A device for automated and rapid disassembly and assembly of mechanical housings

Abstract

This invention provides a device for the automated and rapid assembly and disassembly of mechanical housings, comprising a truss, a clamping and flipping mechanism, an adsorption mechanism, a work platform, and a control system. The control system controls a first longitudinal moving beam and a second longitudinal moving beam to move in opposite directions on the truss until the housing separates from the product, completing the disassembly of the housing. For housing installation, the above process is reversed. This invention offers significant convenience in the disassembly and assembly of mechanical equipment housings, exhibiting a high degree of automation. It reduces labor costs for workers, facilitating operation, use, and subsequent maintenance. The device is easy to install and maintain, operates stably, fundamentally reducing worker workload, improving assembly and disassembly accuracy and efficiency, and providing excellent protection for user safety. This invention boasts a high degree of automation, significantly improving work efficiency, meeting the needs of modern development, and is suitable for market promotion.

Description

Technical Field

[0001] This invention relates to the field of machinery manufacturing, and in particular to a device for the automated and rapid assembly and disassembly of machinery housings. Background Technology

[0002] Automation technology and equipment are being used more and more widely in the machinery manufacturing industry. Adopting automation technology not only reduces the workload of workers and greatly improves labor productivity, but also liberates workers from harsh production environments and improves their working conditions. Automated equipment not only allows companies to better control expenses and budgets, but also improves production efficiency. Some electrical products, such as the indoor units of refrigerators and air conditioners, require casings. Therefore, the disassembly and assembly of the mechanical casings of these appliances is a crucial step in the production process. This process requires not only strict quality control but also high precision. Currently, there is a lack of systematic equipment for disassembling and assembling mechanical casings, and manual disassembly and assembly are often used, which consumes a lot of time and labor and has low efficiency and precision, failing to meet modern needs. Therefore, there is a need to develop a rapid disassembly and assembly equipment for mechanical casings that is simple to operate, highly automated, has a low error rate, and high production efficiency. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides a device for automated and rapid disassembly and assembly of mechanical housings, including a truss, a clamping and flipping mechanism, an adsorption mechanism, a working platform, and a control system;

[0004] The truss includes crossbeams, longitudinal beams, columns, a first longitudinal movable beam, and a second longitudinal movable beam; the crossbeams, longitudinal beams, and columns form the truss frame; the first longitudinal movable beam and the second longitudinal movable beam are arranged parallel to each other on the truss frame; the two ends of the first longitudinal movable beam and the second longitudinal movable beam are respectively connected to the longitudinal beam and can move along the longitudinal beam.

[0005] The clamping and flipping mechanism includes a first clamping and flipping component and a second clamping and flipping component. The first and second clamping and flipping components have the same structure and are arranged opposite to each other on a first longitudinal moving beam, and are slidably connected to the first longitudinal moving beam for clamping and flipping the mechanical housing. The first longitudinal moving beam is provided with a first telescopic cylinder and a second telescopic cylinder, which are arranged opposite to each other or in opposite directions. The telescopic rods of the first and second telescopic cylinders are respectively connected to the first and second clamping and flipping components for pushing and pulling the first and second clamping and flipping components to move in opposite directions or in opposite directions on the first longitudinal moving beam. The first and second clamping and flipping components move in opposite directions to clamp the mechanical housing and rotate it.

[0006] The adsorption mechanism is located in the middle of the second longitudinal moving beam. The lower part of the adsorption mechanism is provided with suction cup assemblies that are arranged opposite to each other and can move in opposite directions for adsorbing the mechanical housing.

[0007] The working platform is located on the ground or tabletop, below the clamping and flipping mechanism and the adsorption mechanism; the control system is located on the ground, tabletop, or truss, and is connected to the electrical control equipment in the truss, clamping and flipping mechanism, and adsorption mechanism through control lines.

[0008] The longitudinal beams of the truss are equipped with rack and pinion rails and auxiliary rails. The first and second longitudinal moving beams have the same structure, each including a moving beam, a moving assembly, and a moving beam drive assembly. The moving assemblies are respectively located at both ends of the moving beam. Each moving assembly includes a moving beam end plate, a drive roller, and an auxiliary roller. The moving beam end plate is fixedly connected to the end of the moving beam. The drive roller and the auxiliary roller are pivotally connected to the moving beam end plate. The drive roller rests on the upper rail of the rack and pinion rail, and the auxiliary roller rests on the auxiliary rail. The moving beam end plate drives the moving beam to slide on the rack and pinion rail and the auxiliary rail. The moving beam drive assembly includes a moving beam drive motor and a transmission mechanism. The moving beam drive motor is mounted on the first and second longitudinal moving beams, respectively. The output shaft of the moving beam drive motor is connected to the transmission shaft through a reducer. The transmission shaft is pivotally connected to the first and second longitudinal moving beams. Both ends of the transmission shaft pass through the end plates of the moving beams and are connected to the drive gear. The drive gear meshes with the lower rack of the rack and pinion rail. The output torque of the moving beam drive motor drives the drive gear to rotate through the reducer and the transmission shaft. Through meshing with the rack and pinion rail, the first and second longitudinal moving beams move on the longitudinal beams. The moving beam drive motor is connected to the control system for data transmission and to receive control from the control system.

[0009] A felt gear is pivotally connected to the end plate of the movable beam. The felt gear meshes with the drive gear. The felt gear is impregnated with lubricating oil for lubricating the drive gear. A lubrication protection box is provided on the end plate of the movable beam. The drive roller is fixed in the lubrication protection box, which provides lubrication and protection for the drive roller.

[0010] The first clamping and flipping assembly and the second clamping and flipping assembly each include a lifting mechanism sliding base, a first lifting mechanism, and a flipping mechanism. A clamping and flipping assembly slide rail is provided on the first longitudinal moving beam. The lifting mechanism sliding bases of the first and second clamping and flipping assemblies are respectively connected to the clamping and flipping assembly slide rails on the first longitudinal moving beam. The first lifting mechanism includes a lifting mechanism fixing seat, a lifting carriage, a lifting rack slide rail, and a lifting drive motor. The lifting mechanism fixing seat is fixed to the through hole of the lifting mechanism sliding base. The lifting mechanism fixing seat has a vertical hollow structure. The lifting carriage is located inside the lifting mechanism fixing seat, and the lifting rack slide rail is located on the lifting carriage. The mechanism's fixed base contains a slider that is slidably connected to the lifting rack and pinion rail. The lifting drive motor is fixed to the lower part of the lifting mechanism's fixed base, and its output end is connected to a reducer. The output end of the reducer passes through the lifting mechanism's fixed base and is connected to a drive gear. The drive gear meshes with the lifting rack and pinion rail. The lifting drive motor outputs torque to drive the drive gear to rotate through the reducer, and through the lifting rack and pinion rail, it drives the lifting slide to rise or fall within the lifting mechanism's fixed base. The tilting mechanism is located at the lower end of the lifting slide. The clamping heads of the tilting mechanisms of the first and second clamping tilting components are arranged opposite each other. The lifting drive motor is connected to the control system for data transmission and to receive control from the control system.

[0011] The lifting mechanism has a floating joint on one side of the fixed seat. The telescopic rods of the first telescopic cylinder and the second telescopic cylinder on the first longitudinal moving beam are respectively connected to the floating joints of the first clamping and flipping assembly and the second clamping and flipping assembly.

[0012] The flipping mechanism includes a flipping mechanism base, a flipping drive motor, a bushing, a telescopic transmission shaft, and a clamping head. The flipping mechanism base is connected to a connecting frame via a floating guide shaft, and the connecting frame is fixedly connected to the lower end of the lifting slide. The bushing is located inside the flipping mechanism base. The flipping drive motor is fixed to one end of the flipping mechanism base via a reducer, and the flipping drive motor is connected to the reducer. The output end of the reducer is connected to one end of the telescopic transmission shaft via a coupling. The telescopic transmission shaft is pivotally connected to the bushing via a bearing. The clamping head is fixed to the other end of the telescopic transmission shaft. The output torque of the flipping drive motor drives the telescopic transmission shaft to rotate within the bushing via the reducer and coupling, causing the clamping head to rotate accordingly. The clamping heads of the first and second clamping flipping components clamp the mechanical housing and rotate it to adjust its angle. The flipping drive motor is connected to the control system for data transmission and to receive control from the control system.

[0013] The adsorption mechanism includes an adsorption mechanism base, a second lifting mechanism, a support frame, a first suction cup assembly, and a second suction cup assembly. The adsorption mechanism base is fixed on the second longitudinal moving beam. The second lifting mechanism has the same structure as the first lifting mechanism of the clamping and flipping mechanism, and will not be described again. The lifting mechanism fixing seat of the second lifting mechanism is fixed on the through hole of the adsorption mechanism base. The support frame is fixed at the lower end of the lifting slide of the second lifting mechanism. The first suction cup assembly and the second suction cup assembly are respectively located at both ends of the support frame.

[0014] The first and second suction cup assemblies have the same structure, each including a suction cup assembly connecting frame, a first suction cup sliding plate, a second suction cup sliding plate, a suction cup drive cylinder, a Z-shaped connecting rod, a first suction cup mounting frame, a second suction cup mounting frame, and a suction cup. The suction cup assembly connecting frame is fixedly connected to the support frame and is located at the lower part of the support frame. The suction cup assembly connecting frame has two parallel slide rails, and the two ends of the first and second suction cup sliding plates are slidably connected to the two parallel slide rails via sliders. The suction cup drive cylinder is located on a central fixing plate, which is fixed to the middle of the suction cup assembly connecting frame. The telescopic rod of the suction cup drive cylinder is connected to either the first or second suction cup sliding plate. The two ends of the Z-shaped connecting rod are respectively hinged to the first suction cup sliding plate and the second suction cup sliding plate, and the center of the middle connecting rod is connected to the middle fixed plate through a hinge shaft. When the suction cup drive cylinder pushes or pulls the first suction cup sliding plate or the second suction cup sliding plate, the first suction cup sliding plate and the second suction cup sliding plate can slide in opposite directions under the transmission action of the Z-shaped connecting rod. The first suction cup mounting bracket and the second suction cup mounting bracket are respectively installed on the lower part of the first suction cup sliding plate and the second suction cup sliding plate. Several suction cups are respectively provided on the opposite surfaces of the first suction cup mounting bracket and the second suction cup mounting bracket. The suction cup drive cylinder is connected to the control system to transmit data and receive control from the control system.

[0015] The upper parts of the first and second suction cup mounting brackets are respectively provided with mounting rods, which are connected to the rotating shafts of the suction cup mounting brackets. The rotating shafts of the suction cup mounting brackets are pivotally connected to the lower part of the first or second suction cup sliding plate. The first and second suction cup sliding plates are respectively provided with a first suction cup angle driving cylinder and a second suction cup angle driving cylinder. The output shafts of the first and second suction cup angle driving cylinders are respectively hinged to suction cup angle driving connecting rods. The suction cup angle driving connecting rods pass through through holes provided in the first and second suction cup sliding plates and are connected to the lower suction cup mounting bracket rotating shaft. The first and second suction cup angle driving cylinders... The output shaft of the moving cylinder extends and retracts, driving the suction cup mounting bracket shaft to rotate via the suction cup angle drive linkage. This, in turn, drives the first and second suction cup mounting brackets to rotate along the suction cup mounting bracket shaft. The lower parts of the first and second suction cup sliding plates are equipped with opposing limit screws. A limit rod is provided on the suction cup mounting bracket shaft, positioned between the two limit screws. Adjusting the length of the limit screws changes the distance between them, thus limiting the rotation angle range of the suction cup mounting bracket shaft. The first and second suction cup angle drive cylinders are connected to the control system for data transmission and control.

[0016] The present invention also includes an AGV (Automated Guided Vehicle) trolley, which is wirelessly connected to the control system to transmit data and receive control from the control system for transporting products to be processed.

[0017] The translational movements of the clamping and flipping mechanism and the adsorption mechanism are as follows:

[0018] x, y, and z represent the displacements of the clamping and flipping mechanism and the adsorption mechanism along the X, Y, and Z axes:

[0019]

[0020]

[0021]

[0022]

[0023] j→i homogeneous coordinate transformation matrix:

[0024]

[0025] in ;

[0026] ;

[0027] ;

[0028] The transient dynamics analysis using time-domain analysis was used to simulate the response process of the clamping and flipping mechanism in clamping the product. The dynamic equations are as follows:

[0029] [M]{ }+[C]{ }+[K]{X}={F(t)}

[0030] In the formula: [M] is the product quality matrix; [C] is the damping matrix; [K] is the overall stiffness matrix; { } represents the nodal acceleration vector; { {X} is the nodal velocity vector; {X} is the nodal displacement vector, i.e., the structural deformation of the product under dynamic load; {F(t)} is the time-varying load; where:

[0031] [M]=

[0032] [K]=

[0033] [C]= [M]+ [K]

[0034] In the formula: The moment of inertia of the cross section; and These are mass damping and stiffness damping, respectively.

[0035] In this model, the actions of the clamping and flipping mechanism in clamping the product only consider translation and rotation in the X and Z planes. Therefore, the stiffness matrix of the product in the X and Z planes is:

[0036] =

[0037] It is written as:

[0038] =

[0039] In the analysis process of this invention, a dynamic equation model is established for the clamping process of the clamping and flipping mechanism. During the analysis, a dynamic load function that changes with time is input, and the results are integrated multiple times to obtain the displacement of the product in the clamping process as a function of time t.

[0040] The working process of this invention:

[0041] The products to be disassembled are placed on the work platform by the AGV trolley.

[0042] The control system drives the first longitudinal moving beam of the truss to move on the truss to a suitable clamping position via a drive motor. The control system then controls the first and second clamping and flipping components in the clamping and flipping mechanism to move on the first longitudinal moving beam of the truss, adjusting the distance between them to accommodate the product to be clamped. Under the action of the first lifting mechanism, the first and second clamping and flipping components raise and lower the flipping mechanism to a suitable clamping height. The distance between them is further reduced until the clamping heads in the two flipping mechanisms clamp the product. The first lifting mechanism then further adjusts the product to a suitable height for assembly and disassembly. The flipping drive motors in the first and second clamping and flipping components drive the two clamping heads to rotate synchronously in the same direction, flipping the product to be processed to a suitable processing angle.

[0043] The control system controls the moving beam drive motor of the control truss to drive the second longitudinal moving beam to move on the truss. After moving to a suitable position for adsorbing the shell, the control system controls the second longitudinal moving beam of the adsorption mechanism to move on the truss, and controls the second lifting mechanism in the adsorption mechanism to adjust the height of the first suction cup assembly and the second suction cup assembly to a suitable adsorption position. The control system further controls the suction cup drive cylinders in the first suction cup assembly and the second suction cup assembly to push and pull the first suction cup sliding plate and the second suction cup sliding plate to slide in opposite directions to a suitable position. After the first suction cup sliding plate and the second suction cup sliding plate approach each other until the suction cups on the first suction cup mounting frame and the second suction cup mounting frame adsorb the product shell, the control system controls the first longitudinal moving beam and the second longitudinal moving beam to move in opposite directions on the truss until the shell separates from the product, completing the shell disassembly. If it is shell installation, the above process is reversed.

[0044] The beneficial effects of this invention are:

[0045] Compared with existing equipment, this invention offers significant convenience in the disassembly and installation of mechanical equipment housings. Its high degree of automation reduces labor costs, facilitating operation, use, and maintenance. The equipment is easy to install and maintain, operates stably, and provides better stability and continuity during use, enabling more efficient operations. It fundamentally reduces worker workload, improves the accuracy and efficiency of assembly and disassembly, and provides excellent protection for user safety. Due to its high degree of automation, this equipment significantly improves work efficiency, meets the needs of modern development, has a wide range of applications, and is suitable for market promotion. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the truss structure of the present invention;

[0048] Figure 3 This is a schematic diagram of a partial truss structure of the present invention;

[0049] Figure 4 This is a schematic diagram of the movable beam end plate structure of the present invention;

[0050] Figure 5 This is a schematic diagram of the clamping and flipping mechanism of the present invention. Figure 1 ;

[0051] Figure 6 This is a schematic diagram of the clamping and flipping mechanism of the present invention. Figure 2 ;

[0052] Figure 7 This is a schematic diagram of the flipping mechanism of the present invention;

[0053] Figure 8 This is a schematic diagram of the adsorption mechanism of the present invention;

[0054] Figure 9 This is a schematic diagram of the suction cup assembly structure of the present invention;

[0055] Figure 10 This is a partial structural diagram of the adsorption mechanism of the present invention;

[0056] Figure 11 This is a partial structural diagram of the suction cup assembly of the present invention;

[0057] Figure 12 This is a schematic diagram of the suction cup mounting bracket limiting structure of the present invention;

[0058] 1. Truss 2. Clamping and flipping mechanism 3. Adsorption mechanism 4. Working platform 5. Control system 6. AGV trolley;

[0059] 101. Horizontal beam; 102. Longitudinal beam; 103. Column; 104. First longitudinal moving beam; 105. Second longitudinal moving beam; 106. Rack and pinion slide rail; 107. Auxiliary slide rail; 108. Moving beam end plate; 109. Drive roller; 110. Auxiliary roller; 111. Moving beam drive motor; 112. Transmission shaft; 113. Drive gear; 114. Felt gear; 115. Lubrication protection box; 116. Clamping and tilting assembly slide rail;

[0060] 201. First clamping and flipping assembly; 202. Second clamping and flipping assembly; 203. First telescopic cylinder; 204. Second telescopic cylinder; 205. Lifting mechanism sliding base; 206. Lifting mechanism fixed seat; 207. Lifting slide; 208. Lifting rack and pinion slide rail; 209. Lifting drive motor; 210. Floating joint; 211. Flipping mechanism fixed seat; 212. Flipping drive motor; 213. Bushing; 214. Telescopic transmission shaft; 215. Clamping head; 216. Floating guide shaft; 217. Connecting frame; 218. First lifting mechanism;

[0061] 301. Adsorption mechanism base; 302. Second lifting mechanism; 303. Support frame; 304. First suction cup assembly; 305. Second suction cup assembly; 306. Suction cup assembly connecting frame; 307. First suction cup sliding plate; 308. Second suction cup sliding plate; 309. Suction cup drive cylinder; 310. Z-shaped connecting rod; 311. First suction cup mounting frame; 312. Second suction cup mounting frame; 313. Suction cup; 314. Gripper; 315. Gripper drive cylinder; 316. Mounting rod; 317. Suction cup mounting frame rotating shaft; 318. First suction cup corner drive cylinder; 319. Second suction cup corner drive cylinder; 320. Suction cup corner drive connecting rod; 321. Limiting screw; 322. Limiting rod; 323. Middle fixing plate. Detailed Implementation

[0062] See Figure 1-12 As shown:

[0063] The present invention provides a device for automated and rapid disassembly and assembly of mechanical housings, comprising a truss 1, a clamping and flipping mechanism 2, an adsorption mechanism 3, a working platform 4, and a control system 5;

[0064] The truss 1 includes a crossbeam 101, a longitudinal beam 102, a column 103, a first longitudinal moving beam 104, and a second longitudinal moving beam 105. The crossbeam 101, the longitudinal beam 102, and the column 103 form the frame of the truss 1. The two crossbeams 101 and the two longitudinal beams 102 form a rectangular frame. The first longitudinal moving beam 104 and the second longitudinal moving beam 105 are arranged in parallel on the frame of the truss 1. The two ends of the first longitudinal moving beam 104 and the second longitudinal moving beam 105 are slidably connected to the longitudinal beam 102 and can move along the longitudinal beam 102.

[0065] The clamping and flipping mechanism 2 includes a first clamping and flipping component 201 and a second clamping and flipping component 202. The first clamping and flipping component 201 and the second clamping and flipping component 202 have the same structure and are arranged opposite to each other on the first longitudinal moving beam 104, and are slidably connected to the first longitudinal moving beam 104 for clamping and flipping the mechanical housing. The first longitudinal moving beam 104 is provided with a first telescopic cylinder 203 and a second telescopic cylinder 204, which are arranged opposite to each other. The telescopic rods of the first telescopic cylinder 203 and the second telescopic cylinder 204 are respectively connected to the first clamping and flipping component 201 and the second clamping and flipping component 202 for pushing and pulling the first clamping and flipping component 201 and the second clamping and flipping component 202 to move towards or opposite directions on the first longitudinal moving beam 104. The first clamping and flipping component 201 and the second clamping and flipping component 202 move towards each other to clamp the mechanical housing and rotate it.

[0066] The adsorption mechanism 3 is located in the middle of the second longitudinal moving beam 105. The lower part of the adsorption mechanism 3 is provided with suction cup assemblies that are arranged opposite to each other and can move towards or away from each other, for adsorbing the mechanical housing.

[0067] The working platform 4 is located on the ground or tabletop, below the clamping and flipping mechanism 2 and the adsorption mechanism 3; the control system 5 is located on the ground, tabletop, or truss 1, and is connected to the electrical control equipment in the truss 1, clamping and flipping mechanism 2, and adsorption mechanism 3 through control lines.

[0068] The longitudinal beam 102 of the truss 1 is provided with a rack and pinion slide rail 106 and an auxiliary slide rail 107. The first longitudinal moving beam 104 and the second longitudinal moving beam 105 have the same structure, each including a beam body, a moving assembly, and a moving beam drive assembly. The beam body is two parallel truss square tubes, and the moving assemblies are respectively located at both ends of the beam body. The moving assembly includes a moving beam end plate 108, a drive roller 109, and an auxiliary roller 110. The moving beam end plate 108 is fixedly connected to the end of the beam body. The drive roller 109 and the auxiliary roller 110 are respectively pivotally connected to the moving beam end plate 108. The drive roller 109 rests on the upper slide rail of the rack and pinion slide rail 106, and the auxiliary roller 110 rests on the auxiliary slide rail 107. The moving beam end plate 108 drives the beam body to slide on the rack and pinion slide rail 106 and the auxiliary slide rail 107. The moving beam drive assembly includes a moving beam drive motor 111 and a transmission shaft 1. The moving beam drive motor 111 is respectively located in the middle of the first longitudinal moving beam 104 and the second longitudinal moving beam 105. The output shaft of the moving beam drive motor 111 is connected to the transmission shaft 112 through a reducer. The transmission shaft 112 is pivotally connected in parallel to the first longitudinal moving beam 104 and the second longitudinal moving beam 105. The two ends of the transmission shaft 112 pass through the end plate 108 of the moving beam and are connected to the drive gear 113. The drive gear 113 is meshed with the lower rack of the rack slide rail 106. The output torque of the moving beam drive motor 111 drives the drive gear 113 to rotate through the reducer and the transmission shaft 112. Through meshing with the rack slide rail 106, the first longitudinal moving beam 104 and the second longitudinal moving beam 105 move on the longitudinal beam 102. The moving beam drive motor 111 is connected to the control system 5 to transmit data and receive control from the control system 5.

[0069] A felt gear 114 is pivotally connected to the end plate 108 of the movable beam. The felt gear 114 meshes with the drive gear 113. The felt gear 114 is soaked in lubricating oil for lubricating the drive gear 113. A lubrication protection box 115 is provided on the end plate 108 of the movable beam. The drive roller 109 is fixed in the lubrication protection box 115. The lubrication protection box 115 provides lubrication protection for the drive roller 109.

[0070] The first clamping and flipping assembly 201 and the second clamping and flipping assembly 202 respectively include a lifting mechanism sliding base 205, a first lifting mechanism 218, and a flipping mechanism. A clamping and flipping assembly slide rail 116 is provided on the first longitudinal moving beam 104. The lifting mechanism sliding bases 205 of the first clamping and flipping assembly 201 and the second clamping and flipping assembly 202 are respectively connected to the clamping and flipping assembly slide rails 116 on the first longitudinal moving beam 104. The first lifting mechanism 218 includes a lifting mechanism fixing seat 206, a lifting slide 207, a lifting rack slide rail 208, and a lifting drive motor 209. The lifting mechanism fixing seat 206 is fixed to the through hole of the lifting mechanism sliding base 205. The lifting mechanism fixing seat 206 has a vertically hollow structure. The lifting slide 207 is disposed inside the lifting mechanism fixing seat 206, and the lifting rack slide rail 208 is vertically disposed on the lifting slide 207. The mechanism fixing seat 206 is equipped with a slider that is slidably connected to the lifting rack slide rail 208; the lifting drive motor 209 is fixed to the lower part of the lifting mechanism fixing seat 206, and its output end is connected to the reducer. The output end of the reducer passes through the lifting mechanism fixing seat 206 and is connected to the drive gear 113. The drive gear 113 is located inside the lifting mechanism fixing seat 206 and meshes with the lifting rack slide rail 208; the output torque of the lifting drive motor 209 drives the drive gear 113 to rotate through the reducer, and drives the lifting slide 207 to rise or fall within the lifting mechanism fixing seat 206 through the lifting rack slide rail 208; the flipping mechanism is located at the lower end of the lifting slide 207; the clamping heads 215 of the flipping mechanisms of the first clamping flipping component 201 and the second clamping flipping component 202 are arranged opposite to each other; the lifting drive motor 209 is connected to the control system 5 to transmit data and receive control from the control system 5.

[0071] The lifting mechanism fixed seat 206 is provided with a floating joint 210 on one side. The telescopic rods of the first telescopic cylinder 203 and the second telescopic cylinder 204 on the first longitudinal moving beam 104 are respectively connected to the floating joints 210 of the first clamping and flipping assembly 201 and the second clamping and flipping assembly 202.

[0072] The flipping mechanism includes a flipping mechanism fixing base 211, a flipping drive motor 212, a bushing 213, a telescopic transmission shaft 214, and a clamping head 215. The flipping mechanism fixing base 211 is connected to a connecting frame 217 via a floating guide shaft 216, and the connecting frame 217 is fixedly connected to the lower end of the lifting slide 207. The bushing 213 is disposed inside the flipping mechanism fixing base 211. The flipping drive motor 212 is fixed to one end of the flipping mechanism fixing base 211 via a reducer, and the flipping drive motor 212 is connected to the reducer. The output end of the reducer is connected to the telescopic transmission shaft 214 via a coupling. One end of the shaft 214 is connected to the retractable drive shaft 214, which is pivotally connected to the bushing 213 via a bearing. The clamping head 215 is fixed to the other end of the retractable drive shaft 214. The torque output of the flip drive motor 212 drives the retractable drive shaft 214 to rotate within the bushing 213 through a reducer and a coupling. The clamping head 215 rotates accordingly. The clamping head 215 of the first clamping flip assembly 201 and the second clamping flip assembly 202 clamps the mechanical housing and rotates it to adjust the angle. The flip drive motor 212 is connected to the control system 5 to transmit data and receive control from the control system 5.

[0073] The adsorption mechanism 3 includes an adsorption mechanism base 301, a second lifting mechanism 302, a support frame 303, a first suction cup assembly 304, and a second suction cup assembly 305. The adsorption mechanism base 301 is fixed on the second longitudinal moving beam 105. The second lifting mechanism 302 has the same structure as the first lifting mechanism 218 of the clamping and flipping mechanism 2, and will not be described again. The lifting mechanism fixing seat 206 of the second lifting mechanism 302 is fixed on the through hole of the adsorption mechanism base 301. The support frame 303 is fixed at the lower end of the lifting slide 207 of the second lifting mechanism 302. The first suction cup assembly 304 and the second suction cup assembly 305 are respectively located at both ends of the support frame 303.

[0074] The support frame 303 is hinged to two ends with grippers 314, and the upper part of the support frame 303 is provided with gripper drive cylinders 315. The telescopic rod of the gripper drive cylinder 315 is hinged to the upper part of the gripper 314. According to the lever principle, the gripper 314 is controlled to rotate around the hinge axis. The two grippers 314 rotate towards each other to clamp the shell.

[0075] The first suction cup assembly 304 and the second suction cup assembly 305 have the same structure, each including a suction cup assembly connecting frame 306, a first suction cup sliding plate 307, a second suction cup sliding plate 308, a suction cup drive cylinder 309, a Z-shaped connecting rod 310, a first suction cup mounting frame 311, a second suction cup mounting frame 312, and a suction cup 313. The suction cup assembly connecting frame 306 is fixedly connected to the support frame 303 and is located at the lower part of the support frame 303. The suction cup assembly connecting frame 306 is provided with two parallel slide rails, and the two ends of the first suction cup sliding plate 307 and the second suction cup sliding plate 308 are slidably connected to the two parallel slide rails by sliders. The suction cup drive cylinder 309 is located on the middle fixing plate 323, which is fixed to the middle of the suction cup assembly connecting frame 306. The telescopic rod of the suction cup drive cylinder 309 is connected to the first suction cup sliding plate. The Z-shaped connecting rod 310 is connected to the first suction cup sliding plate 307 and the second suction cup sliding plate 308 at both ends, and the center of the middle connecting rod of the Z-shaped connecting rod 310 is connected to the middle fixed plate 323 through the hinge shaft. When the suction cup driving cylinder 309 pushes and pulls the first suction cup sliding plate 307, the first suction cup sliding plate 307 and the second suction cup sliding plate 308 can slide in opposite directions under the transmission action of the Z-shaped connecting rod 310. The first suction cup mounting bracket 311 and the second suction cup mounting bracket 312 are respectively installed on the lower part of the first suction cup sliding plate 307 and the second suction cup sliding plate 308. Several suction cups 313 are respectively provided on the opposite surfaces of the first suction cup mounting bracket 311 and the second suction cup mounting bracket 312. The suction cup driving cylinder 309 is connected to the control system 5 to transmit data and receive control from the control system 5.

[0076] The upper parts of the first suction cup mounting bracket 311 and the second suction cup mounting bracket 312 are respectively provided with mounting rods 316. The mounting rods 316 are connected to the suction cup mounting bracket pivot 317. The suction cup mounting bracket pivot 317 is pivotally connected to the lower part of the first suction cup sliding plate 307 and the second suction cup sliding plate 308. The first suction cup sliding plate 307 and the second suction cup sliding plate 308 are respectively provided with a first suction cup angle driving cylinder 318 and a second suction cup angle driving cylinder 319. The output shafts of the first suction cup angle driving cylinder 318 and the second suction cup angle driving cylinder 319 are respectively hinged to suction cup angle driving connecting rods 320. The suction cup angle driving connecting rods 320 pass through the through holes provided on the first suction cup sliding plate 307 and the second suction cup sliding plate 308 and are connected to the lower suction cup mounting bracket pivot 317. The first suction cup angle driving cylinder 318 and the second suction cup angle driving cylinder 319 are connected to the lower suction cup mounting bracket pivot 317. The output shaft of the angle drive cylinder 319 extends and retracts, causing the suction cup mounting bracket shaft 317 to rotate via the transmission of the suction cup angle drive linkage 320. This, in turn, drives the first suction cup mounting bracket 311 and the second suction cup mounting bracket 312 to rotate along the suction cup mounting bracket shaft 317. The lower part of the first suction cup sliding plate 307 and the second suction cup sliding plate 308 is provided with opposing limit screws 321. The suction cup mounting bracket shaft 317 is provided with a limit rod 322, which is located between the two limit screws 321. By adjusting the length of the limit screws 321, the distance between the two limit screws 321 is changed, thereby limiting the rotation angle range of the suction cup mounting bracket shaft 317. The first suction cup angle drive cylinder 318 and the second suction cup angle drive cylinder 319 are connected to the control system 5, transmitting data and receiving control from the control system 5.

[0077] The present invention also includes an AGV trolley 6, which is wirelessly connected to the control system 5, transmits data and is controlled by the control system 5 to transport products to be processed.

[0078] The translational movements of the clamping and flipping mechanism 2 and the adsorption mechanism 3 are as follows:

[0079] x, y, and z represent the displacements of the clamping and flipping mechanism 2 and the adsorption mechanism 3 along the X, Y, and Z axes:

[0080]

[0081]

[0082]

[0083]

[0084] j→i homogeneous coordinate transformation matrix:

[0085]

[0086] in ;

[0087] ;

[0088] ;

[0089] The transient dynamics analysis using time-domain analysis was used to simulate the response process of the clamping and flipping mechanism 2 in clamping the product. The dynamic equations are as follows:

[0090] [M]{ }+[C]{ }+[K]{X}={F(t)}

[0091] In the formula: [M] is the product quality matrix; [C] is the damping matrix; [K] is the overall stiffness matrix; { } represents the nodal acceleration vector; { {X} is the nodal velocity vector; {X} is the nodal displacement vector, i.e., the structural deformation of the product under dynamic load; {F(t)} is the time-varying load; where:

[0092] [M]=

[0093] [K]=

[0094] [C]= [M]+ [K]

[0095] In the formula: The moment of inertia of the cross section; and These are mass damping and stiffness damping, respectively.

[0096] In this model, the actions of the clamping and flipping mechanism 2 in clamping the product only consider the translation and rotation in the X and Z planes. Therefore, the stiffness matrix of the product in the X and Z planes is:

[0097] =

[0098] It is written as:

[0099] =

[0100] In the analysis process of this invention, a dynamic equation model is established for the clamping process of the clamping and flipping mechanism 2. During the analysis, a dynamic load function that changes with time is input, and the results are integrated multiple times to obtain the displacement of the product in the clamping process as a function of time t.

[0101] The working process of this invention:

[0102] The products to be disassembled are placed on the work platform 4 by the AGV trolley 6.

[0103] The control system 5 controls the moving beam drive motor 111 of the truss 1 to drive the first longitudinal moving beam 104 to move on the truss 1. After moving to a suitable clamping position, the control system 5 controls the first clamping and flipping component 201 and the second clamping and flipping component 202 in the clamping and flipping mechanism 2 to move the first longitudinal moving beam 104 on the truss 1, adjusting the distance between the first clamping and flipping component 201 and the second clamping and flipping component 202 to suit the product to be clamped. Under the action of the first lifting mechanism 218, the first clamping and flipping component 201 and the second clamping and flipping component 202 raise and lower the flipping mechanism. After adjusting to a suitable clamping height, the distance between the first clamping and flipping component 201 and the second clamping and flipping component 202 is further reduced until the clamping heads 215 in the two sets of flipping mechanisms clamp the product together. Then, the first lifting mechanism 218 further adjusts the product to a suitable height for disassembly and assembly. The flipping drive motor 212 in the first clamping and flipping component 201 and the second clamping and flipping component 202 drives the two clamping heads 215 to rotate synchronously in the same direction, causing the product to be processed to flip to a suitable processing angle.

[0104] The control system 5 controls the moving beam drive motor 111 of the truss 1 to drive the second longitudinal moving beam 105 to move on the truss 1. After moving to a suitable position for adsorbing the shell, the control system 5 controls the second longitudinal moving beam 105 of the adsorption mechanism 3 on the truss 1 to move, and controls the second lifting mechanism 302 in the adsorption mechanism 3 to adjust the height of the first suction cup assembly 304 and the second suction cup assembly 305 to a suitable position for adsorption. The control system 5 further controls the suction cup drive cylinder 309 in the first suction cup assembly 304 and the second suction cup assembly 305 to push and pull the first suction cup sliding plate 307 and the second suction cup sliding plate 308 to slide in opposite directions to a suitable position. After the first suction cup sliding plate 307 and the second suction cup sliding plate 308 move closer to each other until the suction cups on the first suction cup mounting frame 311 and the second suction cup mounting frame 312 adsorb the product shell, the control system 5 controls the first longitudinal moving beam 104 and the second longitudinal moving beam 105 to move in the opposite direction on the truss 1 until the shell separates from the product, completing the shell disassembly. If the shell is to be installed, the above process is reversed.

Claims

1. A device for automated and rapid assembly and disassembly of mechanical housings, characterized in that: Includes truss, clamping and flipping mechanism, adsorption mechanism, work platform and control system; The truss includes crossbeams, longitudinal beams, columns, a first longitudinal movable beam, and a second longitudinal movable beam; the crossbeams, longitudinal beams, and columns form the truss frame; the first longitudinal movable beam and the second longitudinal movable beam are arranged parallel to each other on the truss frame; the two ends of the first longitudinal movable beam and the second longitudinal movable beam are respectively connected to the longitudinal beam and can move along the longitudinal beam. The clamping and flipping mechanism includes a first clamping and flipping assembly and a second clamping and flipping assembly. Each assembly includes a lifting mechanism sliding base, a first lifting mechanism, and a flipping mechanism. The flipping mechanism includes a flipping mechanism fixing seat, a flipping drive motor, a bushing, a retractable transmission shaft, and a clamping head. The first and second assemblies have identical structures and are slidably connected to a first longitudinal moving beam, used to clamp and flip the mechanical housing. A first telescopic cylinder and a second telescopic cylinder are mounted on the first longitudinal moving beam, arranged opposite to or in opposite directions. The telescopic rods of the first and second cylinders are connected to the first and second clamping and flipping assemblies, respectively, for pushing and pulling the first and second assemblies to move in opposite directions on the first longitudinal moving beam. The first and second clamping and flipping assemblies move in opposite directions to clamp and rotate the mechanical housing. The adsorption mechanism is located in the middle of the second longitudinal moving beam. The adsorption mechanism includes an adsorption mechanism base, a second lifting mechanism, a support frame, a first suction cup assembly, and a second suction cup assembly. The first and second suction cup assemblies have the same structure, each including a suction cup assembly connecting frame, a first suction cup sliding plate, a second suction cup sliding plate, a suction cup drive cylinder, a Z-shaped connecting rod, a first suction cup mounting frame, a second suction cup mounting frame, and a suction cup. The lower part of the adsorption mechanism is provided with suction cup assemblies that are arranged opposite to each other and can move in opposite directions for adsorbing the mechanical housing. The work platform is located on the ground or tabletop, below the clamping and flipping mechanism and the adsorption mechanism; the control system is located on the ground, tabletop, or truss, and is connected to the electrical control equipment in the truss, clamping and flipping mechanism, and adsorption mechanism through control lines. The control system controls the first and second clamping and flipping components in the clamping and flipping mechanism to drive the two clamping heads to rotate synchronously in the same direction, causing the product to be processed to flip to a suitable processing angle; after the suction cups on the first and second suction cup mounting frames in the adsorption mechanism adsorb the product shell, the control system controls the first and second longitudinal moving beams to move in opposite directions on the truss until the shell separates from the product, completing the shell disassembly; if the shell is to be installed, the above process is reversed.

2. The device for automated and rapid disassembly and assembly of mechanical housings according to claim 1, characterized in that: The truss has rack and pinion rails and auxiliary rails on its longitudinal beams. The first and second longitudinal moving beams have the same structure, each including a moving beam, a moving assembly, and a moving beam drive assembly. The moving assemblies are located at both ends of the moving beams. Each moving assembly includes a moving beam end plate, a drive roller, and an auxiliary roller. The moving beam end plate is fixedly connected to the end of the moving beam. The drive roller and the auxiliary roller are pivotally connected to the moving beam end plate. The drive roller rests on the upper rail of the rack and pinion rail, and the auxiliary roller rests on the auxiliary rail. The moving beam drive assembly includes a moving beam drive motor, a transmission shaft, and a drive gear. The moving beam drive motor is located on both the first and second longitudinal moving beams. The output shaft of the moving beam drive motor is connected to the transmission shaft through a reducer. The transmission shaft is pivotally connected to both the first and second longitudinal moving beams. Both ends of the transmission shaft pass through the moving beam end plates and are connected to the drive gear. The drive gear meshes with the lower rack of the rack and pinion rail. The moving beam drive motor is connected to the control system for data transmission and to receive control from the control system.

3. The device for automated and rapid assembly / disassembly of mechanical housings according to claim 1, characterized in that: The first longitudinal moving beam is equipped with a clamping and flipping component slide rail. The lifting mechanism sliding bases of the first and second clamping and flipping components are respectively connected to the clamping and flipping component slide rails on the first longitudinal moving beam. The first lifting mechanism includes a lifting mechanism fixed seat, a lifting slide, a lifting rack slide rail, and a lifting drive motor. The lifting mechanism fixed seat is fixed in the through hole of the lifting mechanism sliding base. The lifting mechanism fixed seat has a vertical hollow structure. The lifting slide is located inside the lifting mechanism fixed seat. The lifting rack slide rail is located on the lifting slide. The lifting mechanism fixed seat is equipped with a slider that is slidably connected to the lifting rack slide rail. The lifting drive motor is fixed at the lower part of the lifting mechanism fixed seat. Its output end is connected to a reducer. The output end of the reducer passes through the lifting mechanism fixed seat and is connected to a drive gear. The drive gear meshes with the lifting rack slide rail. The flipping mechanism is located at the lower end of the lifting slide. The clamping heads of the flipping mechanisms of the first and second clamping and flipping components are arranged opposite to each other. The lifting drive motor is connected to the control system for data transmission and to receive control from the control system.

4. The device for automated and rapid disassembly and assembly of mechanical housing according to claim 3, characterized in that: The lifting mechanism has a floating joint on one side of the fixed seat. The telescopic rods of the first telescopic cylinder and the second telescopic cylinder on the first longitudinal moving beam are respectively connected to the floating joints of the first clamping and flipping assembly and the second clamping and flipping assembly.

5. The device for automated and rapid disassembly and assembly of mechanical housings according to claim 3, characterized in that: The tilting mechanism fixed seat is connected to the connecting frame via a floating guide shaft, and the connecting frame is fixedly connected to the lower end of the lifting slide. The bushing is located inside the tilting mechanism fixed seat. The tilting drive motor is fixed to one end of the tilting mechanism fixed seat via a reducer. The tilting drive motor is connected to the reducer, and the output end of the reducer is connected to one end of the telescopic transmission shaft via a coupling. The telescopic transmission shaft is pivotally connected to the bushing via a bearing. The clamping head is fixed to the other end of the telescopic transmission shaft. The tilting drive motor is connected to the control system for data transmission and to receive control from the control system.

6. The device for automated and rapid disassembly and assembly of mechanical housings according to claim 1, characterized in that: The base of the adsorption mechanism is fixed on the second longitudinal moving beam; the second lifting mechanism has the same structure as the first lifting mechanism of the clamping and flipping mechanism, and the lifting mechanism fixing seat of the second lifting mechanism is fixed on the through hole of the adsorption mechanism base; the support frame is fixed at the lower end of the lifting slide of the second lifting mechanism, and the first suction cup assembly and the second suction cup assembly are respectively located at both ends of the support frame.

7. The device for automated and rapid disassembly and assembly of mechanical housings according to claim 6, characterized in that: The suction cup assembly connecting frame is fixedly connected to the support frame and is located at the lower part of the support frame. The suction cup assembly connecting frame has two parallel slide rails, and the two ends of the first and second suction cup sliding plates are slidably connected to the two parallel slide rails via sliders. The suction cup drive cylinder is located on a central fixed plate, which is fixed to the middle of the suction cup assembly connecting frame. The telescopic rod of the suction cup drive cylinder is connected to either the first or second suction cup sliding plate. The two ends of the Z-shaped connecting rod are hinged to the first and second suction cup sliding plates, respectively, and the middle of the Z-shaped connecting rod is connected to… The center of the rod is connected to the central fixed plate via a hinge shaft; when the suction cup drive cylinder pushes or pulls the first suction cup sliding plate or the second suction cup sliding plate, under the transmission action of the Z-shaped connecting rod, the first suction cup sliding plate and the second suction cup sliding plate can slide in opposite directions; the first suction cup mounting bracket and the second suction cup mounting bracket are respectively installed on the lower part of the first suction cup sliding plate and the second suction cup sliding plate; several suction cups are respectively provided on the opposite surfaces of the first suction cup mounting bracket and the second suction cup mounting bracket; the suction cup drive cylinder is connected to the control system, transmits data, and receives control from the control system.

8. The device for automated and rapid disassembly and assembly of mechanical housings according to claim 7, characterized in that: The upper parts of the first and second suction cup mounting brackets are respectively provided with mounting rods, which are connected to the rotating shaft of the suction cup mounting bracket. The rotating shaft of the suction cup mounting bracket is pivotally connected to the lower part of the first or second suction cup sliding plate. The first and second suction cup sliding plates are respectively provided with a first suction cup angle driving cylinder and a second suction cup angle driving cylinder. The output shafts of the first and second suction cup angle driving cylinders are respectively hinged to suction cup angle driving connecting rods. The suction cup angle driving connecting rods pass through through holes provided on the first and second suction cup sliding plates and are connected to the lower suction cup mounting bracket rotating shaft. The lower part of the first and second suction cup sliding plates is provided with opposing limiting screws. The rotating shaft of the suction cup mounting bracket is provided with a limiting rod, which is located between the two limiting screws. By adjusting the length of the limiting screws, the distance between the two limiting screws is changed, thereby limiting the rotation angle range of the suction cup mounting bracket rotating shaft. The first and second suction cup angle driving cylinders are connected to the control system for data transmission and control by the control system.

9. The device for automated and rapid disassembly and assembly of mechanical housings according to claim 1, characterized in that: It also includes AGVs, which are wirelessly connected to the control system to transmit data and receive control from the control system.

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