Leg assembly assembly equipment and method

Abstract

The present invention relates to the field of engineering machinery, and discloses a leg assembly assembly device and method, wherein the leg assembly assembly device comprises a manipulator (100), a mobile device (200) for carrying the manipulator (100) to move, a visual recognition device (300) installed on the manipulator (100), and a control unit for controlling the manipulator and the mobile device, wherein the control unit is electrically connected to the visual recognition device to control the manipulator and the mobile device to grasp the leg assembly and align the leg assembly with the installation cavity of the chassis according to the recognition result of the visual recognition device. The position of the leg assembly and the installation cavity can be accurately determined by the visual recognition device, so that the operation and movement of the manipulator can be accurately controlled by the control unit according to the path determined by the position of the leg assembly and the installation cavity, thereby accurately completing the assembly of the leg assembly.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery, and in particular to outrigger assembly assembly equipment and method. Background Art

[0002] Many construction machines have outriggers, and during assembly, the outrigger assembly needs to be installed in the mounting cavity of the chassis. There is usually a certain installation gap between the mounting cavity and the outrigger assembly. During installation, the outrigger assembly is delivered to the chassis by a crane, and then the tail of the outrigger assembly is manually aligned with the opening of the chassis mounting cavity. The outrigger assembly is then inserted into the opening to a certain depth by the crane, and then accessories such as the support wheels and hydraulic hoses are installed. The outrigger assembly is then disconnected from the crane, and the forklift is used to push the outrigger assembly completely into the mounting cavity. Since the outrigger assembly and the mounting cavity are manually aligned, it is limited by human subjective judgment deviations and the small installation gap, resulting in low assembly accuracy. Bumps may occur during the assembly process, which can easily damage the structure and appearance of related components, causing quality risks in the final product. In addition, the assembly process requires the cooperation of multiple people, which is inefficient, labor-intensive, and poses safety risks. Summary of the Invention

[0003] The purpose of the present invention is to overcome the problems of poor assembly precision and low efficiency of the outrigger assembly in the prior art and to provide an outrigger assembly assembly device to improve the assembly precision and efficiency.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a leg assembly assembly device on one hand, wherein the leg assembly assembly device includes a manipulator, a mobile device for carrying the movement of the manipulator, a visual recognition device installed on the manipulator, and a control unit for controlling the manipulator and the mobile device, and the control unit is electrically connected to the visual recognition device to control the manipulator and the mobile device to grasp the leg assembly and align the leg assembly with the installation cavity of the chassis according to the recognition result of the visual recognition device.

[0005] Optionally, the moving device includes a first guide rail arranged along a first horizontal direction and a movable support mechanism arranged to move along the first guide rail, the movable support mechanism includes a second guide rail arranged along a second horizontal direction perpendicular to the first horizontal direction, a support base moving along the second guide rail and a lifting mechanism installed on the support base, and the manipulator is installed on the lifting mechanism.

[0006] Optionally, the moving device is configured to have at least one of the following features: a first spur rack is provided on the first guide rail, and a first gear that cooperates with the first spur rack is provided at the bottom of the second guide rail; a second spur rack is provided on the second guide rail, and a second gear that cooperates with the second spur rack is provided at the bottom of the support seat; the lifting mechanism includes a mounting seat for mounting the manipulator, a third spur rack fixed to the support seat, and a third gear that cooperates with the third spur rack and is mounted on the mounting seat.

[0007] Optionally, the manipulator includes a base connected to the moving device, a pushing mechanism installed on the base for pushing the leg assembly, and fingers arranged in pairs, wherein the fingers are movably installed on the base to be able to adjust the gap between a pair of the fingers.

[0008] Optionally, the manipulator includes a rotating mechanism for rotating the base.

[0009] Optionally, the pushing mechanism can push in the opposite direction by rotating the rotating mechanism, and / or the visual recognition device is provided at a side end of the base.

[0010] Optionally, the leg assembly assembly equipment includes a chassis positioning mechanism for positioning a chassis assembled with the leg assembly.

[0011] Optionally, the leg assembly assembly equipment includes a ground rail, and the chassis positioning mechanism is arranged on the ground rail and can be switched between a moving state of moving along the ground rail and a locked state of being locked relative to the ground rail.

[0012] Optionally, the leg assembly assembly equipment includes a leg assembly positioning mechanism for placing the leg assembly, and the leg assembly positioning mechanism includes a side positioning block for limiting the side of the leg assembly.

[0013] The present application also provides a method for assembling a leg assembly, wherein the method for assembling a leg assembly comprises:

[0014] S1. Identify the position of the mounting cavity of the chassis by a visual recognition device;

[0015] S2. Grab the leg assembly with a robot and assemble the leg assembly into the accommodating cavity according to a path between the identified position of the leg assembly and the position of the accommodating cavity of the chassis where the leg assembly is to be installed.

[0016] Optionally, step S2 includes: S21, based on the identified position of the installation cavity, calibrating by comparing the size parameters of the installation cavity with those of a standard installation cavity to obtain the path; S22, assembling the leg assembly into the accommodating cavity according to the path.

[0017] Optionally, step S22 includes determining the clamping force of the manipulator according to the model of the leg assembly to perform picking and assembly operations.

[0018] Optionally, the leg assembly assembly method uses the leg assembly assembly equipment of the present application.

[0019] Optionally, the manipulator includes a base connected to the moving device, a pushing mechanism installed on the base for pushing the leg assembly and fingers arranged in pairs, the fingers are movably installed on the base to be able to adjust the gap between a pair of fingers, the manipulator includes a rotating mechanism for rotating the base, and assembling the leg assembly to the mounting cavity in step S2 includes: moving the manipulator through the moving device to clamp the leg assembly and push it into the mounting cavity a first distance; installing a support wheel and a hose; releasing the clamping force of the manipulator on the leg assembly and holding the leg assembly through the manipulator, pushing the leg assembly into the mounting cavity a second distance through the pushing mechanism; releasing the manipulator's grip on the leg assembly, and rotating the base 180° through the rotating mechanism, so that the leg assembly is completely pushed into the mounting cavity through the contraction of the pushing mechanism.

[0020] Through the above technical solution, the position of the installation cavity can be accurately determined by the visual recognition device, so that the operation and movement of the robot can be accurately controlled by the control unit according to the path determined by the position of the leg assembly and the installation cavity, thereby accurately completing the assembly of the leg assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a perspective view of assembly using the support leg assembly assembly equipment of the present application;

[0022] Figure 2 yes Figure 1 A three-dimensional diagram of the installation structure of the first guide rail;

[0023] Figure 3 yes Figure 1 A three-dimensional diagram of the mobile support mechanism and the manipulator;

[0024] Figure 4 yes Figure 1 A three-dimensional diagram of the robot arm;

[0025] Figure 5 yes Figure 1 A three-dimensional diagram of the mid-frame positioning mechanism;

[0026] Figure 6 Position the chassis at Figure 5 A three-dimensional diagram of the chassis positioning mechanism;

[0027] Figure 7 yes Figure 1 A three-dimensional diagram of the positioning mechanism of the middle outrigger assembly;

[0028] Figure 8 Position the outrigger assembly Figure 7 A three-dimensional view of the outrigger assembly positioning mechanism.

[0029] Description of Reference Numerals

[0030] 100, manipulator; 110, base; 120, pushing mechanism; 130, finger; 140, rotating mechanism; 150, roller; 200, moving device; 210, first guide rail; 211, first straight rack; 220, second guide rail; 221, first gear; 222, second straight rack; 230, support base; 240, lifting mechanism; 241, mounting base; 242, third straight rack; 243, third gear; 250, horizontal drag chain; 260, vertical Drag chain; 270, column; 280, crossbeam; 300, visual recognition device; 400, leg assembly; 500, chassis; 510, mounting cavity; 600, chassis positioning mechanism; 610, positioning groove; 620, rear positioning block; 630, clamping structure; 631, rod; 632, pressure plate; 640, vehicle body; 700, ground rail; 710, positioning plate; 800, leg assembly positioning mechanism; 810, side positioning block; 820, fixing seat; 830, positioning seat. DETAILED DESCRIPTION

[0031] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0032] In the present invention, unless otherwise indicated, directional terms such as "upper, lower, left, and right" generally refer to the upper, lower, left, and right shown in the accompanying drawings; and "inner" and "outer" refer to the inner and outer relative to the outline of each component itself. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0033] According to one aspect of the present application, a leg assembly assembly device is provided, wherein the leg assembly device includes a manipulator 100, a mobile device 200 for carrying the manipulator 100 to move, a visual recognition device 300 installed on the manipulator 100, and a control unit for controlling the manipulator 100 and the mobile device 200, the control unit being electrically connected to the visual recognition device 300 to control the manipulator 100 and the mobile device 200 to grasp the leg assembly 400 and align the leg assembly 400 with the installation cavity 510 of the base frame 500 according to the recognition result of the visual recognition device 300.

[0034] By using the leg assembly assembly equipment of the present application, the position of the installation cavity 510 can be accurately determined by the visual recognition device 300, and the operation and movement of the manipulator 100 can be accurately controlled by the control unit according to the path determined by the position of the leg assembly 400 and the installation cavity 510, thereby accurately completing the assembly of the leg assembly.

[0035] Among them, the visual recognition device 300 includes components such as visual sensors, so that it can perform visual shooting and obtain the required information (such as the coordinate position of the installation cavity 510) by analyzing the captured image, and then feed the information back to the control unit. The control unit can determine the position of the positioned leg assembly 400 (the leg assembly 400 can be pre-positioned, so the position is set) and the path between the position of the installation cavity 510 based on the information, thereby controlling the manipulator 100 and the moving device 200 to perform corresponding operations, so that the manipulator 100 accurately picks up the leg assembly 400 and moves the leg assembly 400 to align with the installation cavity 510 to complete the assembly.

[0036] In order to facilitate the omnidirectional movement of the carrying manipulator 100, it is preferred to carry the manipulator 100 in three orthogonal directions. Figure 1-3 As shown, the mobile device 200 includes a first guide rail 210 arranged along a first horizontal direction (wherein, in order to avoid related devices on the ground, such as the chassis positioning mechanism 600 described below, the first guide rail 210 can be installed on the beam 280 by supporting the beam 280 through the column 270) and a mobile support mechanism arranged to move along the first guide rail 210, the mobile support mechanism includes a second guide rail 220 arranged along a second horizontal direction perpendicular to the first horizontal direction, a support base 230 moving along the second guide rail 220 and a lifting mechanism 240 installed on the support base 230, and the manipulator 100 is installed on the lifting mechanism 240.

[0037] The manipulator 100 can be moved vertically by the lifting mechanism 240; the manipulator 100 can be moved in the second horizontal direction by the support base 23 moving along the second guide rail 220; and the manipulator 100 can be moved in the first horizontal direction by the mobile support mechanism moving along the first guide rail 210. Thus, the manipulator 100 can carry the leg assembly 400 and move to any desired position within a set three-dimensional space.

[0038] The movement of the lifting mechanism 240, the support base 230, and the movable support mechanism can be achieved through various appropriate means. For example, a first straight rack 211 can be provided on the first guide rail 210, and a first gear 221 that cooperates with the first straight rack 211 can be provided at the bottom of the second guide rail 220. By driving the first gear 221, the first gear 221 can drive the second guide rail 220 to move along the first straight rack 211, thereby achieving movement of the manipulator 100 along the first horizontal direction. To ensure smooth movement, a pair of first guide rails 210 can be provided in parallel on both sides of the moving mechanism, and corresponding first gears 221 are provided at both ends of the second guide rail 220. Similarly, a second straight rack 222 can be provided on the second guide rail 220, and a second gear that cooperates with the second straight rack 222 can be provided at the bottom of the support base 230. By driving the second gear, the second gear can drive the support base 230 to move along the second straight rack 222, thereby achieving movement of the manipulator 100 along the second horizontal direction. Similarly, the lifting mechanism 240 may include a mounting base 241 for mounting the manipulator 100, a third spur rack 242 fixed to the support base 230, and a third gear 243 that cooperates with the third spur rack 242 and is mounted on the mounting base 241. By driving the third gear 243, the mounting base 241 can be driven to move along the third spur rack 242, thereby achieving vertical movement of the manipulator 100.

[0039] In addition, to facilitate the installation of various pipelines, the mobile device 200 may include a drag chain for arranging the pipelines. For example, the mobile device 200 may include a horizontal drag chain 250 that facilitates the movement of the pipelines along the second horizontal direction and a vertical drag chain 260 that facilitates the movement of the pipelines along the vertical direction. The two ends of the horizontal drag chain 250 may be respectively disposed on the second guide rail 220 and the support base 230, and the two ends of the vertical drag chain 260 may be respectively disposed on the third spur rack 242 and the mounting base 241.

[0040] In order to facilitate picking up and pushing the leg assembly 400, the manipulator 100 can adopt various appropriate structures, for example, Figure 4 In the illustrated embodiment, the robot arm 100 may include a base 110 connected to the mobile device 200, a pushing mechanism 120 mounted on the base 110 for pushing, and a pair of fingers 130. The fingers 130 are movably mounted on the base 110 so that the gap between the pair of fingers 130 can be adjusted. Thus, the leg assembly 400 can be picked up and released by adjusting the gap between the pair of fingers 130. The pushing mechanism 120 can push the leg assembly 400 via the pushing fingers 130.

[0041] Specifically, the base 110 may be provided with a slide rail, with at least one finger 130 slidably mounted on the rail and moved along the rail by a drive mechanism to adjust the gap between a pair of fingers 130. Furthermore, to facilitate providing the required secure grip when picking up the leg assembly 400, at least two pairs of fingers 130 may be provided. Furthermore, to reduce frictional damage to the leg assembly 400, rollers 150 may be provided at the bottom of the fingers 130 to provide support for the leg assembly 400 when gripping it and provide rolling friction during the pushing process, thereby protecting the bottom surface of the leg assembly 400 from damage due to bumps.

[0042] The fingers 130 can be movably mounted on the base 110 using various appropriate methods. To facilitate the pair of fingers 130 to move closer to or further from each other to achieve a clamping or releasing operation, preferably, a screw is rotatably provided on the base 110, and the pair of fingers 130 are respectively mounted on the screw via nut seats, so that they can move closer to or further from each other through rotation of the screw. Specifically, the ends of the screw can be supported on opposite sides of the base 110 via bearings, and the middle of the screw can be supported on a central crossbeam of the base 110 via bearings. The screw is provided with threads with opposite rotation directions from the middle to the ends, and the nut seats of the pair of fingers 130 are respectively mounted on either side of the central portion of the screw. The screw can be driven by a servo motor, which can be mounted on the central crossbeam. In addition, the fingers 130 are mounted below the nut seat, and a hand guide rail can be provided on the base 110 to guide the movement of the fingers.

[0043] In addition, the gripping force of the fingers 130 can be adjusted according to the model and weight of the leg assembly 400. Specifically, the gripping force of the fingers can be adjusted by adjusting the current of the servo motor so that the servo motor has different output powers.

[0044] In addition, since the initial placement state of the leg assembly 400 may cause the axis of the leg assembly 400 to deviate from the axis of the mounting cavity 510, after the manipulator 100 picks up the leg assembly 400, the leg assembly 400 needs to be rotated. For this purpose, the manipulator 100 includes a rotating mechanism 140 for rotating the base 110.

[0045] It is understood that it should be ensured that the pushing mechanism 120 can still complete the pushing after the base 110 rotates, that is, the pushing mechanism 120 should rotate with the base 110. In addition, when the leg assembly 400 is clamped by the fingers 130, it is inevitable that a portion of the length of the leg assembly 400 will be occupied. When the fingers 130 push the leg assembly 400 to a certain depth in the installation cavity 510, the fingers 130 may interfere with the installation cavity 510 and be unable to continue pushing. In order to achieve the goal of pushing the leg assembly 400 in completely, preferably, the pushing mechanism 120 can push in opposite directions through the rotation of the rotating mechanism 140. The pushing mechanism 120 is configured to be capable of bidirectional pushing. For example, the pushing mechanism 120 can be a servo push rod, and bidirectional pushing can be performed by extending and retracting the servo push rod. Therefore, when the finger 130 is pushed to a certain depth by extending the servo push rod, the finger 130 can be released and rotated 180° in the plane through the driving mechanism 140, so that the finger 130 moves out of the front of the installation cavity 510, and then the servo push rod is retracted to perform the reverse operation, thereby pushing the leg assembly 400 completely into the installation cavity 510.

[0046] In the present application, the visual recognition device 300 can be set at an appropriate position on the manipulator 100 so that visual photography can be performed when the manipulator 100 moves. Preferably, the visual recognition device 300 is set at the side end of the base 110. More preferably, the visual recognition device 300 is set at the side end facing the installation cavity 510 when pushed by the finger 130 to provide real-time feedback on the pushing process. For example, when the support leg assembly 400 contacts the side wall of the installation cavity 510 due to manufacturing errors during pushing, the visual recognition device 300 can be used to detect the problem in time and adjust the pushing path of the manipulator 100.

[0047] In addition, the leg pushing device includes a force detection device for detecting the reaction force received during pushing (including pushing performed by the mobile device 200 and the pushing device 120). The force detection device can be electrically connected to the control unit. By setting the force detection device, it is easy to judge whether the pushing is smooth. Specifically, when the pushing direction deviates (for example, due to the dimensional deviation of the installation cavity, the leg assembly 400 is contacted when pushing the leg assembly 400 according to the set path), the reaction force received during pushing will increase. Therefore, the control unit can be set according to experimental data or experience. When the feedback of the force detection device indicates that the reaction force received reaches a predetermined value, indicating that the pushing direction has deviated, the control unit can control the manipulator 100 and / or the mobile device 200 to adjust the position of the manipulator 100 (and stop pushing at the same time), while continuing to detect the reaction force received through the force detection device until the reaction force received by the force detection device is reduced to below the predetermined value. At this time, the current pushing direction can be maintained and the pushing can be continued. In addition, the above process can be assisted by the visual recognition device 300. Specifically, the visual recognition device 300 can monitor the gap between the leg assembly 400 and the installation cavity during the pushing process to assist in determining whether the pushing direction deviates and whether the pushing direction is appropriate after the position is adjusted.

[0048] In this application, when the leg assembly 400 is installed in the installation cavity 510, it is necessary to ensure that the base frame 500 is stably positioned. On the one hand, it is necessary to set the movement path of the manipulator 100 based on the position of the positioned installation cavity 510, and on the other hand, it is necessary to ensure that the base frame 500 does not move during the assembly process and the assembly is smooth. To this end, Figure 5 and Figure 6 As shown, the support leg assembly assembly apparatus includes a chassis positioning mechanism 600 for positioning the chassis 500 to be assembled with the support leg assembly 400. Specifically, the chassis positioning mechanism 600 may include a positioning slot 610 for positioning a corresponding structure on the chassis 500 (e.g., a card plate at the bottom of the chassis 500), a rear positioning block 620 for positioning the rear side of the chassis 500 along the length of the chassis 500, and a pressing structure 630 for pressing the chassis 500 against the positioning slot 610. During use, the chassis 500 is placed on the chassis positioning mechanism 600 so that the corresponding structure is accommodated in the positioning slot 610 and the rear side of the chassis 500 abuts the rear positioning block 620 for initial positioning. The chassis 500 is then pressed against the positioning slot 610 by the pressing structure 630. The clamping structure 630 may include a rod body 631 arranged at the bottom of the positioning groove 610 and a pressure plate 632 threadedly connected to the rod body. After the base frame 500 is initially positioned, the pressure plate 632 can be tightened so that the pressure plate presses the base frame 500 on the top surface of the positioning groove 610.

[0049] Furthermore, to facilitate continuous operation, the chassis positioning mechanism 600 can be configured to be movable so as to transfer the chassis 500 and remove the chassis 500 and the leg assembly 400 after assembly is complete. To this end, the leg assembly assembly apparatus includes a ground rail 700. The chassis positioning mechanism 600 is disposed on the ground rail 700 and is switchable between a movable state in which it moves along the ground rail 700 and a locked state in which it is locked relative to the ground rail 700. Specifically, the chassis positioning mechanism 600 can include a body 640 that cooperates with the ground rail 700, and a positioning groove 610 and a rear positioning block 620 can be disposed on the body 640. To facilitate switching between the movable state and the locked state, positioning plates 710 can be disposed on both sides of the ground rail 700. Second positioning holes corresponding to the first positioning holes on the positioning plates 710 can be disposed on both sides of the body 640. Connecting members (e.g., pins) are inserted through the first and second positioning holes to achieve locking of the body 640 with the ground rail 700. When the vehicle body 640 needs to be moved, the connecting piece can be removed.

[0050] In addition, in order to ensure that the leg assembly 400 has a good initial positioning before being picked up by the robot 100, as shown in FIG. Figure 7 and Figure 8 As shown, the leg assembly assembly equipment includes a leg assembly positioning mechanism 800 for placing the leg assembly 400 , and the leg assembly positioning mechanism 800 includes a side positioning block 810 for limiting the side of the leg assembly 400 .

[0051] During use, the leg assembly 400 can be hoisted to the leg assembly positioning mechanism 800 so that the side of the leg assembly 400 is placed against the side positioning block 810 for preliminary positioning. According to the recognition of the visual recognition device 300 or the preset model parameters, the center of gravity position of the leg assembly 400 can be obtained so that the manipulator 100 can clamp the leg assembly 400 in an appropriate position and then pick it up and move it. In particular, in order to improve the initial positioning accuracy, a plurality of side positioning blocks 810 arranged along a straight line can be provided on the leg assembly positioning mechanism 800 to coordinately position the leg assembly 400 along the length direction. In addition, in order to improve efficiency, at least two groups of side positioning blocks 810 can be provided, each group being arranged along the same straight line. Figure 7In the illustrated embodiment, the leg assembly positioning mechanism 800 may include a fixed seat 820, on which a plurality of positioning seats 830 are arranged in parallel, and each positioning seat 830 is provided with spaced side positioning blocks 820. The corresponding side positioning blocks 820 of different positioning seats 830 are arranged in a straight line to position the same leg assembly 400. In addition, the distances between the plurality of positioning seats 830 may be different. For example, two positioning seats 830 may be provided in the middle of the fixed seat 820, and the distance between the two positioning seats 830 is used to locate the center of the leg assembly 400. When the leg assembly 400 is transported (e.g., hoisted) to the leg assembly positioning mechanism 800, the positions of the two positioning seats 830 may be referenced for operation. Preferably, a centering mark may be provided on the end face of the fixed seat 820, and the centering mark corresponds to the center between the two positioning seats 830.

[0052] According to another aspect of the present application, a method for assembling a leg assembly is provided, wherein the method for assembling a leg assembly comprises:

[0053] S1. Identify the position of the mounting cavity of the chassis by a visual recognition device;

[0054] S2. Grab the leg assembly with a robot and assemble the leg assembly into the accommodating cavity according to a path between the identified position of the leg assembly and the position of the accommodating cavity of the chassis where the leg assembly is to be installed.

[0055] Using the leg assembly assembly method of the present application, the position of the installation cavity 510 can be accurately determined by the visual recognition device 300, thereby accurately controlling the operation and movement of the manipulator 100 according to the path determined by the position of the leg assembly 400 and the installation cavity 510, and accurately completing the assembly of the leg assembly.

[0056] Among them, since there are manufacturing tolerances between the actual workpiece and the design, in order to ensure smooth assembly, step S2 may include: S21, based on the identified position of the installation cavity, calibrate by comparing the dimensional parameters of the installation cavity with those of the standard installation cavity to obtain the path; S22, assemble the leg assembly into the accommodating cavity according to the path.

[0057] That is to say, the deviation between the mounting cavity 510 and the corresponding standard part (i.e., the design dimensions, such as the contour dimensions related to the assembly of the leg assembly 400 and the mounting cavity 510) can be obtained through visual identification. By setting the path while taking this deviation into consideration, the assembly of the leg assembly can be made more precise and smooth.

[0058] Step S22 includes determining the gripping force of the manipulator according to the model of the leg assembly to perform the picking and assembly operation. For example, when using the leg assembly assembly device of the present application, the gripping force can be controlled by controlling the current of the servo motor driving the finger 130.

[0059] The method of the present application can be implemented in an appropriate manner, for example, by using the support leg assembly assembly equipment of the present application.

[0060] Preferably, the manipulator 100 includes a base 110 connected to the mobile device 200, a pushing mechanism 120 mounted on the base 110 for pushing the leg assembly 400, and a pair of fingers 130, wherein the fingers 130 are movably mounted on the base 110 so as to be able to adjust the gap between the pair of fingers 130. The manipulator 100 includes a rotating mechanism 140 for rotating the base 110. In step S2, assembling the leg assembly into the mounting cavity includes:

[0061] The manipulator 100 is moved by the moving device 200 to clamp the leg assembly 400 and push it into the installation cavity 510 by a first distance;

[0062] Install the support wheel and hose;

[0063] The manipulator 100 releases the clamping force on the leg assembly 400 and holds the leg assembly 400 through the manipulator 100, and pushes the leg assembly 400 into the mounting cavity 510 by a second distance through the pushing mechanism 120;

[0064] The grip of the manipulator 100 on the leg assembly 400 is released, and the base 110 is rotated 180° by the rotating mechanism 140 , so that the leg assembly 400 is completely pushed into the installation cavity 510 by the contraction of the pushing mechanism 120 .

[0065] By first pushing the leg assembly 400 into a first distance, so as to install accessories such as the supporting wheel and the hose, etc. By dividing the remaining pushing distance of the leg assembly 400 into two pushes, the limited stroke of the pushing mechanism 120 can be fully utilized to complete the long-distance pushing.

[0066] Optionally, another auxiliary pushing mechanism may be installed on the base 110, where the pushing direction of the auxiliary pushing mechanism is different from that of the pushing mechanism 120. After the rollers and the hose are installed, the leg assembly 400 is first pushed in a second distance by the pushing mechanism 120, and then the base 110 is rotated by the rotating mechanism 140 so that the auxiliary pushing mechanism can rotate to a position for pushing in the pushing direction, thereby continuing to push the leg assembly 400 by the auxiliary pushing mechanism until the leg assembly 400 is fully pushed in. Depending on the relative positions of the auxiliary pushing mechanism and the pushing mechanism 120, the pushing direction of the two can be switched by rotating the rotating mechanism 140 by a corresponding angle.

[0067] The following describes a method for implementing the present application using the support leg assembly assembly equipment of the present application with reference to the accompanying drawings.

[0068] First, position the leg assembly 400 and the base frame 500. Specifically, place the leg assembly 400 as centrally as possible onto the pre-positioned leg assembly positioning mechanism 800, positioning it against the side positioning blocks 810. The base frame 500 is then placed onto the base frame positioning mechanism 600, which is fixed to a predetermined position on the floor rail 700. The base frame 500 is positioned so that its retaining plate is positioned in the positioning slot 610 and its rear side is positioned against the rear positioning block 620. The base frame 500 is then compressed using the compression mechanism 630.

[0069] At this point, the position of the leg assembly 400 is basically determined, and the position of the mounting cavity 510 can be identified by the visual recognition device 300. Based on the specific model of the leg assembly 400, the control unit can determine the center of gravity of the leg assembly 400 and the angular deviation between the leg assembly 400 and the mounting cavity 510. By comparing the size difference between the base frame 500 and the corresponding standard part using the data provided by the visual recognition device 300, and using this size difference as a compensation factor, the control unit can obtain the precise path for moving the leg assembly 400 to the mounting cavity 510 and pushing it into it. Subsequently, the control unit can control the manipulator 100 and the moving device 200 to perform corresponding operations to pick up the leg assembly 400 (for example, by controlling the distance and proximity between the fingers 130) and move it to a position aligned with the mounting cavity 510. The clamping force of the fingers 130 on the leg assembly 400 can be set according to the specifications of the leg assembly 400.

[0070] Then, the manipulator 100 can first be used to clamp the leg assembly 400 and push it into the installation cavity 510 for a certain distance (for example, 35% of the total pushing distance) through the moving device 200. Then, accessories such as the support wheel and the hose can be installed. After that, the pushing mechanism 120 can be extended to allow the finger 130 to clamp the leg assembly 400 and push it into the installation cavity 510 for a certain distance (for example, 30% of the total pushing distance, or 65% of the total pushing distance in total). At this time, the finger 130 can be released and horizontally rotated 180° through the rotating mechanism 140 so that the finger 130 clears the area in front of the installation cavity 510 and is aligned with the installation cavity 510 through the pushing mechanism 120. The leg assembly 400 is then pushed into the remaining distance by retracting the pushing mechanism 120.

[0071] During the process of pushing the leg assembly 400, the visual recognition device 300 can also provide real-time feedback on the pushing process and adjust the pushing direction and force in real time as needed (for example, the installation gap between the leg assembly 400 and the installation cavity 510 is eliminated and they are in contact with each other).

[0072] After the leg assembly 400 is fully inserted into the installation cavity 510, a sprocket can be installed at the rear of the leg assembly 400 to complete the assembly. Subsequently, the lock between the chassis positioning mechanism 600 and the ground rail 700 can be released, and the chassis 500 and the leg assembly 400 assembled on the chassis 500 can be transported away from the assembly site.

[0073] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple variations of the technical solution of the present invention may be made. This application includes various specific technical features combined in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple variations and combinations should also be regarded as disclosed in the present invention and fall within the scope of protection of the present invention.

Claims

1. A method for assembling a leg assembly, characterized in that: Use an outrigger assembly assembly device, the outrigger assembly assembly device comprising: The leg assembly assembly equipment comprises a manipulator (100), a moving device (200) for carrying the manipulator (100) to move, a visual recognition device (300) installed on the manipulator (100), and a control unit for controlling the manipulator (100) and the moving device (200), wherein the control unit is electrically connected to the visual recognition device (300) to control the manipulator (100) and the moving device (200) to grasp the leg assembly (400) and align the leg assembly (400) with the installation cavity (510) of the chassis (500) according to the recognition result of the visual recognition device (300); The manipulator (100) comprises a base (110) connected to the moving device (200), a pushing mechanism (120) mounted on the base (110) for pushing the leg assembly (400), and fingers (130) arranged in pairs, wherein the fingers (130) are movably mounted on the base (110) so as to be able to adjust the gap between the pair of fingers (130), and the manipulator (100) comprises a rotating mechanism (140) for rotating the base (110); The support leg assembly assembly method includes: S1. Identify the position of the mounting cavity of the chassis by a visual recognition device; S2. Grasping the leg assembly by a robot and assembling the leg assembly into the installation cavity according to a path between the identified position of the leg assembly and the position of the installation cavity of the chassis to be installed with the leg assembly; Assembling the leg assembly into the mounting cavity in step S2 includes: Moving the manipulator (100) via the moving device (200) to clamp the leg assembly (400) and push it into the installation cavity (510) by a first distance; Install the support wheel and hose; releasing the clamping force of the manipulator (100) on the leg assembly (400), holding the leg assembly (400) via the manipulator (100), and pushing the leg assembly (400) into the installation cavity (510) by a second distance via the pushing mechanism (120); The grip of the manipulator (100) on the leg assembly (400) is released, and the base (110) is rotated 180° via the rotating mechanism (140), so that the leg assembly (400) is completely pushed into the installation cavity (510) by contraction of the pushing mechanism (120).

2. The method for assembling a support leg assembly according to claim 1, characterized in that: Step S2 includes: S21. Based on the identified position of the installation cavity, calibrate the installation cavity by comparing dimensional parameters of the installation cavity with those of a standard installation cavity to obtain the path; S22. Assemble the leg assembly into the installation cavity according to the path.

3. The method for assembling a support leg assembly according to claim 2, characterized in that: Step S22 includes determining the gripping force of the manipulator according to the model of the leg assembly to perform picking and assembly operations.

4. The method for assembling a support leg assembly according to claim 1, characterized in that: The moving device (200) includes a first guide rail (210) arranged along a first horizontal direction and a moving support mechanism arranged to move along the first guide rail (210); the moving support mechanism includes a second guide rail (220) arranged along a second horizontal direction perpendicular to the first horizontal direction, a support base (230) moving along the second guide rail (220), and a lifting mechanism (240) installed on the support base (230); the manipulator (100) is installed on the lifting mechanism (240).

5. The method for assembling a support leg assembly according to claim 4, characterized in that: The mobile device is configured to have at least one of the following features: A first straight rack (211) is provided on the first guide rail (210), and a first gear (221) that cooperates with the first straight rack (211) is provided at the bottom of the second guide rail (220); A second spur rack (222) is provided on the second guide rail (220), and a second gear matched with the second spur rack (222) is provided at the bottom of the support seat (230); The lifting mechanism (240) includes a mounting seat (241) for mounting the manipulator (100), a third spur rack (242) fixed to the support seat (230), and a third gear (243) cooperating with the third spur rack (242) and mounted on the mounting seat (241).

6. The method for assembling a support leg assembly according to claim 1, characterized in that: The support leg assembly assembly equipment comprises a chassis positioning mechanism (600) for positioning a chassis (500) assembled with the support leg assembly (400).

7. The method for assembling a support leg assembly according to claim 6, wherein: The support leg assembly assembly device comprises a ground rail (700), and the chassis positioning mechanism (600) is arranged on the ground rail (700) and is switchable between a moving state of moving along the ground rail (700) and a locked state of being locked relative to the ground rail (700).

8. The method for assembling a support leg assembly according to claim 1, wherein: The leg assembly assembly device comprises a leg assembly positioning mechanism (800) for placing the leg assembly (400), and the leg assembly positioning mechanism (800) comprises a side positioning block (810) for limiting the side of the leg assembly (400).

9. The method for assembling a support leg assembly according to claim 1, wherein: The pushing mechanism (120) is capable of pushing in opposite directions through the rotation of the rotating mechanism (140), and / or the visual recognition device (300) is arranged at a side end of the base (110).

Images