-guided robot 10 can carry the inventory rack 310. When the lifting mechanism 102 is lowered, the inventory rack 310 is placed on the ground. The image sensor 103 (for example, a camera) on the self-guided robot 10 can effectively identify the inventory rack 310 when the self-guided robot 10 lifts the inventory rack 310.

[0057] In addition, if navigation is based on visual markers, the self-guided robot 10 also includes a navigation recognition component ( Figure 1B The self-guided robot 10 may also use other navigation methods, such as inertial navigation, SLAM navigation, etc., in addition to visual marker navigation. It may also combine two or more navigation methods at the same time, such as QR code navigation and inertial navigation, SLAM navigation and QR code navigation, etc. Of course, the self-guided robot 10 also includes a control module ( Figure 1B not shown).

[0058] In one example, the self-guided robot 10 includes at least two image sensors 103, one upward and one downward. The self-guided robot 10 can capture information of a two-dimensional code mark 311 (or other ground mark) according to the downward image sensor 103 and move forward, and can move to the bottom of the inventory rack 310 indicated by the controller 20 according to the navigation path determined by the controller 20. Figure 1C As shown, Figure 1CThe structural diagram of the goods placed on the inventory support provided in this specification, the goods 60 can be directly stored on the inventory support 310, and of course the goods 60 can also be stored in an inventory container, such as a bin or a pallet. In a specific embodiment, the inventory support 310 includes a plurality of compartments stacked in the vertical direction, and each compartment can accommodate a plurality of goods 60. A two-dimensional code mark 311 is provided in the center of the bottom of the inventory support 310. When the self-guided robot 10 drives under the inventory support 310, the two-dimensional code mark 311 is correctly photographed by the upward image sensor 103 to ensure that the self-guided robot 10 is located just below the inventory support 310, so as to ensure that the self-guided robot 10 can smoothly lift and carry the inventory support 310, and the inventory support 310 includes one or more support frames 312. In addition, in a specific embodiment, the goods 60 can also be hung from a hook or rod inside or on the inventory support 310. The goods 60 can be placed on the interior or exterior surface of the inventory support 310 on the inventory support 310 in any appropriate manner.

[0059] After the self-guided robot 10 carries the inventory rack 310 to the picking workstation 40, a worker 70 or an automated device (e.g., a robotic arm) performing a picking operation at the picking workstation 40 picks the goods 60 from the inventory rack 310 and puts them into a turnover box 50 on the sowing wall to wait for further operations, such as packaging operations. Figure 1D shown.

[0060] The above process is the picking link of the order processing flow in the warehouse. After the picking link is completed, the packaged parcels need to be sorted and finally shipped by express delivery.

[0061] The link mechanism 2 is the core transmission component of the self-guided robot 10. When the link mechanism 2 is connected to the motor reducer in the self-guided robot 10, the self-guided robot 10 can complete the above-mentioned work of lifting the inventory rack 310 and transporting it to the assigned picking workstation 40. Among them, the link mechanism 2 is an important component of the lifting mechanism 102.

[0062] In order to solve the inefficiency problem caused by purely manual assembly of the connecting rod mechanism 2, the positioning assembly tool and positioning assembly method of the connecting rod mechanism in the self-guided robot in this specification are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0063] like Figure 5As shown, the positioning assembly tool provided in the embodiment of this specification may include a positioning assembly tool assembly 1, wherein the positioning assembly tool assembly 1 may include two first accommodating portions 3 arranged in parallel, the first accommodating portions 3 are used to place the first longitudinal rod 21 of the connecting rod mechanism 2; and may also include two second accommodating portions 4 arranged in parallel, the second accommodating portions 4 are used to place the parallel rods 22 of the connecting rod mechanism 2. The two second accommodating portions 4 may be placed between the two first accommodating portions 3, and the first accommodating portions 3 and the second accommodating portions 4 are arranged vertically.

[0064] It should be noted that the arrangement positions and relative relationships of the first and second accommodating portions in the above-mentioned positioning assembly tooling assembly 1 are arranged according to the relative positions and dimensions of the first longitudinal rod 21 and the parallel rod 22 in the assembled connecting rod mechanism 2. Only in this way can the relative positions of the various parts in the connecting rod mechanism 2 be determined in advance before assembly to improve assembly efficiency.

[0065] The positioning and assembly tooling assembly 1 may further include a fixing plate 5, on which the first accommodating portion 3 and the second accommodating portion 4 are both arranged, and the specific arrangement may be welding. The fixing plate 5 may be used to carry the first accommodating portion 3 and the second accommodating portion 4, and such an arrangement improves the flexibility of the positioning and assembly tooling application. Through the carrying of the fixing plate 5, the first accommodating portion 3 and the second accommodating portion 4 may be placed in any working environment where the connecting rod mechanism 2 needs to be assembled, such as placing the fixing plate 5 on the ground, and of course, the fixing plate 5 may also be placed on a certain workbench.

[0066] like Figure 5 As shown, a first receiving groove 31 may be provided inside the first receiving portion 3, and the internal dimensions of the first receiving groove 31 match the external dimensions of the first longitudinal rod 21. By providing the first receiving groove 31 matching the external dimensions of the first longitudinal rod 21, the stability of the fixing of the first longitudinal rod 21 is improved, and the assembly accuracy of the connecting rod mechanism 2 is further improved.

[0067] Further, such as Figure 2 and Figure 3 As shown, a first mounting hole assembly 211 is installed at both ends of the first longitudinal rod 21 in the connecting rod mechanism 2. Specifically, the first mounting hole assembly 211 includes a first upper mounting hole 2111 and a first lower mounting hole 2112, wherein the axis of the first upper mounting hole 2111 is parallel to the axis of the first lower mounting hole 2112. The first upper mounting holes 2111 of the two first mounting hole assemblies 211 at both ends of the first longitudinal rod 21 are coaxially arranged, and the first lower mounting holes 2112 of the two first mounting hole assemblies 211 at both ends of the first longitudinal rod 21 are also coaxially arranged. Due to the arrangement of the first mounting hole assembly 211 in the connecting rod mechanism 2, in order to better fix the first longitudinal rod 21, the internal dimensions of the first accommodating groove 31 can match the external dimensions of the first lower mounting hole 2112.

[0068] like Figure 5 As shown, a concentric hole 32 is provided at both the front and rear ends of the first receiving portion 3, and the two concentric holes 32 are coaxially arranged. When the first longitudinal rod 21 is placed in the first receiving groove 31, the first lower mounting hole 2112 of the first longitudinal rod 21 is coaxially arranged with the two concentric holes 32 of the first receiving groove 31. The concentric holes 32 can verify whether the placement position of the first lower mounting hole 2112 in the connecting rod mechanism 2 in the first receiving groove 31 is correct, that is, when the two are concentric, it means that the placement position is most accurate. When the two concentric holes 32, one in front and one in the back, are concentric with the two first lower mounting holes 2112 at both ends of the first longitudinal rod 21, the subsequent assembly efficiency is greatly improved.

[0069] It should be noted that if Figure 3 As shown, the first lower mounting hole 2112 may include two mounting holes, one front and one rear, which are coaxially arranged. At this time, the internal dimensions of the first receiving groove 31 match the external dimensions of the two mounting holes, one front and one rear. When the concentric hole 32 is concentric with the two sets of one front and one rear mounting holes, it means that the placement position is most accurate. The concentric hole 32 is used to check whether the installation of the connecting rod mechanism 2 is centered.

[0070] The above detailed description of the specific structure of each part of the connecting rod mechanism 2 is for the purpose of explaining the positioning assembly tool in detail in the embodiment of this specification. The following will continue to describe the specific structure of the positioning assembly tool. The above positioning assembly tool can predetermine the assembly position of the first longitudinal rod 21 and the parallel rod 22 in the connecting rod mechanism 2. In order to further predetermine the assembly position of the second longitudinal rod 24 in the connecting rod mechanism 2, Figure 6 As shown, a bearing portion 6 is further provided on one side above the first accommodation portion 3, and the bearing portion 6 includes an integrally formed connecting portion 61 and an arcuate portion 62, wherein the lower portion of the connecting portion 61 is connected to the first accommodation portion 3, and the upper portion of the connecting portion 61 is connected to the arcuate portion 62. The arcuate portion 62 has an arc-shaped longitudinal cross section, and the central axis of the arcuate portion 62 is arranged parallel to the first accommodation portion 3, and the arcuate portion 62 is used to bear the second longitudinal rod 24.

[0071] Optionally, the bearing parts 6 on the two first accommodating parts 3 are bilaterally symmetrical with the center of the line connecting the two first accommodating parts 3 as the symmetry center. This structure is to further adapt to the two second longitudinal rods 24 in the connecting rod mechanism 2 which are also bilaterally symmetrically installed.

[0072] Since the spacing between the two second longitudinal rods 24 in the assembled link mechanism 2 can be smaller than the spacing between the two first longitudinal rods 21, or not smaller than the spacing between the two first longitudinal rods 21. That is, when the link mechanism 2 is unfolded to realize the ascending function, the spacing between the two second longitudinal rods 24 can be not smaller than the spacing between the two first longitudinal rods 21; when the link mechanism 2 is retracted to realize the descending function, the spacing between the two second longitudinal rods 24 can be smaller than the spacing between the two first longitudinal rods 21. Then, during assembly, the placement position of the second longitudinal rod 24 is not unique.

[0073] Specifically, Figure 7 As shown, the bearing portion 6 can be disposed on the upper inner side of the first accommodating portion 3 , and the opening direction of the arc-shaped portion 62 in the bearing portion 6 faces outward. At this time, the distance between the two second longitudinal bars 24 is smaller than the distance between the two first longitudinal bars 21 .

[0074] Of course, you can also Figure 8 As shown, the bearing portion 6 can be disposed above and outside the first accommodating portion 3 , and the opening direction of the arc-shaped portion 62 in the bearing portion 6 faces inward. At this time, the distance between the two second longitudinal bars 24 is not less than the distance between the two first longitudinal bars 21 .

[0075] Furthermore, when the center of the arc portion 62 coincides with the center of the second longitudinal rod 24 supported by the arc portion 62 , the second longitudinal rod 24 will be more stable before assembly.

[0076] In addition, if Figure 4 As shown, a second mounting hole assembly 241 is installed at both ends of the second longitudinal rod 24, and the second mounting hole assembly 241 includes a second upper mounting hole 2411 and a second lower mounting hole 2412, wherein the axis of the second upper mounting hole 2411 is parallel to the axis of the second lower mounting hole 2412. The second upper mounting holes 2411 of the two second mounting hole assemblies 241 at both ends of the second longitudinal rod 24 are coaxially arranged, and the second lower mounting holes 2412 of the two second mounting hole assemblies 241 at both ends of the second longitudinal rod 24 are also coaxially arranged. Among them, the second lower mounting hole 2412 may also include two mounting holes, one front and one rear, and the two mounting holes, one front and one rear, are coaxially arranged.

[0077] It should be noted that when assembling the same connecting rod mechanism 2, the structures of the first longitudinal rod 21 and the second longitudinal rod 24 are exactly the same, but because of the different placement positions, different naming methods are used in the embodiments of this specification for the convenience of description.

[0078] like Fig. 9As shown, a second receiving groove 41 is provided inside the second receiving portion 4, and the internal dimensions of the second receiving groove 41 match the external dimensions of the parallel rod 22. By providing the second receiving groove 41 matching the external dimensions of the parallel rod 22, the stability of the fixation of the parallel rod 22 is improved, and the assembly accuracy of the connecting rod mechanism 2 is further improved. Furthermore, the longitudinal cross section of the second receiving portion 4 is concave.

[0079] In addition, the lowest height of the second receiving groove 41 is higher than the highest height of the first receiving portion 3. This method is more suitable for the positional relationship between the first longitudinal rod 21 and the parallel rod 22 in the connecting rod mechanism 2.

[0080] like Fig.10 As shown, the positioning and assembly tool further comprises a working platform 7, and the positioning and assembly tool components 1 are all arranged on the working platform 7. By providing the working platform 7, the comfort of the workers in assembling the connecting rod mechanism 2 is improved.

[0081] Specifically, the working platform 7 may include an operating table 71, a connecting frame 72, and casters 73. The bottom of the connecting frame 72 is provided with casters 73, and the top of the connecting frame 72 is provided with a horizontally arranged operating table 71. The positioning and assembly tooling components 1 are all arranged on the operating table 71 of the working platform 7. The operating table 71 is used to carry the positioning and assembly tooling components 1, and the casters 73 make the working platform 7 movable, so that the positioning and assembly tooling components 1 can be moved to any position as needed to complete the assembly of the connecting rod mechanism 2. The casters 73 may be movable casters or fixed casters.

[0082] like Figure 5 , Figure 7 , Fig.10 As shown, the positioning assembly tool also includes connecting bolts. The four corners of the fixing plate 5 are each provided with fixing holes 51 . The connecting bolts pass through the fixing holes 51 to connect the fixing plate 5 to the operating desktop 71 .

[0083] Wherein, the connecting bolt can be a hexagon socket head screw.

[0084] Optionally, the number of the positioning assembly tooling components 1 is two, three or four, and two, three or four positioning assembly tooling components 1 are arranged side by side on the working platform 7. Arranging multiple positioning assembly tooling components 1 on the same working platform 7 can realize multi-station simultaneous operation.

[0085] The embodiment of the present specification can relatively accurately position the various parts (such as the first longitudinal rod 21, the parallel rod 22, the second longitudinal rod 24) in the connecting rod mechanism 2 through the above-mentioned positioning and assembly tooling, so that the position and posture of each part remain unchanged in advance, thereby achieving simple and fast assembly into the connecting rod mechanism 2, without the need to repeatedly invert the parts for assembly, reducing the difficulty of assembly, and also enabling simultaneous operation of multiple stations, greatly improving assembly efficiency.

[0086] Based on the structure of the positioning and assembly tooling of the connecting rod mechanism in the above-mentioned self-guided robot, the positioning and assembly method of the connecting rod mechanism in the self-guided robot is described in detail below: the first longitudinal rod 21 is horizontally placed in the first accommodating portion 3, the parallel rod 22 is horizontally placed in the second accommodating portion 4, and the second longitudinal rod 24 is horizontally placed on the bearing portion 6, so that the first longitudinal rod 21 and the second longitudinal rod 24 are arranged in parallel, and the first longitudinal rod 21, the second longitudinal rod 24 and the parallel rod 22 are connected through the longitudinal rod shaft 23.

[0087] Specifically, the positioning and assembly method may be:

[0088] Place the two first longitudinal rods 21 horizontally in the first receiving grooves 31 in the two first receiving parts 3, respectively, and check through the concentric holes 32 whether the first lower mounting holes 2112 at both ends of the first longitudinal rod 21 are arranged concentrically with the concentric holes 32. If so, the placement position of the first longitudinal rod 21 is correct. If not, adjust the placement position of the first longitudinal rod 21 so that the first lower mounting hole 2112 is concentric with the concentric hole 32.

[0089] Place the two parallel rods 22 horizontally in the second receiving grooves 41 in the two second receiving parts 4 respectively;

[0090] Place the two second longitudinal rods 24 horizontally on the arc-shaped portions 62 of the two bearing portions 6, respectively, so that the two first longitudinal rods 21 and the two second longitudinal rods 24 are arranged in parallel;

[0091] Make the first upper mounting holes 2111 in the first mounting hole assemblies 211 at both ends of the first longitudinal rod 21 on the left, the second lower mounting holes 2412 in the second mounting hole assemblies 241 at both ends of the second longitudinal rod 24 on the left, and the third mounting holes 221 at the left ends of the two parallel rods 22 coaxial;

[0092] Make the first upper mounting holes 2111 in the first mounting hole assemblies 211 at both ends of the first longitudinal rod 21 on the right side, the second lower mounting holes 2412 in the second mounting hole assemblies 241 at both ends of the second longitudinal rod 24 on the right side, and the third mounting holes 221 at the right ends of the two parallel rods 22 coaxial;

[0093] Among them, a longitudinal rod shaft 23 passes through the second lower mounting hole 2412 at the rear end of the second longitudinal rod 24 on the left, the third mounting hole 221 at the left end of a parallel rod 22, the first upper mounting hole 2111 at the rear end of the first longitudinal rod 21 on the left, the second lower mounting hole 2412 at the front end of the second longitudinal rod 24 on the left, the first upper mounting hole 2111 at the front end of the first longitudinal rod 21 on the left, and the third mounting hole 221 at the left end of another parallel rod 22 in sequence, so as to connect the first longitudinal rod 21 on the left, the second longitudinal rod 24 on the left, and the left ends of the two parallel rods 22;

[0094] Another longitudinal rod shaft 23 passes through the second lower mounting hole 2412 at the rear end of the second longitudinal rod 24 on the right, the third mounting hole 221 at the right end of a parallel rod 22, the first upper mounting hole 2111 at the rear end of the first longitudinal rod 21 on the right, the second lower mounting hole 2412 at the front end of the second longitudinal rod 24 on the right, the first upper mounting hole 2111 at the front end of the first longitudinal rod 21 on the right, and the third mounting hole 221 at the right end of another parallel rod 22, to connect the first longitudinal rod 21 on the right, the second longitudinal rod 24 on the right, and the right ends of the two parallel rods 22.

[0095] It should be noted that, after all the mounting holes in the first and second longitudinal rods on both sides are coaxially aligned, two longitudinal rod shafts 23 can be assembled; or after the mounting holes in the first and second longitudinal rods on one side are coaxially aligned, one longitudinal rod shaft 23 can be assembled, and then the other side can be aligned to assemble the other longitudinal rod shaft 23. This embodiment of the present specification is not limited to this.

[0096] In addition, the longitudinal rod shaft 23 can be passed through in sequence from the rear end or from the front end. The specific assembly method can be determined according to the operating habits of the staff or the assembly site environment, and the embodiments of this manual do not limit this.

[0097] In addition, since it has been described above that the first lower mounting hole 2112 may include two mounting holes, one front and one rear, which are coaxially arranged; the second lower mounting hole 2412 may include two mounting holes, one front and one rear, which are also coaxially arranged. Then, the above positioning and assembly method can be:

[0098] The first upper mounting hole 2111 of the first longitudinal rod 21 located at the same side and the same end is placed between the first lower mounting hole 2112 of the second longitudinal rod 24 (i.e., one front mounting hole and one rear mounting hole), and the third mounting hole 221 of the parallel rod 22 is also placed between the first lower mounting hole 2112 of the second longitudinal rod 24 (i.e., one front mounting hole and one rear mounting hole), so that they are all coaxially arranged;

[0099] At this time, a longitudinal rod shaft 23 sequentially passes through the second lower mounting hole 2412 (at this time, the rear mounting hole of the two mounting holes, one front and one rear) at the rear end of the second longitudinal rod 24 on the left, the third mounting hole 221 at the left end of a parallel rod 22, the first upper mounting hole 2111 at the rear end of the first longitudinal rod 21 on the left, the second lower mounting hole 2412 (at this time, the front mounting hole of the two mounting holes, one front and one rear) at the rear end of the second longitudinal rod 24 on the left, the second lower mounting hole 2412 (at this time, the rear mounting hole of the two mounting holes, one front and one rear) at the front end of the second longitudinal rod 24 on the left, the first upper mounting hole 2111 at the front end of the first longitudinal rod 21 on the left, the third mounting hole 221 at the left end of another parallel rod 22, and the second lower mounting hole 2412 (at this time, the front mounting hole of the two mounting holes, one front and one rear) at the front end of the second longitudinal rod 24 on the left, so as to connect the first longitudinal rod 21 on the left, the second longitudinal rod 24 on the left, and the left ends of the two parallel rods 22;

[0100] At this time, the connection method between the first longitudinal rod 21 on the right side, the second longitudinal rod 24 on the right side and the right ends of the two parallel rods 22 is similar to this, and will not be repeated here.

[0101] The assembled connecting rod mechanism 2 is removed from the positioning assembly tooling assembly 1 , and the assembly is now completed.

[0102] The above is only a preferred embodiment of this specification and does not limit this specification in any form. Although this specification has been disclosed as a preferred embodiment, it is not used to limit this specification. Any technician familiar with this profession can make some changes or modify the technical content disclosed above into an equivalent embodiment with equivalent changes without departing from the scope of the technical solution of this specification. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of this specification without departing from the content of the technical solution of this specification still falls within the scope of the technical solution of this specification.

Claims

1. Positioning assembly tool, characterized in that: The invention comprises a positioning and assembly tool assembly (1), wherein the positioning and assembly tool assembly (1) comprises: Two first receiving portions (3) arranged in parallel and used for accommodating first longitudinal rods (21) of the connecting rod mechanism (2); Two second receiving portions (4) arranged in parallel and used for accommodating parallel rods (22) of the connecting rod mechanism (2); The two second accommodating portions (4) are both placed between the two first accommodating portions (3), and the first accommodating portions (3) and the second accommodating portions (4) are arranged vertically; The relative position of the first accommodating portion (3) and the second accommodating portion (4) is determined according to the relative position and size of the first longitudinal rod (21) and the parallel rod (22) in the assembled connecting rod mechanism (2); A first accommodating groove (31) is provided inside the first accommodating portion (3), and the internal dimensions of the first accommodating groove (31) match the external dimensions of the first longitudinal rod (21); A bearing portion (6) is also provided on one side above the first accommodating portion (3), and the bearing portion (6) comprises an integrally formed connecting portion (61) and an arc-shaped portion (62), wherein the lower portion of the connecting portion (61) is connected to the first accommodating portion (3), and the upper portion of the connecting portion (61) is connected to the arc-shaped portion (62); the longitudinal cross-section of the arc-shaped portion (62) is arc-shaped, and the central axis of the arc-shaped portion (62) is arranged parallel to the first accommodating portion (3), and the arc-shaped portion (62) is used to bear the second longitudinal rod (24).

2. The positioning and assembly tool according to claim 1, characterized in that: The positioning and assembly tooling assembly (1) further comprises a fixing plate (5), and the first accommodating portion (3) and the second accommodating portion (4) are both arranged on the fixing plate (5).

3. The positioning and assembly tool according to claim 1, characterized in that: A first mounting hole assembly (211) is installed at both ends of the first longitudinal rod (21), the first mounting hole assembly (211) comprising a first upper mounting hole (2111) and a first lower mounting hole (2112), wherein the axis of the first upper mounting hole (2111) is parallel to the axis of the first lower mounting hole (2112); The first upper mounting holes (2111) of the two first mounting hole assemblies (211) at both ends of the first longitudinal rod (21) are coaxially arranged, and the first lower mounting holes (2112) of the two first mounting hole assemblies (211) at both ends of the first longitudinal rod (21) are also coaxially arranged; The internal dimensions of the first accommodating groove (31) match the external dimensions of the first lower mounting hole (2112).

4. The positioning and assembly tool as claimed in claim 3, characterized in that: A concentric hole (32) is provided at both the front and rear ends of the first accommodation portion (3), and the two concentric holes (32) are coaxially arranged; When the first longitudinal rod (21) is placed in the first receiving groove (31), the first lower mounting hole (2112) of the first longitudinal rod (21) is coaxially arranged with the two concentric holes (32) of the first receiving groove (31).

5. The positioning and assembly tool according to claim 1, characterized in that: The bearing parts (6) on the two first accommodating parts (3) are bilaterally symmetrical in structure, with the center of the line connecting the two first accommodating parts (3) as the symmetry center.

6. The positioning and assembly tool as claimed in claim 5, characterized in that: The bearing portion (6) is arranged on the upper inner side of the first accommodating portion (3), and the opening direction of the arc-shaped portion (62) in the bearing portion (6) faces outwards.

7. The positioning and assembly tool according to claim 5, characterized in that: The bearing portion (6) is arranged on the upper outer side of the first accommodating portion (3), and the opening direction of the arc-shaped portion (62) in the bearing portion (6) faces inwards.

8. The positioning and assembly tool according to claim 1, characterized in that: The center of the arc-shaped portion (62) coincides with the center of the second longitudinal rod (24) supported by the arc-shaped portion (62).

9. The positioning and assembly tool according to any one of claims 1 to 4 or claims 5 to 8, characterized in that: A second accommodating groove (41) is provided through the interior of the second accommodating portion (4), and the internal dimensions of the second accommodating groove (41) match the external dimensions of the parallel rod (22).

10. The positioning and assembly tool according to claim 9, characterized in that: The longitudinal cross section of the second accommodating portion (4) is concave.

11. The positioning and assembly tool according to claim 9, characterized in that: The lowest height of the second accommodating groove (41) is higher than the highest height of the first accommodating portion (3).

12. The positioning and assembly tool according to claim 2, characterized in that: It also comprises a working platform (7), and the positioning and assembly tooling components (1) are all arranged on the working platform (7).

13. The positioning and assembly tool according to claim 12, characterized in that: The working platform (7) comprises an operating table (71), a connecting frame (72), and casters (73); the casters (73) are installed at the bottom of the connecting frame (72); the operating table (71) is installed horizontally at the top of the connecting frame (72); and the positioning and assembly tooling components (1) are all arranged on the operating table (71) of the working platform (7).

14. The positioning and assembly tool according to claim 13, characterized in that: Also includes connecting bolts, The four corners of the fixing plate (5) are each provided with fixing holes (51), and the connecting bolts pass through the fixing holes (51) to connect the fixing plate (5) to the operating tabletop (71).

15. The positioning and assembly tool according to claim 13 or 14, characterized in that: The caster (73) is a movable caster or a fixed caster.

16. The positioning and assembly tool according to claim 12 or 13, characterized in that: The number of the positioning and assembly tooling components (1) is two, three or four, and the two, three or four positioning and assembly tooling components (1) are arranged side by side on the working platform (7).

17. A positioning assembly method, characterized in that: The positioning and assembly tool according to any one of claims 1 to 16 is used, specifically comprising: The first longitudinal rod (21) is horizontally placed in the first accommodating portion (3), the parallel rod (22) is horizontally placed in the second accommodating portion (4), and the first longitudinal rod (21) is connected to the parallel rod (22) via a longitudinal rod shaft (23).

18. The positioning and assembling method according to claim 17, characterized in that: The first longitudinal rod (21) is connected to the parallel rod (22) via a longitudinal rod shaft (23), which specifically includes: The second longitudinal rod (24) is horizontally placed on the bearing portion (6), so that the first longitudinal rod (21) and the second longitudinal rod (24) are arranged in parallel, and the first longitudinal rod (21), the second longitudinal rod (24) and the parallel rod (22) are connected via a longitudinal rod shaft (23).

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