Robotic boom system and working method for assembling booms of aerial work platforms

Abstract

This invention provides a robotic boom assembly system for aerial work platform booms, significantly improving boom assembly efficiency while ensuring assembly accuracy and product consistency. It also facilitates flexible production and greatly reduces the workload and difficulty for operators. An initial positioning block is mounted on an initial positioning block lifting mechanism; an axial initial positioning drive mechanism is connected to an axial initial positioning baffle; a progressive positioning block lifting mechanism is mounted on a progressive positioning block moving mechanism; a progressive positioning block is mounted on the progressive positioning block lifting mechanism; a push rod mechanism and an axial precision positioning baffle are respectively positioned on both sides of the workpiece progression mechanism; an axial precision positioning drive mechanism is connected to the axial precision positioning baffle; a tooling placement mechanism is mounted on the side of the chain conveyor; a placement positioning mechanism is located outside the tooling placement mechanism, and the placement positioning drive mechanism is connected to the placement positioning baffle; the robot is positioned on one side of the chain conveyor.

Description

Technical Field

[0001] This invention relates to a robotic boom assembly system and its working method for assembling booms on aerial work platforms. Background Technology

[0002] In recent years, with the booming development of aerial work platforms in China, various models of aerial work platforms have emerged in large numbers. As the core lifting and support component of mainstream models, the large-scale automated assembly of the boom has become crucial for improving the efficiency and effectiveness of various production systems. Therefore, how to achieve efficient, high-precision, flexible, and unmanned assembly of the boom during the manufacturing process has become an important problem that urgently needs to be solved in production. Currently, among the commonly used methods in China, the manual propulsion method uses a crane to lift the workpiece to be assembled, and the assembly is done manually. The assembly efficiency is extremely low and it is only suitable for trial production or single-piece production. It is difficult to guarantee product quality, especially for operators lacking operating experience. This inevitably leads to high labor intensity for operators and certain safety hazards, and it is even more difficult to adapt to large-scale mass production to quickly respond to the market. The hydraulic propulsion method uses a crane to lift the workpiece and uses hydraulic equipment controlled by workers for assembly. It is efficient for small-batch production, but the frequent operation of hydraulic equipment in large-scale production poses safety hazards. The equipment operates smoothly and the assembly accuracy is relatively good, but the flexible production capability is poor, and it is difficult to quickly switch between different products. It still requires a complex equipment adjustment process, and the degree of automation is low. The CNC slide rail automatic propulsion system is highly efficient and precise, but it is only suitable for the production of a single type of boom and still has shortcomings in flexible production. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned shortcomings in the prior art and provide a robot boom assembly system and working method with a reasonable structural design for assembling aerial work platform booms. This greatly improves the boom assembly efficiency of aerial work platform booms, ensures assembly accuracy and product consistency, significantly improves quality, and greatly reduces the workload and difficulty of operators while taking into account flexible production.

[0004] The technical solution adopted by this invention to solve the above problems is: a robotic arm system for assembling booms of aerial work platforms, characterized in that it includes an initial positioning mechanism, a workpiece advancing mechanism, a push rod mechanism, a robot, a tooling placement mechanism, an axial initial positioning mechanism, an axial fine positioning mechanism, a placement positioning mechanism, and a plate chain line; the initial positioning mechanism is installed on the side of the plate chain line, and includes an initial positioning block and an initial positioning block lifting mechanism; the initial positioning block is installed on the initial positioning block lifting mechanism, and there are multiple initial positioning blocks arranged sequentially along the plate chain line; the axial initial positioning mechanism is located on the outside of the initial positioning mechanism, and includes an axial initial positioning baffle and an axial initial positioning drive mechanism, the axial initial positioning drive mechanism being connected to the axial initial positioning baffle; the workpiece advancing mechanism includes an advancing positioning block, an advancing positioning block, and an advancing positioning block. A positioning block lifting mechanism and a progressive positioning block moving mechanism; the progressive positioning block lifting mechanism is installed on the progressive positioning block moving mechanism; the progressive positioning block is installed on the progressive positioning block lifting mechanism; the workpiece progressive mechanism is installed on the side of the plate chain; there are multiple progressive positioning blocks, arranged sequentially along the plate chain; a push rod mechanism and an axial precision positioning baffle are respectively arranged on both sides of the workpiece progressive mechanism; the axial precision positioning mechanism includes an axial precision positioning baffle and an axial precision positioning drive mechanism, the axial precision positioning drive mechanism is connected to the axial precision positioning baffle; a tooling placement mechanism is installed on the side of the plate chain; a placement positioning mechanism is located outside the tooling placement mechanism, the placement positioning mechanism includes a placement positioning baffle and a placement positioning drive mechanism, the placement positioning drive mechanism is connected to the placement positioning baffle; the robot is located on one side of the plate chain.

[0005] The upper surface of the initial positioning block described in this invention is provided with a positioning groove.

[0006] The upper surface of the progressive positioning block described in this invention is provided with a positioning groove.

[0007] The push rod mechanism of the present invention includes a push rod cylinder and a push rod, wherein the push rod is mounted on the push rod cylinder.

[0008] The tooling placement mechanism of the present invention includes a tooling placement device and a tooling placement lifting mechanism, wherein the tooling placement device is mounted on the tooling placement lifting mechanism.

[0009] A method for operating a robotic boom system for assembling booms on aerial work platforms, characterized by the following steps:

[0010] (1) After the workpiece is loaded, it is placed on the plate chain line. The plate chain line runs according to the rhythm. When the workpiece reaches the initial positioning mechanism, the axial initial positioning drive mechanism drives the axial initial positioning baffle to move in the axial direction of the workpiece. The axial initial positioning baffle touches the end of the workpiece, so that a set of workpiece ends are aligned. Under the action of the axial initial positioning baffle, the axial initial positioning of the workpiece is realized. Then the initial positioning block lifting mechanism drives the initial positioning block to rise, so that the workpiece falls into the initial positioning block, and the radial initial positioning of the workpiece is realized.

[0011] (2) After the initial positioning is completed, the initial positioning block lifting mechanism drives the initial positioning block to fall, and the workpiece falls on the plate chain line to continue to be conveyed according to the rhythm;

[0012] (3) When the workpiece reaches the workpiece advancing mechanism, the advancing positioning block lifting mechanism drives the advancing positioning block to rise, and the workpiece falls into the advancing positioning block to achieve radial precision positioning. The push rod mechanism pushes the workpiece on the first advancing positioning block to the axial precision positioning baffle. The axial precision positioning drive mechanism drives the axial precision positioning baffle to move in the axial direction of the workpiece. The axial precision positioning baffle positions the workpiece and completes the axial precision positioning of the workpiece.

[0013] (4) The robot clamps the workpiece on the first progressive positioning block onto the placement fixture mechanism and pushes one end of the workpiece against the placement positioning baffle. The placement positioning drive mechanism drives the placement positioning baffle to move in the axial direction of the workpiece, and the placement positioning baffle positions the workpiece. After the robot finishes, it returns to the initial position and prepares to clamp the workpiece on the second progressive positioning block. At this time, the progressive positioning block moving mechanism drives the progressive positioning block and the progressive positioning block lifting mechanism to move along the workpiece forward direction, so that the workpiece on the second progressive positioning block reaches the position of the push rod mechanism and completes the axial precise positioning under the action of the push rod mechanism and the axial precision positioning baffle. The robot clamps the workpiece on the second progressive positioning block behind the workpiece placed at the placement fixture mechanism and then inserts it in parallel. The workpieces on the subsequent progressive positioning blocks are operated in sequence according to the logic of the workpiece on the second progressive positioning block. After the arm is finished, the placement fixture lifting mechanism drives the placement fixture to fall down, and the workpiece that has completed the arm is left on the plate chain line and continues to run according to the rhythm.

[0014] Compared with the prior art, the present invention has the following advantages and effects:

[0015] 1. The use of robots for assembly has enabled the automatic assembly of the boom of the aerial work platform, which greatly improves production efficiency and reduces labor intensity compared with the traditional manual assembly method.

[0016] 2. Each mechanism is equipped with a baffle with adjustable position, which can meet the assembly requirements of workpieces of different sizes, greatly improving the flexibility of production;

[0017] 3. It features a compact layout, flexible and convenient transportation, and high safety and efficiency. Attached Figure Description

[0018] Figure 1 This is a top view of the structure of an embodiment of the present invention.

[0019] Figure 2 This is a side view structural diagram of an embodiment of the present invention.

[0020] Figure 3This is a front view structural diagram of an embodiment of the present invention. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0022] The embodiments of the present invention include an initial positioning mechanism 1, a workpiece advancing mechanism 2, a push rod mechanism 3, a robot 4, a tooling placement mechanism 5, an axial initial positioning mechanism, an axial fine positioning mechanism, a placement positioning mechanism, and a plate chain 9.

[0023] The initial positioning mechanism 1 includes an initial positioning block 11 and an initial positioning block lifting mechanism. The initial positioning block 11 is mounted on the initial positioning block lifting mechanism, which drives the initial positioning block 11 to rise and fall. The initial height of the initial positioning block 11 is lower than that of the chain conveyor 9. The upper surface of the initial positioning block 11 is provided with a positioning groove. The initial positioning mechanism 1 is mounted on both sides of the chain conveyor 9, enabling initial positioning of the workpiece 12. The initial positioning block lifting mechanism can be a cylinder mechanism. Multiple initial positioning blocks 11 are arranged sequentially along the chain conveyor 9.

[0024] An axial initial positioning mechanism is located outside the initial positioning mechanism 1. It includes an axial initial positioning baffle 6 and an axial initial positioning drive mechanism. The axial initial positioning drive mechanism is connected to the axial initial positioning baffle 6 and drives the axial initial positioning baffle 6 to move axially in the direction of the workpiece 12. The axial initial positioning baffle 6 serves a positioning and guiding function. The axial initial positioning drive mechanism includes a slide and a cylinder. The axial initial positioning baffle 6 is mounted on the slide, and the cylinder pushes the axial initial positioning baffle 6 to move it.

[0025] The workpiece advancing mechanism 2 includes an advancing positioning block 21, an advancing positioning block lifting mechanism, and an advancing positioning block moving mechanism. The advancing positioning block lifting mechanism is mounted on the advancing positioning block moving mechanism, and the advancing positioning block moving mechanism drives the advancing positioning block lifting mechanism to move horizontally. The advancing positioning block 21 is mounted on the advancing positioning block lifting mechanism, and the advancing positioning block lifting mechanism drives the advancing positioning block 21 to rise and fall. The initial height of the advancing positioning block 21 is lower than that of the plate chain line 9. The upper surface of the advancing positioning block 21 is also provided with a positioning groove. The workpiece advancing mechanism 2 is mounted on both sides of the plate chain line 9, which can realize the advancing of the workpiece 12. Both the advancing positioning block lifting mechanism and the advancing positioning block moving mechanism can be cylinder mechanisms. There are multiple advancing positioning blocks 21, which are arranged sequentially along the plate chain line 9.

[0026] The push rod mechanism 3 and the axial precision positioning mechanism are respectively arranged on both sides of the workpiece advancing mechanism 2. They cooperate to achieve precise positioning of the workpiece 12 on the first advancing positioning block 21. The push rod mechanism 3 includes a push rod cylinder and a push rod, with the push rod mounted on the push rod cylinder. The axial precision positioning mechanism includes an axial precision positioning baffle 7 and an axial precision positioning drive mechanism. The axial precision positioning drive mechanism is connected to the axial precision positioning baffle 7, driving the axial precision positioning baffle 7 to move axially in the direction of the workpiece 12. The axial precision positioning baffle 7 serves a positioning and guiding function. The axial precision positioning drive mechanism includes a slide and a cylinder. The axial precision positioning baffle 7 is mounted on the slide, and the cylinder pushes the axial precision positioning baffle 7, enabling it to move.

[0027] The tooling placement mechanism 5 is installed on both sides of the plate chain line 9. The tooling placement mechanism 5 includes a tooling placement device and a tooling placement lifting mechanism. The tooling placement device is installed on the tooling placement lifting mechanism.

[0028] The placement and positioning mechanism is located outside the placement fixture mechanism 5 and works in conjunction with the robot 4 to achieve the arm-mounting function. The placement and positioning mechanism includes a placement and positioning baffle 8 and a placement and positioning drive mechanism. The placement and positioning drive mechanism is connected to the placement and positioning baffle 8 and drives the placement and positioning baffle 8 to move axially toward the workpiece 12, thus providing a positioning function. The placement and positioning drive mechanism includes a slide and a cylinder. The placement and positioning baffle 8 is mounted on the slide, and the cylinder pushes the placement and positioning baffle 8 to enable its movement.

[0029] Robot 4 is positioned on one side of the chain conveyor 9.

[0030] A method for operating a robotic boom assembly system for aerial work platforms includes the following steps:

[0031] (1) After loading, the workpiece 12 is placed on the plate chain 9. The plate chain 9 runs according to the rhythm. When the workpiece 12 reaches the initial positioning mechanism 1, one end of the workpiece 12 touches the workpiece axial initial positioning baffle 6. The axial initial positioning drive mechanism drives the axial initial positioning baffle 6 to move in the axial direction of the workpiece 12 on the plate chain 9. The axial initial positioning baffle 6 touches the end of the workpiece, so that a set of workpiece ends are aligned. Under the action of the axial initial positioning baffle 6, the axial initial positioning of the workpiece 12 is realized. Then the initial positioning block lifting mechanism drives the initial positioning block 11 to rise, so that the workpiece falls into its positioning groove, thus realizing the radial initial positioning of the workpiece.

[0032] (2) After the initial positioning is completed, the initial positioning block lifting mechanism drives the initial positioning block 11 to fall, and the workpiece falls on the plate chain line 9 to continue to be conveyed according to the rhythm;

[0033] (3) When the workpiece reaches the workpiece advancing mechanism 2, the advancing positioning block lifting mechanism drives the advancing positioning block 21 to rise, and the workpiece falls into the positioning groove of the advancing positioning block 21 to achieve radial precision positioning. The push rod cylinder of the push rod mechanism 3 drives the push rod to move, pushing one end of the workpiece on the first advancing positioning block 21 to the axial precision positioning baffle 7. The axial precision positioning drive mechanism drives the axial precision positioning baffle 7 to move in the axial direction of the workpiece 12. The axial precision positioning baffle 7 positions the workpiece 12, completing the axial precision positioning of the workpiece 12.

[0034] (4) Robot 4 clamps the workpiece on the first progressive positioning block 21 onto the placement fixture of the placement fixture mechanism 5, and pushes one end of the workpiece 12 against the placement positioning baffle 8. The placement positioning drive mechanism drives the placement positioning baffle 8 to move in the axial direction of the workpiece 12, and the placement positioning baffle 8 positions the workpiece 12. After completion, Robot 4 returns to the initial position and prepares to clamp the workpiece on the second progressive positioning block 21. At this time, the progressive positioning block moving mechanism drives the progressive positioning block 21 and the progressive positioning block lifting mechanism to move along the workpiece forward direction, so that the second... The workpiece on the progressive positioning block 21 reaches the position of the push rod mechanism 3, and completes axial precision positioning under the action of the push rod mechanism 3 and the axial precision positioning baffle 7. The robot 4 clamps the workpiece on the second progressive positioning block 21 and places it behind the workpiece placed at the tooling placement mechanism 5, and then inserts it in parallel. The workpieces on the subsequent progressive positioning blocks 21 are operated in sequence according to the workpiece logic of the second progressive positioning block 21. After the arm is finished, the tooling placement lifting mechanism drives the tooling placement to fall, and the workpiece that has completed the arm is left on the plate chain line 9 and continues to run according to the rhythm.

[0035] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components, etc. The above description is merely illustrative of the structure of the present invention. All equivalent or simple variations made based on the structure, features, and principles described in this patent concept are included within the protection scope of this patent. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to substitute them, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, all of which should fall within the protection scope of this invention.

Claims

1. A robotic boom assembly system for aerial work platform booms, characterized in that: The system includes an initial positioning mechanism, a workpiece advancing mechanism, a push rod mechanism, a robot, a tooling placement mechanism, an axial initial positioning mechanism, an axial fine positioning mechanism, a placement positioning mechanism, and a plate chain. The initial positioning mechanism is installed on the side of the plate chain and includes an initial positioning block and an initial positioning block lifting mechanism. Multiple initial positioning blocks are mounted on the initial positioning block lifting mechanism and are arranged sequentially along the plate chain. The axial initial positioning mechanism is located outside the initial positioning mechanism and includes an axial initial positioning baffle and an axial initial positioning drive mechanism, with the axial initial positioning drive mechanism connected to the axial initial positioning baffle. The workpiece advancing mechanism includes an advancing positioning block, an advancing positioning block lifting mechanism, and an advancing positioning block moving mechanism. The advancing positioning block lifting mechanism... The mechanism is mounted on the progressive positioning block moving mechanism; the progressive positioning block is mounted on the progressive positioning block lifting mechanism; the workpiece advancing mechanism is mounted on the side of the plate chain; there are multiple progressive positioning blocks, arranged sequentially along the plate chain; the push rod mechanism and the axial precision positioning baffle are respectively arranged on both sides of the workpiece advancing mechanism; the axial precision positioning mechanism includes an axial precision positioning baffle and an axial precision positioning drive mechanism, the axial precision positioning drive mechanism being connected to the axial precision positioning baffle; the tooling placement mechanism is mounted on the side of the plate chain; the placement positioning mechanism is located outside the tooling placement mechanism, the placement positioning mechanism including a placement positioning baffle and a placement positioning drive mechanism, the placement positioning drive mechanism being connected to the placement positioning baffle; the robot is located on one side of the plate chain. The working method of this robotic arm system includes the following steps: (1) After the workpiece is loaded, it is placed on the plate chain line. The plate chain line runs according to the rhythm. When the workpiece reaches the initial positioning mechanism, the axial initial positioning drive mechanism drives the axial initial positioning baffle to move in the axial direction of the workpiece. The axial initial positioning baffle touches the end of the workpiece, so that a set of workpiece ends are aligned. Under the action of the axial initial positioning baffle, the axial initial positioning of the workpiece is realized. Then the initial positioning block lifting mechanism drives the initial positioning block to rise, so that the workpiece falls into the initial positioning block, and the radial initial positioning of the workpiece is realized. (2) After the initial positioning is completed, the initial positioning block lifting mechanism drives the initial positioning block to fall, and the workpiece falls on the plate chain line to continue to be conveyed according to the rhythm; (3) When the workpiece reaches the workpiece advancing mechanism, the advancing positioning block lifting mechanism drives the advancing positioning block to rise, and the workpiece falls into the advancing positioning block to achieve radial precision positioning. The push rod mechanism pushes the workpiece on the first advancing positioning block to the axial precision positioning baffle. The axial precision positioning drive mechanism drives the axial precision positioning baffle to move in the axial direction of the workpiece. The axial precision positioning baffle positions the workpiece and completes the axial precision positioning of the workpiece. (4) The robot clamps the workpiece on the first progressive positioning block onto the placement fixture mechanism and pushes one end of the workpiece against the placement positioning baffle. The placement positioning drive mechanism drives the placement positioning baffle to move in the axial direction of the workpiece, and the placement positioning baffle positions the workpiece. After the robot finishes, it returns to the initial position and prepares to clamp the workpiece on the second progressive positioning block. At this time, the progressive positioning block moving mechanism drives the progressive positioning block and the progressive positioning block lifting mechanism to move along the workpiece forward direction, so that the workpiece on the second progressive positioning block reaches the position of the push rod mechanism and completes the axial precise positioning under the action of the push rod mechanism and the axial precision positioning baffle. The robot clamps the workpiece on the second progressive positioning block behind the workpiece placed at the placement fixture mechanism and then inserts it in parallel. The workpieces on the subsequent progressive positioning blocks are operated in sequence according to the logic of the workpiece on the second progressive positioning block. After the arm is finished, the placement fixture lifting mechanism drives the placement fixture to fall down, and the workpiece that has completed the arm is left on the plate chain line and continues to run according to the rhythm.

2. The robotic boom assembly system for aerial work platform booms according to claim 1, characterized in that: The upper surface of the initial positioning block is provided with a positioning groove.

3. The robotic boom assembly system for aerial work platform booms according to claim 1, characterized in that: The upper surface of the progressive positioning block is provided with a positioning groove.

4. The robotic boom assembly system for aerial work platform booms according to claim 1, characterized in that: The push rod mechanism includes a push rod cylinder and a push rod, with the push rod mounted on the push rod cylinder.

5. The robotic boom assembly system for aerial work platform booms according to claim 1, characterized in that: The tooling placement mechanism includes a tooling placement device and a tooling placement lifting mechanism, with the tooling placement device mounted on the tooling placement lifting mechanism.

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