Automated assembly system, assembly apparatus and assembly method for telescopic legs

Abstract

An automated assembly system, apparatus and method for telescoping legs, the system comprising a fixed assembly for supporting a second leg and a jacking assembly for supporting a first leg and pushing the first leg in a direction towards the fixed assembly; the fixed assembly comprising a first centring module, the first centring module having a first clamping portion for clamping either side of a side plate of the second leg such that a cavity centreline of the second leg coincides with a clamping centreline of the first centring module; the jacking assembly comprising a second centring module, a plurality of lifting modules and a pushing module, the second centring module having a second clamping portion for clamping either side of a base plate of the first leg such that a base plate centreline of the first leg coincides with a clamping centreline of the second centring module, the clamping centreline of the second centring module coinciding with the clamping centreline of the first centring module; the plurality of lifting modules configured to be positionally variable to either lift or disengage the first leg; the pushing module for urging the first leg to move towards the fixed assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of telescopic legs, in particular to an automatic assembly system, an assembly device and an assembly method of telescopic legs. BACKGROUND

[0002] In order to meet the needs of work safety and stability, engineering machinery is generally provided with leg devices around the frame, and the telescopic leg device is a common leg device. Please refer to Figures 1 to 3 A leg device includes an outer leg 101 (or a first-stage leg), a middle leg 102, an inner leg 103 (or a last-stage leg, or an L-shaped leg), and a telescopic cylinder 104. The outer leg 101 and one telescopic cylinder 104 are connected by a fixed pin 106, and the middle leg 102 and another telescopic cylinder 104 are connected by a fixed pin 105, thereby assembling a leg assembly 107.

[0003] The telescopic leg is one of the main structural components of engineering machinery such as concrete pump trucks, truck cranes, truck-mounted cranes, and aerial platforms, and has many types, long legs, large engineering machinery tonnage, and large differences in the outer dimensions of the telescopic legs. The existing technology generally uses a crane to lift the leg, visually locates it, manually supports it, and then inserts it, and then uses the crane to pull or a forklift to push to complete the leg assembly operation.

[0004] The above-mentioned manual operation has the following problems: visual positioning has low precision and cannot guarantee that the axes of the cavities of the legs coincide, causing subsequent leg painting damage and leg jamming interference; the positioning process requires manual support and auxiliary pushing, which is labor-intensive; single-point lifting and pushing in a suspended state cannot guarantee the leg level and poses a risk of falling; the forklift pushing operation requires multiple people to work together, takes a long time, and has low work efficiency. SUMMARY

[0005] Therefore, the present application provides an automatic assembly system, an assembly device, and an assembly method of telescopic legs, which automatically centers the legs, effectively solves the problems of poor manual visual precision, leg painting damage, and subsequent leg jamming caused by ineffective centering, automatically assembles the legs, greatly reduces the labor intensity of workers, eliminates the safety risk of single-point lifting and suspension pushing, allows single-person operation, and greatly improves work efficiency.

[0006] To achieve the above-mentioned purposes:

[0007] In a first aspect, the present application provides an automated assembly system for telescopic legs, for automatically assembling telescopic legs, the telescopic legs comprising a first leg and a second leg, the automated assembly system for telescopic legs comprising a fixing assembly and a jacking assembly, the fixing assembly being used to support the second leg, the jacking assembly being used to support the first leg and to push the first leg in a first direction toward the fixing assembly; the fixing assembly comprising a first centering module, the first centering module comprising a first clamping portion, the first clamping portion being used to move in a second direction perpendicular to the first direction to clamp both sides of a side plate of the second leg, so that a cavity centerline of the second leg coincides with a clamping centerline of the first centering module; the jacking assembly comprising a second centering module, The first lifting module, the second lifting module, the third lifting module, the fourth lifting module and the propulsion module, the second centering module includes a second clamping part, the second clamping part is used to move in the second direction to clamp the two sides of the base plate of the first leg, so that the center line of the base plate of the first leg coincides with the clamping center line of the second centering module, and the clamping center line of the second centering module coincides with the clamping center line of the first centering module; the first lifting module, the second lifting module, the third lifting module and the fourth lifting module are arranged along the first direction, and are configured to be able to change position in a third direction perpendicular to the first direction and the second direction to lift or detach from the first leg; the propulsion module is used to drive the first leg to move along the first direction.

[0008] In one embodiment, the fixing assembly further includes a lifting module, the first centering module is connected to the lifting module, and the lifting module is used to drive the first centering module to move in the third direction, thereby adjusting the height of the first centering module.

[0009] In one embodiment, the fixing assembly also includes a fixed base, the lifting module includes a first drive member, a first transmission assembly and a lifting platform, the first drive member and the first transmission assembly are installed on the fixed base, the first drive member is connected to the lifting platform through the first transmission assembly, and the first drive member is used to drive the lifting platform to move along the third direction; the first centering module also includes a mounting seat and a guide tug, the first clamping part includes a second drive member, a first slide and a second slide, the mounting seat is connected to the lifting platform, the second drive member is installed on the mounting seat and connected to the second slide, the first slide and the second slide are connected to the mounting seat through the second transmission assembly, so that the second drive member can synchronously drive the first slide and the second slide to move synchronously toward or away from each other in the second direction, and the guide tug is arranged on the first slide and the second slide; the rolling axis of the guide tug is parallel to the first direction, and the guide tug on the first slide and the guide tug on the second slide are staggered in the second direction.

[0010] In one embodiment, the second centering module includes a mounting base and a guide wheel, the second clamping portion includes a third driving member, a first centering frame and a second centering frame, the third driving member is mounted on the mounting base, the third driving member is connected to the second centering frame, the first centering frame is connected to the second centering frame through a third transmission assembly, so that the third driving member can synchronously drive the first centering frame and the second centering frame to move synchronously toward or away from each other in the second direction, the guide wheel is provided on the side where the first centering frame and the second centering frame face each other, and the rolling axis of the guide wheel is parallel to the third direction.

[0011] In one embodiment, the first lifting module, the second lifting module, the third lifting module and the fourth lifting module are arranged gradually away from the fixed component in the first direction, the first lifting module includes a first guide wheel, the second lifting module includes a second guide wheel, the third lifting module includes a third guide wheel, and the fourth lifting module includes a fourth guide wheel. The rolling axes of the first guide wheel and the second guide wheel are perpendicular to the first direction, and the rolling axes of the third guide wheel and the fourth guide wheel are parallel to the first direction.

[0012] In one embodiment, the first lifting module also includes a swing bracket, a lifting bracket, a swing drive and a fourth drive. The swing bracket can be rotatably arranged around an axis parallel to the second direction. The swing drive is used to drive the swing bracket to swing around an axis parallel to the second direction so that the swing bracket can switch between a tilted state and an upright state. The fourth drive is provided on the swing bracket and is used to drive the lifting bracket to move along the third direction. The first guide wheel is provided on the lifting bracket.

[0013] In one embodiment, the second lifting module, the third lifting module and the fourth lifting module all include a base frame, a flip bracket and a flip driving member. The flip bracket can be rotatably connected to the base frame around an axis parallel to the first direction. The flip driving member is used to drive the flip bracket to rotate relative to the base frame so that the flip bracket can switch between a horizontal state for support and a folded vertical state. The second guide wheel is arranged on the flip bracket of the second lifting module, the third guide wheel is arranged on the flip bracket of the third lifting module, and the fourth guide wheel is arranged on the flip bracket of the fourth lifting module.

[0014] In one embodiment, the second lifting module, the third lifting module and the fourth lifting module each include two spaced-apart base frames and two flip brackets, and the flip brackets are perpendicular to the base frames; the two base frames of the second lifting module and the third lifting module are spaced-apart and parallel, and the two flip brackets are parallel and opposite to each other, so that the second lifting module and the third lifting module form a door-shaped structure; the two base frames of the fourth lifting module are arranged side by side along the first direction, and the two flip brackets are arranged parallel and side by side.

[0015] In an embodiment, the advancing module comprises a moving base, a fixed base, a push rod, a fifth driving member, a sixth driving member and a seventh driving member, the moving base is movably arranged along the first direction, the fixed base is movably arranged on the moving base along the first direction, the push rod is movably arranged on the fixed base along the first direction, and the fifth driving member, the sixth driving member and the seventh driving member are respectively used to drive the moving base, the fixed base and the push rod to move along the first direction.

[0016] In an embodiment, the automated assembly system further comprises a control system, the control system is used to cooperatively control the first lifting module, the second lifting module, the third lifting module and the fourth lifting module to lift or avoid the first leg in the first leg centering stage and the moving stage; control the first centering module to clamp the second leg to center the second leg or release the second leg, and control the second centering module to clamp the first leg to center the first leg or release the first leg; control the advancing module to drive the first leg to move along the first direction and be assembled on the second leg.

[0017] Based on the same concept of the foregoing application, the present application further provides an automated assembly device of telescopic legs, comprising at least two groups of the foregoing automated assembly system of telescopic legs, and the groups of the automated assembly system of telescopic legs are arranged along the first direction in sequence.

[0018] Based on the same concept of the foregoing application, the present application further provides an assembly method of telescopic legs, which is implemented by using the foregoing automated assembly system of telescopic legs, and comprises the following steps: placing the second leg on the fixed assembly, so that the first centering module supports the second leg, and placing the first leg on the advancing assembly, so that the second centering module, the third lifting module and the fourth lifting module support the first leg, wherein a part of the telescopic oil cylinder is connected to the second leg; controlling the first clamping part of the first centering module to clamp the side plates on both sides of the second leg, so that the second leg is centered, and controlling the second clamping part of the second centering module to clamp the bottom plate on both sides of the first leg, so that the first leg is centered, thereby making the center line of the bottom plate of the first leg and the center line of the cavity of the second leg located on the same axis; controlling the second centering module to release the first leg; controlling the advancing module to push the first leg to move along the first direction towards the second leg, so that the first leg partially enters the cavity of the second leg, and the assembly is installed; controlling the advancing module to push the first leg to move along the first direction towards the second leg, so that the first leg completely enters the cavity of the second leg, and the second leg is connected to the other part of the telescopic oil cylinder.

[0019] In an embodiment, the steps of controlling the pushing module to push the first leg to move along the first direction towards the second leg to make the first leg partially enter the cavity of the second leg and controlling the pushing module to push the first leg to move along the first direction towards the second leg to make the first leg completely enter the cavity of the second leg include: controlling the second lifting module and the fourth lifting module to support the first leg; controlling the pushing module to push the front end of the second leg to enter the cavity of the first leg; controlling the first lifting module and the fourth lifting module to support the first leg; controlling the pushing module to push the second leg to gradually insert into the cavity of the first leg close to the tail end; controlling the first lifting module and the fourth lifting module to disengage from the first leg; and controlling the pushing module to push the second leg to completely enter the cavity of the first leg.

[0020] The automatic assembly system, the assembly device and the assembly method of the telescopic leg provided by the application can realize automatic centering of each level of leg through cooperation of the first centering module, the second centering module, the first lifting module, the second lifting module, the third lifting module, the fourth lifting module and the pushing module, effectively solve the problems of poor manual visual accuracy, inability to effectively center, leg paint damage and subsequent leg jamming, realize automatic sleeving of each level of leg, greatly reduce the labor intensity of workers, eliminate the safety risk of single-point hanging and floating pushing, can be operated by a single person, and greatly improve the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 and Figure 2 The structure of the telescopic leg is schematically shown.

[0023] Figure 3 The structure of the L-shaped leg is schematically shown.

[0024] Figure 4 The A-direction cross-sectional structure of the telescopic leg is schematically shown. Figure 3 The A-direction cross-sectional structure of the telescopic leg is schematically shown.

[0025] Figures 5 to 7 The overall structure of the automatic assembly system of the telescopic leg in the embodiments of the application is schematically shown.

[0026] Figure 8 The overall structure of the supporting assembly in the embodiments of the application is schematically shown.

[0027] Figures 9 to 12The structure of the fixing assembly in the embodiment of the present invention is schematically shown.

[0028] Figure 13 and Figure 14 The overall structure of the second centering module in the embodiment of the present invention is schematically shown.

[0029] Figure 15 The overall structure of the first lifting mechanism in an embodiment of the present invention is schematically shown.

[0030] Figure 16 The overall structure of the second lifting mechanism in the embodiment of the present invention is schematically shown.

[0031] Figure 17 The overall structure of the third lifting mechanism in the embodiment of the present invention is schematically shown.

[0032] Figure 18 The overall arrangement structure of the propulsion module in an embodiment of the present invention is schematically shown.

[0033] Figure 19 The partial assembly structure of the automated assembly system for telescopic legs according to an embodiment of the present invention is schematically shown.

[0034] Figure 20 The side view structure of the automated assembly equipment according to the embodiment of the present invention is schematically shown.

[0035] Figure 21 The working state of the automatic assembly system of the telescopic legs in the embodiment of the present invention is schematically shown.

[0036] Figure 22 The flowchart of the automated assembly method of the telescopic legs according to the embodiment of the present invention is schematically shown.

[0037] Description of reference numerals:

[0038] 100, support assembly; 11, first support assembly; 12, second support assembly; 13, support foot; 10, fixing assembly; 101, first centering module; 1011, mounting base; 1012, guide pulley; 1013, second drive element; 1014, first slide; 1015, second slide; 1016, second transmission assembly; 1017, rack; 1018, gear; 1019, first linear guide; 102, lifting module; 1021, first drive element; 1022, first transmission assembly; 1023, lifting platform; 103, fixing base; 104, guide seat; 105, self-lubricating bearing; 20, jacking assembly; 201, second centering module; 2011, mounting base; 2012, guide wheel; 2013, third drive member; 2014, first centering frame; 2015, second centering frame; 2016, third transmission assembly; 2017, second linear guide rail; 2018, centering rack; 2019, centering gear; 202, first lifting module; 2020, first guide wheel; 2021, swing bracket; 2022, lifting bracket; 2023, swing drive member; 2024, fourth drive member; 203, second lifting module; 2030, second guide wheel; 204, third lifting module; 2040, third guide wheel; 2042, base frame; 2044, flip bracket; 2046, flip drive member; 205, fourth lifting module; 2050, fourth guide wheel; 206, propulsion module; 206, propulsion module; 2061, mobile base; 2062, fixed seat; 2063, push rod; 2064, fifth drive member; 2065, sixth drive member; 2066, seventh drive member; 2067, third linear guide rail; 2068, push rod mounting assembly; 2069, fourth transmission assembly; 2070, rack linear guide rail. DETAILED DESCRIPTION

[0039] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, and not all, of the embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the description of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0040] In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "provided with," "located on," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in specific contexts.

[0041] The terms "upper", "side", "bottom", "inner", "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the product of the invention is usually placed when in use. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0042] In the description of the present invention, unless otherwise expressly provided and limited, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", etc. are merely used to distinguish elements with similar properties, rather than to indicate or imply relative importance or a specific order. Descriptions such as "S11" to "S15", etc., are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or indicating the order of execution of the method, etc.

[0043] The term "comprise," "comprising," or any other variation thereof, is intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0044] like Figures 4 to 7 As shown, an embodiment of the present application provides an automated assembly system for a telescopic leg, which is used for automatically assembling a telescopic leg. The telescopic leg includes a first leg and a second leg. The automated assembly system for the telescopic leg includes a fixing assembly 10 and a jacking assembly 20. The fixing assembly 10 is used to support the second leg, and the jacking assembly 20 is used to support the first leg and push the first leg along a first direction toward the fixing assembly 10; the fixing assembly 10 includes a first centering module 101, and the first centering module 101 includes a first clamping portion, and the first clamping portion is used to move in a second direction perpendicular to the first direction to clamp both sides of the side plate 1031 of the second leg, so that the cavity center line of the second leg coincides with the clamping center line of the first centering module 101; the jacking assembly 20 includes a second centering module 201, a first lifting module 202, and a second lifting module 203. 02, the second lifting module 203, the third lifting module 204, the fourth lifting module 205 and the propulsion module 206, the second centering module 201 includes a second clamping part, the second clamping part is used to move in the second direction to clamp the two sides of the base plate 1032 of the first leg, so that the center line of the base plate of the first leg coincides with the clamping center line of the second centering module 201, and the clamping center line of the second centering module 201 coincides with the clamping center line of the first centering module 101; the first lifting module 202, the second lifting module 203, the third lifting module 204, and the fourth lifting module 205 are arranged along the first direction, and are configured to be able to change position in a third direction perpendicular to the first direction and the second direction to lift or detach from the first leg; the propulsion module 206 is used to drive the first leg to move along the first direction.

[0045] Specifically, in the embodiment, the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction. Figure 7

[0046] Specifically, in the embodiment, the first centering module 101 clamps both sides of the side plate of the second leg, and the second centering module 201 clamps both sides of the bottom plate of the first leg. The clamping method can effectively ensure that the inner leg extension center line coincides with the outer leg cavity center line, and prevent the legs from being unable to be inserted due to the non-coincidence of the bottom plate center line and the cavity center line when the bottom plate is clamped at the same time or the side plate is clamped at the same time.

[0047] As shown in Figures 5 to 8 , in an embodiment, the automatic assembly system of the telescopic leg further includes a support assembly 100, the support assembly 100 includes a first support assembly 11 and a second support assembly 12, the first support assembly 11 is provided with support feet 13 at the bottom, the jacking assembly 20 is arranged on the first support assembly 11, the second support assembly 12 is provided with support feet 13 at the bottom, the fixing assembly 10 is arranged on the second support assembly 12, and the support feet 13 are fixed to the ground through foundation bolts. Specifically, the automatic assembly system is arranged by arranging the support assembly 100, which can ensure that the structure of the entire assembly system is stable and reliable, and the operation process is simple and safe and reliable.

[0048] As shown in Figures 9 to 12 , in an embodiment, the fixing assembly 10 further includes a lifting module 102, the first centering module 101 is connected to the lifting module 102, and the lifting module 102 is used to drive the first centering module 201 to move in the third direction, so as to adjust the height of the first centering module 101. By arranging the lifting module 102, the height of the first centering module 101 can be adaptively adjusted according to the actual size of the supported leg, thereby greatly improving the applicability and operation convenience of the automatic assembly system in the assembly process.

[0049] As shown in Figure 9 and Figure 10 , in an embodiment, the fixing assembly 10 further includes a fixing base 103, the lifting module 102 includes a first driving member 1021, a first transmission assembly 1022, and a lifting platform 1023, the first driving member 1021 and the first transmission assembly 1022 are installed on the fixing base 103, the first driving member 1021 is connected to the lifting platform 1023 through the first transmission assembly 1022, and the first driving member 1021 is used to drive the lifting platform 1023 to move in the third direction. Figure 11 ​As shown, the first centering module 101 also includes a mounting seat 1011 and a guide tug 1012, the first clamping part includes a second driving member 1013, a first slide 1014 and a second slide 1015, the mounting seat 1011 is connected to the lifting platform 1023, the second driving member 1013 is installed on the mounting seat 1011 and connected to the second slide 1015, the first slide 1014 and the second slide 1015 are connected to the mounting seat 1011 through a second transmission assembly 1016, so that the second driving member 1013 can synchronously drive the first slide 1014 and the second slide 1015 to move synchronously toward or away from each other in the second direction, and the guide tug 1012 is provided on the first slide 1014 and the second slide 1015; the rolling axis of the guide tug 1012 is parallel to the first direction, and the guide tug 1012 on the first slide 1014 and the guide tug 1012 on the second slide 1015 are staggered in the second direction.

[0050] Specifically, in one embodiment, the first driving member 1021 can be an electric motor, the first transmission assembly 1022 can be a coupling assembly, the output end of the electric motor can be connected to the input end of the coupling assembly through a reducer, the lifting platform 1023 can be a screw lift assembly, the input end of the coupling assembly is connected to the output end of the electric motor, the output end of the coupling assembly is connected to the two sides of the screw lift assembly, and the two sets of first centering modules 101 are respectively connected to the output end of the screw lift assembly. Specifically, the electric motor rotates, driving the coupling assembly to rotate, thereby driving the screw lift assembly to move up and down, realizing the lifting and lowering of the first centering module 101. Specifically, the lifting height corresponding to different legs can be automatically switched according to the preset lifting value of the product during the debugging stage by scanning the code to identify the feedback signal.

[0051] like Figure 12 As shown, specifically, in one embodiment, the second driving member 1013 can be a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder, and the second transmission assembly 1016 includes a rack 1017 respectively provided on the inner sides of the first slide 1014 and the second slide 1015, and a gear 1018 provided on the mounting base 1011, and the gear 1018 is respectively engaged with the rack 1017. Specifically, in one embodiment, a first linear guide 1019 is provided on the top of the mounting base 1011, and the first slide 1014 and the second slide 1015 are respectively movably connected to the first linear guide 1019.

[0052] Specifically, the second driving member 1013 pulls the second sliding table 1015 to move towards the center along the first linear guide rail 1019, and the rack 1017 inside the second sliding table 1015 drives the gear 1018 to rotate, thereby driving the rack 1017 inside the first sliding table 1014 to move towards the center synchronously, so as to synchronously clamp the side plates on both sides of the second leg, and ensure that the cavity center line of the second leg coincides with the clamping center line between the first sliding table 1014 and the second sliding table 1015.

[0053] Specifically, in an embodiment, the fixed base 103 is symmetrically provided with a guide seat 104 corresponding to the position of the mounting seat 1011, the guide seat 104 is symmetrically provided with a self-lubricating bearing 105, and the bottom of the mounting seat 1011 is provided with a first guide member slidingly connected to the self-lubricating bearing 105. The first guide member can be a guide column or a guide rod. By further providing the guide seat 104 and the self-lubricating bearing 105, the stability and reliability of the first centering module 101 during the lifting and height adjustment process can be effectively improved.

[0054] Specifically, in an embodiment, the guide pulley 1012 is made of polyurethane, and moves laterally along the second leg to ensure that the second leg is not damaged during clamping and centering.

[0055] As shown in Figure 10 Specifically, in an embodiment, the first centering module 101 includes two groups, the two groups of first centering modules 101 are arranged at intervals along the first direction and are respectively connected to the lifting module 102, the simultaneous clamping or loosening of the front and rear sections of the second leg is realized by the two groups of first centering modules 101, and the clamping degree is controlled by a pressure sensor or a laser range finder. It is easy to understand that, in an embodiment not shown, the first centering module 101 can also be arranged as one group, and the width dimension of the first sliding table 1014 and the second sliding table 1015 along the first direction is set to be larger to avoid the deflection of the second leg.

[0056] As shown in Figure 13 and Figure 14As shown, specifically, in one embodiment, the second centering module 201 includes a mounting base 2011 and a guide wheel 2012, the second clamping portion includes a third driving member 2013, a first centering frame 2014 and a second centering frame 2015, the third driving member 2013 is installed on the mounting base 2011, the third driving member 2013 is connected to the second centering frame 2015, the first centering frame 2014 is connected to the second centering frame 2015 through a third transmission assembly 2016, so that the third driving member 2013 can synchronously drive the first centering frame 2014 and the second centering frame 2015 to move synchronously toward or away from each other in the second direction, the guide wheel 2012 is provided on the side where the first centering frame 2014 and the second centering frame 2015 face each other, and the rolling axis of the guide wheel 2012 is parallel to the third direction. Specifically, in one embodiment, the second centering modules 201 include two sets of second centering modules 210, which are spaced apart along the first direction. This facilitates clamping and centering the first leg at multiple locations along the first direction, greatly improving centering accuracy. As will be readily understood, in an embodiment not shown, the second centering modules 201 may alternatively be provided as a single set, with the widths of the first centering frame 2014 and the second centering frame 2015 along the first direction being increased to prevent deflection of the first leg.

[0057] Specifically, in one embodiment, a second linear guide rail 2017 is provided on the mounting base 2011. A first centering frame 2014 and a second centering frame 2015 are respectively located at opposite ends of the mounting base 2011 and are movably mounted on the second linear guide rail 2017. Specifically, the third driving member 2013 can be a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder, and the guide wheel 2012 is a rubber guide wheel.

[0058] In one embodiment, the third transmission assembly 2016 includes a centering rack 2018 and a centering gear 2019. The centering gear 2019 is provided on the mounting base 2011. The centering rack 2018 is respectively arranged at the bottom of the first centering frame 2014 and the second centering frame 2015 and is respectively engaged with the centering gear 2019. The third driving member 2013 pulls the first centering frame 2014 to move toward the center along the second linear guide rail 2017. The centering rack 2018 on the first centering frame 2014 pushes the centering gear 2019 to rotate, thereby driving the second centering frame 2015 to move synchronously toward the center along the second linear guide rail 2017, and then clamping the first leg to ensure that the center line of the base plate of the first leg coincides with the clamping center line between the first centering frame 2014 and the second centering frame 2015.

[0059] like Figures 5 to 7As shown in Figure 14, in one embodiment, the third driving members 2013 of the two groups of second centering modules 201 are controlled by setting a synchronization valve to achieve synchronous clamping and centering. The first centering frame 2014 and the second centering frame 2015 control the clamping degree through pressure detection members such as pressure sensors, or can be replaced by laser rangefinders for distance measurement for control, thereby achieving synchronous clamping and centering of the first leg.

[0060] like Figures 5 to 7 , Figures 15 to 17 As shown, in one embodiment, the first lifting module 202, the second lifting module 203, the third lifting module 204 and the fourth lifting module 205 are arranged gradually away from the fixed component 10 in the first direction, the first lifting module 202 includes a first guide wheel 2020, the second lifting module 203 includes a second guide wheel 2030, the third lifting module 204 includes a third guide wheel 2040, and the fourth lifting module 205 includes a fourth guide wheel 2050. The rolling axes of the first guide wheel 2020 and the second guide wheel 2030 are perpendicular to the first direction, and the rolling axes of the third guide wheel 2040 and the fourth guide wheel 2050 are parallel to the first direction.

[0061] like Figure 15 As shown, in one embodiment, the first lifting module 202 also includes a swing bracket 2021, a lifting bracket 2022, a swing drive member 2023 and a fourth drive member 2024. The swing bracket 2021 can be rotatably arranged around an axis parallel to the second direction. The swing drive member 2023 is used to drive the swing bracket 2021 to swing around an axis parallel to the second direction so that the swing bracket 2021 can switch between a tilted state and an upright state. The fourth drive member 2024 is provided on the swing bracket 2021 and is used to drive the lifting bracket 2022 to move along the third direction. The first guide wheel 2020 is provided on the lifting bracket 2022.

[0062] Specifically, in an embodiment, the first lifting module 202 is configured to lift the bottom plate of the first leg at a position where the first leg is close to the second leg; wherein the swing bracket 2021 is rotatably connected to the first support assembly 11 through a pin shaft, and the two ends of the swing driving member 2023 are fixedly connected to the second support assembly 12 and the swing bracket 2021 through pin shafts respectively, so as to drive the swing bracket 2021 to rotate relative to the first support assembly 11; when the swing driving member 2023 is extended, the swing bracket 2021 is pushed away from the first support assembly 11 to support the first leg; when the swing driving member 2023 is retracted, the swing bracket 2021 is pushed to be close to the first support assembly 11 to disengage from the first leg, thereby providing a space for the first leg, for example, an L-shaped leg; the two ends of the fourth driving member 2024 are fixedly connected to the swing bracket 2021 and the lifting bracket 2022 respectively, so as to drive the lifting bracket 2022 to move relative to the swing bracket 2021, thereby realizing the contact or disengagement of the lifting bracket 2022 with the first leg; the first guide wheel 2020 is rollably connected to the top of the lifting bracket 2022 in the second direction to rollably support the bottom plate of the first leg, and the first guide wheel 2020 is rollably connected to the top of the lifting bracket 2022 in the second direction to rollably support the bottom plate of the first leg. When the first leg is pushed, the first guide wheel 2020 is rolled to guide, so as to prevent the lifting bracket 2022 from damaging the surface paint of the first leg and from pulling the leg during rotation. Specifically, the swing driving member 2023 and the fourth driving member 2024 can be hydraulic cylinders, air cylinders and electric cylinders, and the first guide wheel 2020 is a rubber guide wheel.

[0063] As shown in Figures 5 to 7 , Figure 16 and Figure 17 , in an embodiment, the second lifting module 203, the third lifting module 204 and the fourth lifting module 205 each include a base frame 2042, a turnover bracket 2044 and a turnover driving member 2046, the turnover bracket 2044 is rotatably connected to the base frame 2042 about an axis parallel to the first direction, and the turnover driving member 2046 is configured to drive the turnover bracket 2044 to rotate relative to the base frame 2042 to switch the turnover bracket 2044 between a horizontal state for supporting and a vertical state for folding, the second guide wheel 2030 is arranged on the turnover bracket 2044 of the second lifting module 203, the third guide wheel 2040 is arranged on the turnover bracket 2044 of the third lifting module 204, and the fourth guide wheel 2050 is arranged on the turnover bracket 2044 of the fourth lifting module 205.

[0064] In an embodiment, the second lifting module 203, the third lifting module 204 and the fourth lifting module 205 each include two spaced-apart base frames 2042 and two turnover brackets 2044, and the turnover bracket 2044 is perpendicular to the base frame 2042; please refer to Figure 16 and Figure 17The two bottom frames 2042 of the second lifting module 203 and the third lifting module 204 are arranged in parallel, and the two flip brackets 2044 are arranged in parallel and opposite to each other, so that the second lifting module 203 and the third lifting module 204 form a door-shaped structure; please refer to Figures 5 to 7 The two base frames 2042 of the fourth lifting module 205 are arranged side by side along the first direction, and the two flip brackets 2044 are arranged parallel to each other.

[0065] In one embodiment, two base frames 2042 are disposed on either side of the first support assembly 11, and two flip actuators 2046 are fixedly connected at their ends to the base frames 2042 and the flip bracket 2044, respectively. Specifically, the flip actuators 2046 may be hydraulic cylinders, pneumatic cylinders, or electric cylinders, and the second guide wheel 2030, the third guide wheel 2040, and the fourth guide wheel 2050 are all rubber guide wheels. Specifically, when the flip actuators 2046 are extended, they swing the flip bracket 2044 to a horizontal position to support the first leg. When the flip actuators 2046 are retracted, they retract the flip bracket 2044 to a vertical position, thereby ensuring that each lifting module has sufficient space to clear the first leg, such as for an L-shaped leg to pass through.

[0066] like Figures 5 to 7 、 Figure 18 and Figure 19 As shown, in one embodiment, the propulsion module 206 includes a movable base 2061, a fixed base 2062, a push rod 2063, a fifth driving member 2064, a sixth driving member 2065 and a seventh driving member 2066. The movable base 2061 can be movably arranged along a first direction, the fixed base 2062 can be movably arranged on the movable base 2061 along the first direction, the push rod 2063 can be movably arranged on the fixed base 2062 along the first direction, and the fifth driving member 2064, the sixth driving member 2065 and the seventh driving member 2066 are respectively used to drive the movable base 2061, the fixed base 2062 and the push rod 2063 to move along the first direction.

[0067] Specifically, the propulsion module 206 also includes a third linear guide rail 2067 and a push rod mounting assembly 2068; wherein, the mobile base 2061 is connected to the first support seat 11 through a fourth transmission assembly 2069, and the third linear guide rail 2067 is arranged on the mobile base 2061. In one embodiment, the fourth transmission assembly 2069 includes a rack linear guide rail 2070 fixedly connected to the first support seat 11 and a gear at the output end of the fifth driving member 2064 provided on the mobile base 2061. The fifth driving member 2064 is a hydraulic motor, and the output end of the hydraulic motor is a gear structure, which is engaged with the rack on the rack linear guide rail 2070 to drive the mobile base 2061 to move relative to the rack linear guide rail 2070 along the first direction. The third linear guide rail 2067 is arranged on the fixed seat 2062, the sixth driving member 2065 is respectively connected to the fixed seat 2062 and the movable base 2061 to drive the fixed seat 2062 to move relative to the movable base along the first direction, the push rod mounting assembly 2068 is fixedly connected to the fixed seat 2062, the push rod 2063 is movably connected to the push rod mounting assembly 2068, and the seventh driving member 2066 is respectively connected to the fixed seat 2062 and the push rod 2063 to drive the push rod 2063 to move along the first direction to advance the first leg.

[0068] Specifically, the sixth driving member 2065 and the seventh driving member 2066 can be hydraulic cylinders, pneumatic cylinders, or electric cylinders, and the push rod mounting assembly 2068 is provided with a wheel-shaped guide member that is in rolling connection with the push rod 2063. In one embodiment, the push rod mounting assemblies 2068 are spaced apart on top of the fixing base 2062 to support the push rod 2063 at multiple positions.

[0069] Specifically, the propulsion action of the propulsion module 206 is mainly divided into three stages. The following is an example of the assembly of the L-shaped legs and the middle legs:

[0070] Phase 1: The fifth drive member 2064, i.e., the hydraulic motor, rotates, driving the mobile base 2061 forward along the rack linear guide 2070, thereby driving the L-shaped leg to insert into the middle leg, completing the first-stage insertion and starting the hydraulic pipeline assembly. The travel distance of the mobile base 2061 is preset and controlled by a rope encoder, or alternatively, by a laser rangefinder for distance measurement.

[0071] Phase 2: The sixth driving member 2065 pushes the fixed seat 2062 forward along the third linear guide rail 2067, driving the L-shaped legs to continue moving forward, and the L-shaped legs are basically inserted and fall on the middle legs. The operating position is the maximum operating length at which the propulsion module 206 does not interfere with the first centering module 101 and the second support seat 12. The specific operating distance of the fixed seat 2062 is preset and controlled by a rope encoder, or can be replaced by a laser rangefinder for distance measurement.

[0072] The third stage: the seventh driving member 2066 drives the push rod 2063 forward to contact the L-shaped leg and completely install the L-shaped leg into the middle leg; thereby completing the pushing process, and the pushing stroke is controlled by the final pushing pressure.

[0073] In one embodiment, the automated assembly system further includes a control system configured to coordinately control the first lifting module 202, the second lifting module 203, the third lifting module 204, and the fourth lifting module 205 to lift or avoid the first leg during the first leg centering and movement phases; control the first centering module 101 to clamp or release the second leg to center it or release it, and control the second centering module 201 to clamp or release the first leg to center it or release it; and control the propulsion module 206 to move the first leg in a first direction to assemble it onto the second leg. Specifically, by configuring the control system, fully automated assembly of telescopic legs can be achieved, significantly improving work efficiency.

[0074] Specifically, the automated assembly system for the telescopic legs of this embodiment can also add a widthwise lateral movement mechanism at the fixed end or the jacking end, that is, on both sides of the support base 100, to achieve fine-tuning of the legs in the width direction, thereby resolving the problem of misalignment between the cavity centerline and the outer contour centerline due to welding deformation of the legs. Specifically, the automated assembly system for the telescopic legs of this embodiment can add a lifting mechanism at the jacking end, that is, the end corresponding to the propulsion module 206, and the power system can be replaced by a servo system, a hydraulic system, or a pneumatic system.

[0075] like Figure 20 As shown, based on the same concept as the aforementioned embodiment, the embodiment of the present application further provides a positioning and assembly device for a telescopic leg. For multi-stage telescopic legs, two or more sets of automated assembly systems for telescopic legs of the aforementioned embodiment can be provided, and the positioning systems of the multiple sets of telescopic legs are sequentially spaced along a first direction. For example, for a three-stage telescopic leg, two sets of automated assembly systems for telescopic legs can be arranged relative to each other, and an RGV (Rail Guided Vehicle) can be added between the two sets of automated assembly systems for telescopic legs. When the automated assembly system of the first set of telescopic legs completes the assembly of the semi-assemblies of the inner leg and the middle leg, the RGV can automatically transfer the semi-assemblies of the inner leg and the middle leg to the jacking assembly of the automated assembly system of the second set of telescopic legs for centering. At this time, the fixing assembly of the automated assembly system of the second set of telescopic legs is used to fix and center the outer leg, thereby realizing the automated assembly of the three-stage telescopic leg.

[0076] like Figure 22As shown, based on the same concept as the above-mentioned embodiment, the embodiment of the present application also provides a method for assembling a telescopic leg, which is implemented by the above-mentioned automated assembly system for telescopic legs, including the following steps: S11, placing the second leg on the fixing assembly 10, so that the first centering module 101 supports the second leg, and placing the first leg on the jacking assembly 20, so that the second centering module 201, the third lifting module 204 and the fourth lifting module 205 support the first leg, wherein a part of the telescopic oil cylinder is connected to the second leg; S12, controlling the first clamping part of the first centering module 101 to clamp the two sides of the side plate of the second leg to center the second leg, and controlling the second centering module 101 to clamp the two sides of the side plate of the second leg to center the second leg. The second clamping part of block 201 clamps both sides of the base plate of the first leg to center the first leg, thereby making the center line of the base plate of the first leg and the center line of the cavity of the second leg located on the same axis; S13, control the second centering module 201 to release the first leg; S14, control the propulsion module 206 to push the first leg to move toward the second leg along the first direction, so that the first leg partially enters the cavity of the second leg, and install accessories, which are mainly hydraulic accessories such as hydraulic pipelines; S15, control the propulsion module 206 to push the first leg to move toward the second leg along the first direction, so that the first leg completely enters the cavity of the second leg, and connects the second leg to the other part of the telescopic cylinder.

[0077] In one embodiment, steps S14 and S15 include: S141, controlling the second lifting module 203 and the fourth lifting module 205 to support the first leg; S142, controlling the propulsion module 206 to push the front end of the second leg into the cavity of the first leg; S143, controlling the first lifting module 202 and the fourth lifting module 205 to support the first leg; S144, controlling the propulsion module 206 to push the second leg gradually into the cavity of the first leg near the tail; S151, controlling the first lifting module 202 and the fourth lifting module 205 to detach from the first leg; S152, controlling the propulsion module 206 to push the second leg completely into the cavity of the first leg.

[0078] Based on the same inventive concept as the above embodiments, the assembly method of the above telescopic legs is described in detail below through a specific example. Figure 21 and Figure 22 As shown below, the three-stage telescopic outrigger model of the pump truck is used as an example for explanation. The assembly schemes of other "telescopic outrigger" schemes are similar.

[0079] 1) Hoist the inner leg (also called the final leg, or L-shaped leg) 103 onto the third lifting module 204 and the fourth lifting module 205 of the automated assembly system for a set of telescopic legs. Hoist the middle leg 102 onto the first centering module 101 and scan the code for model matching.

[0080] 2) Control the lifting module 102 in the fixing assembly 10 to automatically rise to a set height according to the product model;

[0081] 3) Controlling the first clamping portion of the first centering module 101 to clamp the side plate of the middle leg 102 to ensure that the center line of the cavity of the middle leg 102 coincides with the clamping center line of the first clamping portion;

[0082] 4) Controlling the second clamping portion of the second centering module 201 to clamp the L-shaped leg to ensure that the center line of its bottom plate coincides with the clamping center line of the second clamping portion, thereby ensuring that the center line of the bottom plate of the L-shaped leg 103 coincides with the center line of the cavity of the middle leg 102;

[0083] 5) Loosen the second clamping portion by 2 mm to allow a certain gap between the second clamping portion and the outer side of the bottom plate of the L-shaped leg. This ensures that the L-shaped leg 103 has a certain amount of movement along the second direction. This allows the L-shaped leg to have a certain degree of mobility during jacking and can be partially automatically guided.

[0084] 6) The fourth lifting module 205 close to the propulsion module 206 swings from the horizontal lifting state to the vertical disengaged state; the second lifting module swings upward from the vertical state to the horizontal state to support the L-shaped legs;

[0085] 7) The fifth driving member 2064, i.e., the hydraulic motor drives the mobile base 2061 to move forward along the rack linear guide 2070, driving the front end of the L-shaped leg 103 into the middle leg cavity, completing the first stage of insertion. The running distance is preset and controlled by the rope encoder;

[0086] 8) The first lifting module 202 is flipped to a vertical position, and the lifting height is adjusted so that the first guide wheel 2020 contacts the bottom of the L-shaped leg 103;

[0087] 9) The second lifting module 203 near the first lifting module 202 swings from the horizontal lifting state to the vertical disengaged state, creating space for the L-shaped legs 103 to move forward;

[0088] 10) The sixth driving member 2065 pushes the fixed seat 2062 forward along the third linear guide rail 2067, driving the L-shaped leg 103 to continue moving forward, inserting the L-shaped leg 103 into the middle leg 102 by approximately 50%. The specific running distance is preset and controlled by the rope encoder, completing the second stage of leg jacking.

[0089] 11) The sixth driving member 2065 drives the L-shaped leg 103 to continue moving forward, inserting the L-shaped leg 103 into the middle leg approximately 70%. The specific running distance is preset and controlled by the rope encoder.

[0090] 12) The first lifting module 202 descends to its initial position, disengaging the first guide wheel 2020 from the bottom of the L-shaped leg 103 and tilting the first lifting module 202 to a horizontal position;

[0091] 13) The fourth lifting module 205 swings from the horizontal lifting state to the vertical disengaged state;

[0092] 14) The seventh driving member 2066 drives the push rod 2063 forward to contact the L-shaped leg 103 and completely install the L-shaped leg 103 into the middle leg, completing the third stage of leg jacking. The pushing stroke is controlled by the final jacking pressure.

[0093] 15) Use the positioning pin 105 to fix the middle leg 102 and the telescopic cylinder 104, and assemble the L-shaped leg 103 and the middle leg 102 into a leg half assembly;

[0094] 16) Release the first clamping part of the first centering module, hoist the leg half assembly and the first-level leg 101 to the automated assembly system of another set of telescopic legs, and scan and match them;

[0095] 17) The automated assembly system of the previous set of telescopic legs returns to its initial position;

[0096] 16) Repeat steps 2-17 to secure the leg half assembly and the first-stage leg 101 with the fixing pin 106 to complete the assembly of the leg assembly 107 of the third-stage telescopic leg.

[0097] According to the above embodiments, it can be seen that the automated assembly system, assembly equipment and assembly method of the telescopic legs involved in the present invention can realize automatic centering of the legs at all levels through the cooperation of the first centering module, the second centering module, the first lifting module, the second lifting module, the third lifting module, the fourth lifting module and the propulsion module, effectively solve the problem of poor accuracy of manual visual inspection, paint damage to the legs and subsequent jamming of the legs due to ineffective centering, realize automatic assembly of the legs at all levels, greatly reduce the labor intensity of workers, eliminate the safety risks of single-point lifting and floating pushing, can be operated by one person, and work efficiency is greatly improved.

[0098] The foregoing description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be encompassed within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An automated assembly system for telescopic legs, for automatically assembling telescopic legs, wherein the telescopic legs comprise a first leg and a second leg, and are characterized in that: The automated assembly system for the telescopic legs comprises a fixing assembly (10) and a jacking assembly (20), wherein the fixing assembly (10) is used to support the second leg, and the jacking assembly (20) is used to support the first leg and push the first leg in a first direction toward the fixing assembly (10); The fixing assembly (10) includes a first centering module (101), the first centering module (101) includes a first clamping portion, the first clamping portion is used to move in a second direction perpendicular to the first direction to clamp both sides of the side plate of the second leg, so that the cavity center line of the second leg and the clamping center line of the first centering module (101) coincide with each other; The jacking assembly (20) includes a second centering module (201), a first lifting module (202), a second lifting module (203), a third lifting module (204), a fourth lifting module (205) and a propulsion module (206), wherein the second centering module (201) includes a second clamping portion, and the second clamping portion is used to move in the second direction to clamp both sides of the bottom plate of the first leg, so that the center line of the bottom plate of the first leg and the clamping center line of the second centering module (201) coincide with each other, and the clamping center line of the second centering module (201) coincides with the clamping center line of the first centering module (101); the first lifting module (202), the second lifting module (203), the third lifting module (204) and the fourth lifting module (205) are arranged along the first direction and are configured to be able to change position in a third direction perpendicular to the first direction and the second direction to lift or detach the first leg; the propulsion module (206) is used to drive the first leg to move along the first direction; The fixing assembly (10) further includes a lifting module (102), the first centering module (101) being connected to the lifting module (102), and the lifting module (102) being used to drive the first centering module (101) to move in the third direction, thereby adjusting the height of the first centering module (101); The fixing assembly (10) further includes a fixing base (103), the lifting module (102) includes a first driving member (1021), a first transmission assembly (1022) and a lifting platform (1023), the first driving member (1021) and the first transmission assembly (1022) are installed on the fixing base (103), the first driving member (1021) is connected to the lifting platform (1023) via the first transmission assembly (1022), and the first driving member (1021) is used to drive the lifting platform (1023) to move along the third direction; The first centering module (101) further includes a mounting seat (1011) and a guide tug (1012), the first clamping portion includes a second driving member (1013), a first slide (1014) and a second slide (1015), the mounting seat (1011) is connected to the lifting platform (1023), the second driving member (1013) is mounted on the mounting seat (1011) and connected to the second slide (1015), the first slide (1014) and the second slide (1015) are connected to the mounting seat (1011) via a second transmission assembly (1016), so that the second driving member (1013) can synchronously drive the first slide (1014) and the second slide (1015) to move synchronously toward or away from each other in the second direction, and the guide tug (1012) is provided on the first slide (1014) and the second slide (1015); The rolling axis of the guide tug (1012) is parallel to the first direction, and the guide tug (1012) on the first slide (1014) and the guide tug (1012) on the second slide (1015) are staggered in the second direction.

2. The automated assembly system for telescopic legs according to claim 1, wherein: The second centering module (201) includes a mounting base (2011) and a guide wheel (2012); the second clamping portion includes a third driving member (2013), a first centering frame (2014) and a second centering frame (2015); the third driving member (2013) is mounted on the mounting base (2011); the third driving member (2013) is connected to the second centering frame (2015); the first centering frame (2014) is connected to the second centering frame (2015) via a third transmission assembly (2016), so that the third driving member (2013) can synchronously drive the first centering frame (2014) and the second centering frame (2015) to move synchronously toward or away from each other in the second direction; the guide wheel (2012) is provided on a side where the first centering frame (2014) and the second centering frame (2015) face each other; and the rolling axis of the guide wheel (2012) is parallel to the third direction.

3. The automated assembly system for telescopic legs according to claim 1, wherein: The first lifting module (202), the second lifting module (203), the third lifting module (204) and the fourth lifting module (205) are arranged in the first direction gradually away from the fixed component (10), the first lifting module (202) includes a first guide wheel (2020), the second lifting module (203) includes a second guide wheel (2030), the third lifting module (204) includes a third guide wheel (2040), and the fourth lifting module (205) includes a fourth guide wheel (2050), the rolling axes of the first guide wheel (2020) and the second guide wheel (2030) are perpendicular to the first direction, and the rolling axes of the third guide wheel (2040) and the fourth guide wheel (2050) are parallel to the first direction.

4. The automated assembly system for telescopic legs according to claim 3, wherein: The first lifting module (202) further includes a swing bracket (2021), a lifting bracket (2022), a swing driving member (2023) and a fourth driving member (2024); the swing bracket (2021) can be rotatably arranged around an axis parallel to the second direction; the swing driving member (2023) is used to drive the swing bracket (2021) to swing around the axis parallel to the second direction so that the swing bracket (2021) switches between a tilted state and an upright state; the fourth driving member (2024) is provided on the swing bracket (2021) and is used to drive the lifting bracket (2022) to move along the third direction; and the first guide wheel (2020) is provided on the lifting bracket (2022).

5. The automated assembly system for telescopic legs according to claim 3, wherein: The second lifting module (203), the third lifting module (204) and the fourth lifting module (205) all include a base frame (2042), a flip bracket (2044) and a flip driving member (2046); the flip bracket (2044) is rotatably connected to the base frame (2042) around an axis parallel to the first direction; the flip driving member (2046) is used to drive the flip bracket (2044) to rotate relative to the base frame (2042) so that the flip bracket (2044) switches between a horizontal state for supporting and a folded vertical state; the second guide wheel (2030) is provided on the flip bracket (2044) of the second lifting module (203); the third guide wheel (2040) is provided on the flip bracket (2044) of the third lifting module (204); and the fourth guide wheel (2050) is provided on the flip bracket (2044) of the fourth lifting module (205).

6. The automated assembly system for telescopic legs according to claim 5, wherein: The second lifting module (203), the third lifting module (204) and the fourth lifting module (205) each comprise two base frames (2042) and two flip brackets (2044) that are spaced apart, and the flip brackets (2044) are perpendicular to the base frames (2042); the two base frames (2042) of the second lifting module (203) and the third lifting module (204) are spaced apart and arranged in parallel, and the two flip brackets (2044) are arranged in parallel and opposite to each other, so that the second lifting module (203) and the third lifting module (204) form a door-shaped structure; the two base frames (2042) of the fourth lifting module (205) are arranged side by side along the first direction, and the two flip brackets (2044) are arranged in parallel and side by side.

7. The automated assembly system for telescopic legs according to claim 1, wherein: The propulsion module (206) comprises a movable base (2061), a fixed base (2062), a push rod (2063), a fifth driving member (2064), a sixth driving member (2065) and a seventh driving member (2066); the movable base (2061) is movably arranged along the first direction; the fixed base (2062) is movably arranged on the movable base (2061) along the first direction; the push rod (2063) is movably arranged on the fixed base (2062) along the first direction; the fifth driving member (2064), the sixth driving member (2065) and the seventh driving member (2066) are respectively used to drive the movable base (2061), the fixed base (2062) and the push rod (2063) to move along the first direction.

8. The automated assembly system for telescopic legs according to claim 1, wherein: The automated assembly system also includes a control system, which is used to Coordinately controlling the first lifting module (202), the second lifting module (203), the third lifting module (204), and the fourth lifting module (205) to lift or avoid the first leg during the centering phase and the movement phase of the first leg; Controlling the first centering module (101) to clamp the second leg so as to center the second leg or to release the second leg, and controlling the second centering module (201) to clamp the first leg so as to center the first leg or to release the first leg; The propulsion module (206) is controlled to drive the first leg to move along the first direction and be assembled on the second leg.

9. An automated assembly device for telescopic legs, characterized in that: The method comprises at least two groups of automated assembly systems for telescopic legs according to any one of claims 1 to 8, wherein the plurality of automated assembly systems for telescopic legs are sequentially arranged at intervals along the first direction.

10. An automated assembly method for telescopic legs, implemented using the automated assembly system for telescopic legs according to any one of claims 1 to 8, characterized in that: The steps include: The second leg is placed on the fixing assembly (10) so that the first centering module (101) supports the second leg, and the first leg is placed on the jacking assembly (20) so that the second centering module (201), the third lifting module (204) and the fourth lifting module (205) support the first leg, wherein a portion of the telescopic cylinder is connected to the second leg; Controlling the first clamping portion of the first centering module (101) to clamp both sides of the side plate of the second leg so as to center the second leg, and controlling the second clamping portion of the second centering module (201) to clamp both sides of the bottom plate of the first leg so as to center the first leg, thereby making the center line of the bottom plate of the first leg and the center line of the cavity of the second leg located on the same axis; controlling the second centering module (201) to release the first leg; Controlling the propulsion module (206) to push the first leg to move along the first direction toward the second leg, so that the first leg partially enters the cavity of the second leg, and installing accessories; The propulsion module (206) is controlled to push the first leg to move along the first direction toward the second leg, so that the first leg completely enters the cavity of the second leg, and the second leg is connected to the other part of the telescopic oil cylinder.

11. The automated assembly method of telescopic legs according to claim 10, wherein: The steps of controlling the propulsion module (206) to push the first leg to move along the first direction toward the second leg so that the first leg partially enters the cavity of the second leg and controlling the propulsion module (206) to push the first leg to move along the first direction toward the second leg so that the first leg completely enters the cavity of the second leg include: controlling the second lifting module (203) and the fourth lifting module (205) to support the first leg; controlling the propulsion module (206) to push the front end of the second leg into the cavity of the first leg; controlling the first lifting module (202) and the fourth lifting module (205) to support the first leg; Controlling the propulsion module (206) to push the second leg to be gradually inserted into the cavity of the first leg to a position close to the tail; controlling the first lifting module (202) and the fourth lifting module (205) to separate from the first supporting leg; The propulsion module (206) is controlled to push the second leg completely into the cavity of the first leg.

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