A slide rail assembly docking system for mounting heavy loads in limited space

Abstract

The application discloses a slide rail assembly butt joint system for heavy load mounting in a limited space, which comprises a mounting bin, a parallel mechanism, an unmanned vehicle and a slide rail. The slide rail assembly butt joint system for heavy load mounting in a limited space uses vision and other ways to perceive the position of a target mounting point, and completes an automatic butt joint process. The unmanned vehicle platform can automatically complete the transportation of a target load. The cooperation effect can automatically complete the whole mounting process without human participation. The improved linear motor form is used to customize linear and curved slide rails, so that fast and high-precision butt joint can be realized. The mounting bin in various forms can be compatible with different guide rails and different target mounting types, and interchangeability can be met.

Description

Technical Field

[0001] This invention relates to a slide rail assembly and docking system for mounting heavy loads in a confined space, belonging to the field of intelligent manufacturing. Background Technology

[0002] In industrial assembly scenarios, the weight of external attachments is relatively heavy (generally between 0.25-1t) and the maximum lifting height is relatively low (generally <2m). In this case, the weight exceeds the range of human labor load, and on the other hand, the assembly space is limited so that large forklifts and other equipment cannot be used. At present, the attachment equipment solutions cannot meet the needs of this scenario.

[0003] It should be noted that the above content falls within the inventor's technical knowledge and does not necessarily constitute prior art. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a slide rail assembly and docking system for mounting heavy loads within a limited space.

[0005] To achieve the above objectives, this invention proposes a slide rail assembly and docking system for mounting heavy loads within a limited space, comprising a mounting compartment, a parallel mechanism, an unmanned vehicle, and a slide rail:

[0006] Its features are:

[0007] The mounting compartment is a motion mechanism equipped with a camera and a target load. Under controlled conditions, it slides along the upper surface of the slide rail. Firstly, the target load is transported to the precise mounting position through fine adjustment of the parallel mechanism. Secondly, the hole position of the mounting point is fed back to the motion control computer in real time through vision / attitude sensors to complete the control closed loop.

[0008] The parallel mechanism receives instructions from the motion control computer and executes fine-tuning actions of the posture;

[0009] The unmanned vehicle is equipped with navigation devices such as GPS and IMU, as well as a task execution and motion control computer. It can navigate autonomously outdoors through the positioning function, travel to the loading start position, and send control commands to the parallel mechanism to control the parallel mechanism and loading compartment to complete the posture fine adjustment and precise loading.

[0010] Slide rails are divided into two types: linear slide rails and curved slide rails. Linear slide rails are customized from linear motors and can be customized with different lengths, widths, strengths, stiffnesses, and other parameters. Curved slide rails are improved from linear motors and can be customized with different lengths, widths, curvatures, strengths, stiffnesses, and other parameters. The curve of a customized curved slide rail can be an arc or a spline or other high-order curve.

[0011] In one example, the mounting bay uses other modular mounting bay modules for interchangeability to meet the mounting requirements of different types of loads.

[0012] In one example, the unmanned vehicle function may include support structures in the direction of the slide rail extension or in other directions to increase stability during the motion assembly process.

[0013] In one example, the slide rail function can use modular slide rail modules that are interchangeable to meet the mounting requirements of different types of loads.

[0014] In one example, in the slide rail function, the slide rail module can slide and rotate relative to the parallel mechanism plate, and complete the rotation action under the motion control of the parallel mechanism to reduce the volume in the unloaded state or during long-distance movement.

[0015] The slide rail assembly and docking system for heavy load mounting in a limited space proposed in this invention can bring the following beneficial effects:

[0016] (1) The present invention uses vision and other methods to perceive the location of the target mounting point and complete the automatic docking process.

[0017] (2) The present invention uses an unmanned vehicle platform, which can automatically complete the transportation of target loads. Combined with effect (1), the entire loading process can be completed automatically without human intervention.

[0018] (3) This invention uses an improved linear motor and customized linear and curved slide rails to achieve fast and high-precision docking.

[0019] (4) The present invention uses various types of mounting bays, which can be compatible with different guide rails and different target mounting types, and meet the requirements of interchangeability. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the linear guide rail solution of the present invention;

[0022] Figure 2 This is a schematic diagram of the curved guide rail scheme of the present invention;

[0023] Figure 3 This is a schematic diagram of the linear guide rail mounting compartment of the present invention;

[0024] Figure 4 This is a schematic diagram of the curved guide rail scheme for mounting the bin of the present invention;

[0025] Figure 5 This is a schematic diagram of the mounting bins for guide rail schemes with different curvatures according to the present invention. Detailed Implementation

[0026] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0027] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] like Figures 1-5 As shown, an embodiment of the present invention proposes a slide rail assembly and docking system for mounting heavy loads in a limited space, including a mounting compartment, a parallel mechanism, an unmanned vehicle, and a slide rail:

[0032] The mounting bin is a motion mechanism equipped with a camera and a target load. Under controlled conditions, it slides along the upper surface of the slide rail. Firstly, it transports the target load to the precise mounting position through fine adjustment of the parallel mechanism. Secondly, it feeds back the hole position of the mounting point to the motion control computer in real time through vision / attitude sensors to complete the control closed loop. The mounting bins used with different guide rails are also different. In the linear guide rail scheme, the mounting bin requires an additional rotatable shaft for support and a secondary lifting mechanism. These two mechanisms can ensure that the mounting bin maintains compatibility and adjustment with mounting points in different directions at different positions on the slide rail.

[0033] The parallel mechanism receives instructions from the motion control computer and executes fine-tuning actions of the posture;

[0034] The unmanned vehicle is equipped with navigation devices such as GPS and IMU, as well as a task execution and motion control computer. It can navigate autonomously outdoors through the positioning function, travel to the loading start position, and send control commands to the parallel mechanism to control the parallel mechanism and loading compartment to complete the posture fine adjustment and precise loading.

[0035] Slide rails are divided into two types: linear slide rails and curved slide rails. Linear slide rails are customized from linear motors and can be customized with different lengths, widths, strengths, stiffnesses, and other parameters. Curved slide rails are improved from linear motors and can be customized with different lengths, widths, curvatures, strengths, stiffnesses, and other parameters. The curve of a customized curved slide rail can be an arc or a spline or other high-order curve.

[0036] The advantages of linear guide rails are: simple structure, separate control nodes, and decoupling of sliding control and lifting control.

[0037] The advantages of curved guide rails are: they can accommodate lower and deeper mounting points. The mounting bay has a simple structure and integrated motion control, with all motion control achieved through parallel mechanisms.

[0038] The mounting bay can be interchanged with other modular mounting bay modules to meet the mounting requirements of different types of loads.

[0039] Furthermore, in the aforementioned unmanned vehicle function, support structures in the direction of the slide rail extension or in other directions can be added to increase stability during the motion assembly process.

[0040] Furthermore, the slide rail function can utilize modular slide rail modules for interchangeability to meet the loading requirements of different types of loads.

[0041] Specifically, in the slide rail function, the slide rail module can slide and rotate relative to the parallel mechanism plate, and complete the rotation action under the motion control of the parallel mechanism, so as to reduce the volume in the unloaded state or during long-distance movement.

[0042] The steps for using this system are as follows:

[0043] Step 1: System Startup. Power on the unmanned vehicle, parallel mechanism, slide rails, and payload bay; initialize the task scheduling system and motion control system. System self-test.

[0044] Step 2: Obtain the task status and begin checking the task execution conditions, such as task type, target payload type, mounting environment, and the environment surrounding the autonomous vehicle. The task scheduling system begins to break down the task steps.

[0045] Step 3: Calculate the autonomous vehicle's position (i.e., the position where the loading action begins, and also the position where the parallel mechanism and loading bay move), calculate the path between the current position and the current position, and automatically navigate to the current position.

[0046] Step 4: The camera in the mounting bay starts working to find the mounting target point. If the target point is within the mounting range, the mounting process is executed; otherwise, the driverless car is controlled to fine-tune its parking position.

[0047] Step 5 (Loading): The loading bay slides along the slide rail to the end of the slide rail. Using a camera to sense and calculate the relative attitude between the loading point and the target load, a motion control computer controls a parallel mechanism to perform visual servoing, continuously aligning the loading point to complete the docking.

[0048] Step Six: The mounting system releases assembly completion information via sound, light, or other signal devices, which is then controlled and locked by the passive mounting point.

[0049] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0050] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A slide rail assembly and docking system for mounting heavy loads in a confined space, comprising a mounting compartment, a parallel mechanism, an unmanned vehicle, and a slide rail, characterized in that: The mounting bin is a motion mechanism equipped with a camera and a target load. Under controlled conditions, it slides along the upper surface of the slide rail. The target load is transported to the precise mounting position through fine adjustment of the parallel mechanism. The hole position of the mounting point is fed back to the motion control computer in real time through vision / attitude sensors to complete the control closed loop. The parallel mechanism receives instructions from the motion control computer and executes fine-tuning actions of the posture; The unmanned vehicle is equipped with GPS and IMU navigation devices, as well as a task execution and motion control computer. It can navigate autonomously outdoors through the positioning function, travel to the loading start position, and send control commands to the parallel mechanism to control the movement of the parallel mechanism and the loading compartment, and complete the posture fine adjustment and precise loading. Slide rails are divided into two types: linear slide rails and curved slide rails. Linear slide rails are customized from linear motors and can be customized with different lengths, widths, strengths, and stiffnesses. Curved slide rails are improved from linear motors and can be customized with different lengths, widths, curvatures, strengths, and stiffnesses. The curve of a customized curved slide rail is an arc or a higher-order curve.

2. The slide rail assembly and docking system for heavy load mounting in a confined space according to claim 1, characterized in that: The mounting bay uses other modular mounting bay modules for interchangeability to meet the mounting requirements of different types of loads.

3. The slide rail assembly and docking system for heavy load mounting in a confined space according to claim 1, characterized in that: In the aforementioned unmanned vehicle function, support structures are added in the direction of the slide rail extension or in other directions to increase stability during the motion assembly process.

4. A slide rail assembly and docking system for heavy load mounting in a confined space according to claim 1, characterized in that: The slide rail function uses modular slide rail modules that are interchangeable to meet the mounting requirements of different types of loads.

5. A slide rail assembly and docking system for heavy load mounting in a confined space according to claim 1, characterized in that: In the slide rail function, the slide rail module can slide and rotate relative to the parallel mechanism plate, and complete the rotation action under the motion control of the parallel mechanism to reduce the volume in the unloaded state or during long-distance movement.

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