Vertical assembly system and vertical assembly method for cabin and radar
Through the use of robotics and positioning devices in the vertical assembly system of radar and cabin sections, the problem of time and effort and low assembly accuracy of radar level assembly fees is solved, and efficient and accurate vertical assembly is achieved, which is suitable for high -efficiency mass production.
Patent Information
- Application Number
- CN202411505332.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-01-24
- Estimated Expiration
- 2044-10-28
AI Technical Summary
In the prior art, the horizontal assembly of radars is time-consuming and labor-intensive and has low assembly accuracy, especially because the radar is heavy and the cabin section is long, which leads to deep assembly position and makes it difficult to achieve efficient mass production.
A vertical assembly system for cabins and radars is proposed. It uses manipulators, gripper devices, positioning devices, placement platforms and assembly devices to absorb and place radars and cabins through manipulators to achieve vertical assembly, reduce manual intervention and improve assembly. Accuracy.
This system can effectively reduce manpower investment, improve assembly efficiency, reduce radar deformation, improve the coaxiality and assembly accuracy of the cabin and radar, and achieve efficient mass production.
Smart Images
Figure CN119017039B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of cabin and radar installation, and in particular to a vertical assembly system and a vertical assembly method of a cabin and a radar. Background Art
[0002] The relevant technology installs the radar into the cabin horizontally. Specifically, the cabin is placed horizontally, and the heavier radar is lifted by a hoist and inserted from one end of the cabin with manual cooperation. During the insertion process, it is necessary to ensure the coaxiality of the radar and the cabin through manual adjustment to prevent scratches with equipment on the inner wall of the cabin and accessories such as cables. After finally being inserted into place, a number of bolts are passed through the cabin and radar from the other end of the cabin to connect the two together.
[0003] Because the radar is heavy, the cabin is long, and the assembly position is deep, when assembled horizontally, the radar will be deformed due to its own gravity. Usually the deformation exceeds the required concentricity (the required concentricity is 0.1mm), and manual judgment is required to reach in and adjust it. Usually three or four people are required to cooperate, which is very labor-intensive. In addition, the hands need to be reached in and adjusted little by little, which not only has low assembly accuracy, but also is very time-consuming and cannot achieve efficient mass production. Summary of the invention
[0004] In view of the fact that installing the radar horizontally into a horizontally placed compartment is time-consuming, labor-intensive, and has low assembly precision, the present application proposes a solution for vertically assembling the radar and the compartment.
[0005] In a first aspect, the present application proposes a vertical assembly system for a cabin and a radar, and adopts the following technical solution.
[0006] A vertical assembly system for a cabin and a radar, comprising:
[0007] The robot arm has a suction mechanism.
[0008] The gripper device comprises a gripper support and a gripper frame, wherein the gripper frame is placed on the gripper support. The gripper frame has a first quick suction structure suitable for being adsorbed and fixed by the suction mechanism. The gripper frame also has a gripper assembly.
[0009] The positioning device comprises a positioning platform, a lifting seat, a tooling group and a positioning seat group. The lifting seat and the positioning seat group are both installed on the positioning platform. The lifting seat has a supporting surface for supporting the side of the cabin section. The tooling group is used to be installed and fixed at both ends of the cabin section. The positioning seat group is configured to receive the tooling group installed at both ends of the cabin section after the lifting seat releases the support for the cabin section. The positioning seat group and the tooling group are connected by a positioning mechanism, so that the positions of the tooling group and the cabin section are determined. The tooling group is configured to be grasped by the gripper group.
[0010] The placement platform is used to place the radar. The top of the vertically placed radar has a second quick suction structure suitable for being adsorbed and fixed by the suction mechanism.
[0011] The assembly device comprises an assembly platform and a docking mechanism of the tooling group for docking one end of a vertically placed cabin section. The docking mechanism is installed on the assembly platform.
[0012] By adopting the above technical solution, the manipulator can use its own suction mechanism to suck the grabbing frame, manually install the tooling group on the cabin section, then the grabbing frame can grab the cabin section with the appropriate grabbing tooling group, and then the manipulator can drive the grabbing frame to vertically place the cabin section on the docking mechanism of the assembly table, then the grabbing frame releases the tooling group, the manipulator puts the grabbing frame back on the gripper support, the manipulator sucks the radar, and vertically puts it into the cabin section from above the cabin section, and finally locks the cabin section and the radar. This assembly method saves time and effort, the vertical radar has a low degree of deformation, and the assembly accuracy is high. Among them, the position of the tooling group and the cabin section is determined, including the rotation angle and axial position.
[0013] A preferred structure of the vertical assembly system of the compartment and the radar is that the lifting seat includes a first support, a second support, a first lifting shaft, a second lifting shaft, a wedge block and a propulsion mechanism.
[0014] The first lifting shaft is mounted on the positioning platform, and the first lifting shaft is upwardly connected to the first support. The first support has a curved surface that fits the side of the cabin section.
[0015] The second lifting shaft is mounted on the positioning platform, and the second lifting shaft is upwardly connected to the second support. The second support has a curved surface that fits the side of the cabin section.
[0016] The lifting seat is configured such that when the cabin section is placed horizontally on the curved surface of the first support and the curved surface of the second support at the same time, the central axis of the cabin section is in a horizontal position.
[0017] The wedge block has a continuous first high plane, a first inclined plane and a first low plane, and also has a continuous second high plane, a second inclined plane and a second low plane. The first high plane and the second high plane have the same height. The first inclined plane and the second inclined plane have the same inclination direction and length. The first low plane and the second low plane have the same height.
[0018] The propulsion mechanism is connected to the wedge block, and can drive the wedge block forward or backward, so that the first support is in the first high plane and the second support is in the second high plane, or the first support is in the first low plane and the second support is in the second low plane. When the first support is in the first high plane, the positioning seat group does not carry the tooling groups at both ends of the cabin section. When the first support is in the first low plane, the positioning seat group carries the tooling groups at both ends of the cabin section, and the cabin section is separated from the first support and the second support.
[0019] By adopting the above technical solution, the cabin section is manually placed on the first and second supports at high positions, and the tooling groups are manually installed at both ends of the cabin section. When the cabin section needs to be positioned, the propulsion mechanism can be used to push the wedge block to lower the first and second supports to a low position, and the tooling groups at both ends of the cabin section fall on the positioning seat groups and are positioned.
[0020] A preferred structure of the vertical assembly system of the cabin section and the radar is that the propulsion mechanism includes a screw rod, a handle and a nut. The side of the nut is fixed to the wedge. The nut is sleeved on the screw rod. The screw rod is mounted on the positioning platform through a bearing. The handle is fixed to one end of the screw rod.
[0021] By adopting the above technical solution, the rotating screw can drive the wedge block forward or backward, thereby raising or lowering the cabin section.
[0022] A preferred structure of the vertical assembly system of the cabin and the radar is that the tooling group includes a first tooling. The cabin is a tubular shape with one end larger than the other end. The first tooling is used to be installed at the smaller end of the cabin.
[0023] The first tooling has an annular portion and a hanging portion connected to each other, wherein the hanging portion is configured to be grasped by the gripper assembly. The inner annular surface of the annular portion has a linear groove.
[0024] The smaller end of the compartment has a cylindrical pin protruding radially outward. The diameter of the cylindrical pin is equal to the width of the linear groove. When the smaller end of the compartment passes through the annular portion, the cylindrical pin slides along the linear groove in an adaptive manner. The first tooling and the compartment can be connected and fixed to each other.
[0025] The first tooling and the positioning seat assembly have the positioning mechanism that fits in with each other.
[0026] By adopting the above technical solution, when installing the first fixture, the relative angle between the first fixture and the cabin is determined, the angle between the first fixture and the positioning seat group is determined, the axial position of the first fixture is determined, and the cabin and the first fixture are fixed at the same position each time, so the cabin and the first fixture are accurately positioned. Among them, the large end of the cabin faces upward, which is conducive to the smooth placement of the radar into the cabin.
[0027] A preferred structure of the vertical assembly system of the compartment and the radar is that the first tooling has a radial first stop, the smaller end of the compartment has a radial end stop, the first stop is butted against the end stop, and bolts are passed through the first stop and the end stop to fix the first tooling and the compartment to each other.
[0028] By adopting the above technical solution, the positions of the first tooling and the compartment section are mutually determined, and the positioning is accurate and highly reproducible.
[0029] A preferred structure of the vertical assembly system of the compartment and the radar is that the first tooling also has a positioning hole.
[0030] The assembly platform has an opening. The docking mechanism includes a circular ring, a positioning pin and a locking structure. The positioning pin is fixed on the circular ring. The circular ring is installed on the peripheral side of the opening, and the interior of the circular ring is a through hole. The locking structure is arranged on the peripheral side of the circular ring.
[0031] When the first tooling installed on the cabin section is docked with the docking mechanism, the cabin section passes through the through hole, the positioning pin is tightly inserted into the positioning hole, and the locking structure can be adaptively buckled on the first tooling to fix the cabin section.
[0032] By adopting the above technical solution, the first tooling can be installed on the assembly table in the same position every time, with accurate positioning and high reproducibility, which is conducive to accurately placing the radar into the cabin and fixing the manifest to each other.
[0033] A preferred structure of the vertical assembly system of the compartment and the radar is that the tooling group also includes a second tooling and a third tooling.
[0034] When the cabin section is placed horizontally on the lifting seat, the second tooling is used to be installed on the upper part of the larger end of the cabin section, and the third tooling is used to be installed on the lower part of the larger end of the cabin section.
[0035] The second tooling is configured to be grasped by the gripper assembly.
[0036] The positioning seat group includes a first positioning seat and a second positioning seat. The first positioning seat and the first tool have the positioning mechanism that fits with each other. The second positioning seat can adapt, connect and position the third tool.
[0037] By adopting the above technical solution, the positioning seat assembly can accurately position the tooling assembly and the cabin section.
[0038] A preferred structure of the vertical assembly system of the cabin section and the radar is that the gripper assembly includes three gripper assemblies. Each of the gripper assemblies includes a cylinder, a connecting block and a connecting pin. The telescopic rod of the cylinder is connected to the connecting block.
[0039] The hoisting part has two connection holes. The second tool has one connection hole.
[0040] The manipulator drives the grabbing frame, and the three cylinders drive the three connecting blocks respectively, so that two of the connecting blocks can be pressed against the bottom of the lifting part, and one connecting block can be pressed against the bottom of the second tooling. At the same time, the three connecting pins are inserted into the three connecting holes one by one, so that the grabbing frame fixes the first tooling and the second tooling.
[0041] By adopting the above technical solution, three grabbing components grab three tools one by one, and the manipulator can drive the three tools and the cabin section to move and turn, and the cabin section can be placed vertically on the assembly table.
[0042] A preferred structure of the vertical assembly system of the cabin and the radar is that the assembly device also includes an automatic nail feeding device, which is configured to suck screws from the bottom of the assembly table and automatically screw them upward and tighten the screws to fix the radar to the cabin.
[0043] By adopting the above technical solution, the fixation of the radar and the cabin section is automatically completed.
[0044] On the second aspect, the present application also proposes a method for vertical assembly of a cabin and a radar, and adopts the following technical solution.
[0045] A vertical assembly method for a cabin section and a radar is performed using the vertical assembly system, and the vertical assembly method includes the following steps.
[0046] The lifting seat is driven to a high position, the cabin section is manually placed horizontally on the lifting seat, and the tooling group is manually installed at both ends of the cabin section.
[0047] The lifting seat is driven to a low position to release the support of the cabin section by the lifting seat, and the tooling groups at both ends of the cabin section are pressed down on the positioning seat group to be positioned.
[0048] The manipulator absorbs the grabbing frame on the grabbing support to above the cabin section on the positioning table, and simultaneously starts the manipulator and the grabbing machine group, so that the grabbing machine group grabs the tooling groups at both ends of the cabin section.
[0049] The manipulator moves the grabbing frame to the assembly table, during which the manipulator places the cabin segment vertically on the docking mechanism through a rotating operation.
[0050] The grabbing frame releases the tooling assembly. The manipulator puts the grabbing frame back onto the gripper support.
[0051] The manipulator absorbs the vertically placed radar from the placement platform, vertically places the radar into the cabin section on the assembly table, and locks the cabin section and the radar through an automatic nail feeding device or manually.
[0052] By adopting the above technical solution, the method adopts a vertical assembly method to vertically place the radar into a vertical cabin for installation and fixation. The method saves time and labor, the radar has a low degree of deformation, and the coaxiality of the radar and the cabin is good.
[0053] In summary, the vertical assembly system and vertical assembly method of the cabin and radar of the present application have the following beneficial effects.
[0054] 1) Position the cabin vertically on the assembly table, and use the manipulator to vertically install the radar from the upper end of the cabin. The vertical assembly is not affected by the gravity of the radar, and the radar deformation is small. Therefore, the concentric assembly accuracy of the cabin and the radar is high. At the same time, the use of manipulator assembly can save manpower.
[0055] 2) Based on this vertical assembly system, after manually placing the cabin section on the support, manual adjustment can be conveniently performed so that the first tooling and the third tooling on the cabin section can be aligned with the first positioning seat and the second positioning seat. The cabin section is lowered by rotating the screw and positioned and supported by the first positioning seat and the second positioning seat, which can ensure that the position of the cabin section on the positioning table is the same each time, so that the manipulator can accurately grasp the cabin section.
[0056] 3) The positioning connection structure between the cabin and the first tooling, as well as the positioning connection structure between the first tooling and the first positioning seat, can enable the cabin to be accurately vertically positioned on the assembly table, thereby achieving precise vertical assembly of the cabin and the radar. BRIEF DESCRIPTION OF THE DRAWINGS
[0057] Figure 1 This is an overall structural diagram of a vertical assembly system for a cabin and radar.
[0058] Figure 2 for Figure 1 Structural diagram of the gripper device.
[0059] Figure 3 for Figure 2 Structural diagram of the gripper support installed on the gripper platform.
[0060] Figure 4 for Figure 1A magnified image of area A.
[0061] Figure 5 for Figure 1 The assembly device structure diagram is shown in FIG.
[0062] Figure 6 To place the compartment horizontally Figure 1 The structural diagram of the tooling group is installed on the positioning device and at both ends of the cabin section.
[0063] Figure 7 To hide Figure 6 Another view from behind the outer end of the small end of the middle cabin.
[0064] Figure 8 for Figure 7 A magnified view of area B.
[0065] Fig. 9 For use Figure 1 Grab the grab rack Figure 6 Structural diagram of the compartment in which the tooling group is installed.
[0066] Fig.10 for Fig. 9 Magnified view of area C.
[0067] Figure numerals: 1, manipulator; 101, suction mechanism; 2, gripper device; 21, gripper platform; 22, gripper support; 23, gripping frame; 221, boss; 231, first quick suction structure; 232, gripper assembly; 2321, cylinder; 2322, connecting block; 2323, connecting pin; 3, positioning device; 31, positioning platform; 32, lifting seat; 33, tooling assembly; 34, positioning seat assembly; 35, positioning mechanism; 321, first support; 322, second support; 323, first lifting shaft; 324, second lifting shaft; 325, wedge; 326, propulsion mechanism; 3251, first high plane; 3252, first inclined surface; 3253, first low plane; 3254, second high plane; 3255, second inclined surface; 325 6. Second low plane; 3261. Screw; 3262. Handle; 3263. Nut; 331. First tooling; 3311. Ring portion; 3312. Lifting portion; 33111. Linear groove; 33112. Alignment hole; 33121. Connecting hole; 33113. Positioning hole; 33114. First stop; 332. Second tooling; 333. Third tooling; 341. First positioning seat; 342. Second positioning seat; 4. Placement platform; 5. Assembly device; 51. Assembly table; 52. Docking mechanism; 521. Circular ring; 522. Positioning pin; 523. Locking structure; 524. Through hole; 6. Cabin section; 61. Cylindrical pin; 62. Inner convex ring; 7. Radar; 71. Second quick suction structure; 8. Automatic nail feeding device; 81. Connecting screw. DETAILED DESCRIPTION
[0068] The present application is further described below in conjunction with the accompanying drawings.
[0069] refer to Figure 1 A vertical assembly system for a cabin and a radar includes a manipulator 1, a gripper device 2, a positioning device 3, a placement platform 4 and an assembly device 5, as described in detail below.
[0070] The robot arm 1 has a suction mechanism 101 .
[0071] refer to Figure 2 The gripper device 2 includes a gripper platform 21, a gripper support 22 and a gripper frame 23. The gripper support 22 is mounted on the gripper platform 21, and the gripper frame 23 is fixedly placed on the gripper support 22 through a fitting mechanism. For example, Figure 3 The gripper support 22 has a convex column 221, and the bottom of the gripping frame 23 has an adapted hole, so the hole of the gripping frame 23 can be sleeved on the convex column 221 and fixed at a fixed point. The gripping frame 23 has a first quick suction structure 231 suitable for being adsorbed and fixed by the suction mechanism 101, that is, it can be adsorbed and lifted by the manipulator 1. The gripping frame 23 also has a gripper assembly 232 for grabbing the tooling assembly 33.
[0072] refer to Figure 4 The positioning device 3 includes a positioning platform 31, a lifting seat 32, a tooling group 33 and a positioning seat group 34. The lifting seat 32 and the positioning seat group 34 are both installed on the positioning platform 31. The lifting seat 32 has a supporting surface for supporting the side of the cabin section 6, and the supporting surface can be an arc surface. The tooling group 33 is used to be installed and fixed at both ends of the cabin section 6, and is installed and fixed manually. The positioning seat group 34 is configured to receive the tooling group 33 installed at both ends of the cabin section 6 after the lifting seat 32 releases the support for the cabin section 6. The positioning seat group 34 and the tooling group 33 are connected through their own mutually nested positioning mechanisms, so that the positions of the tooling group 33 and the cabin section 6 are determined, including the circumferential angle and the axial position, so as to facilitate accurate grasping and placement by the manipulator 1. The tooling group 33 is configured to be grasped by the grasping machine group 232, so that the cabin section 6 can be transferred and changed in direction.
[0073] refer to Figure 1 , a placement platform 4 is used to place the radar 7. The top of the vertically placed radar 7 has a second quick suction structure 71 suitable for being adsorbed and fixed by the suction mechanism 101, and can be sucked and moved by the manipulator 1. The second quick suction structure 71 can be the same as the first quick suction structure 231.
[0074] The suction mechanism 101 of the robot 1 can suck up one of the gripping frame 23 and the radar 7 at a time.
[0075] refer to Figure 5 The assembly device 5 includes an assembly platform 51 and a docking mechanism 52 of the tooling group 33 for docking the lower end of the vertically placed cabin section 6. The docking mechanism 52 is installed on the assembly platform 51. The cabin section 6 can be placed vertically on the assembly platform 51 to be vertically assembled with the radar 7.
[0076] In the above vertical assembly system of cabin and radar, the manipulator 1 can use its own suction mechanism 101 to suck the grabbing frame 23 and install the tooling group 33 on the cabin 6, then the grabbing frame 23 can be adapted to grab the tooling group 33 to grab the cabin 6, and then the manipulator 1 can drive the grabbing frame 23 to vertically place the cabin 6 on the docking mechanism 52 of the assembly table 51, then the grabbing frame 23 releases the tooling group 33, and the manipulator 1 puts the grabbing frame 23 back on the gripper support 22, and the manipulator 1 sucks the radar 7, and vertically puts it into the cabin 6 from above the cabin 6, and finally locks the cabin 6 and the radar 7. This assembly method saves time and labor, and the vertical radar 7 has a low degree of deformation and high assembly accuracy. Among them, the position of the tooling group 33 and the cabin 6 is determined, including the rotation angle and the axial position.
[0077] refer to Figure 4 An optional structure of the lifting seat 32 is that the lifting seat 32 includes a first support 321, a second support 322, a first lifting shaft 323, a second lifting shaft 324, a wedge block 325 and a propulsion mechanism 326.
[0078] The first lifting shaft 323 is installed on the positioning platform 31 and is a passive shaft without a power source. The first lifting shaft 323 is connected to the first support 321 upward.
[0079] The upper surface of the first support 321 is a curved surface that can fit the side surface of the cabin section 6, and a roller can also be installed on the lower surface of the first support 321.
[0080] The second lifting shaft 324 is installed on the positioning platform 31 and is a passive shaft without a power source. The second lifting shaft 324 is connected to the second support 322 upward.
[0081] The upper surface of the second support 322 is a curved surface that can fit the side surface of the cabin section 6, and the lower surface of the second support 322 can also be installed with rollers.
[0082] When the compartment 6 is placed horizontally on the curved surface of the first support 321 and the curved surface of the second support 322 at the same time, the central axis of the compartment 6 is in a horizontal position.
[0083] refer to Figure 6The wedge block 325 has a continuous first high plane 3251, a first inclined surface 3252 and a first low plane 3253, and also has a continuous second high plane 3254, a second inclined surface 3255 and a second low plane 3256. The first high plane 3251 and the second high plane 3254 have the same height. The first inclined surface 3252 and the second inclined surface 3255 have the same inclination direction and length. The first low plane 3253 and the second low plane 3256 have the same height, so as to facilitate the synchronous lifting and lowering of the first support 321 and the second support 322.
[0084] The propulsion mechanism 326 is connected to the wedge block 325, and can drive the wedge block 325 forward or backward, so that the first support 321 is in the first high plane 3251 and the second support 322 is in the second high plane 3254, or the first support 321 is in the first low plane 3253 and the second support 322 is in the second low plane 3256. When the first support 321 is in the first high plane 3251, the positioning seat group 34 does not carry the tooling group 33 at both ends of the cabin section 6. When the first support 321 is in the first low plane 3253, the positioning seat group 34 carries the tooling group 33 at both ends of the cabin section 6, and the cabin section 6 is separated from the first support 321 and the second support 322.
[0085] The application method of the lifting seat 32 of the above structure is to manually place the cabin section 6 on the first support 321 and the second support 322 at a high position, and then manually install the tooling group 33 at both ends of the cabin section 6. When it is necessary to position the cabin section 6, the propulsion mechanism 326 can be used to propel the wedge block 325 to make the first support 321 and the second support 322 drop to a low position, and then the tooling groups 33 at both ends of the cabin section 6 fall on the positioning seat group 34 and are positioned.
[0086] refer to Figure 6 , for the propulsion mechanism 326 in the lifting seat 32 of the above structure, its structure can be that the propulsion mechanism 326 includes a screw rod 3261, a handle 3262 and a nut 3263. The side of the nut 3263 is fixed to the wedge block 325. The nut 3263 is sleeved on the screw rod 3261. The screw rod 3261 is installed on the positioning platform 31 through a bearing. The handle 3262 is fixed to one end of the screw rod 3261. The screw rod 3261 is rotated, and the nut 3263 moves along the screw rod 3261, driving the wedge block 325 to move, so that the wedge block 325 moves forward or backward. Based on the shape of the wedge block 325, the cabin section 6 above the wedge block 325 can be lifted or lowered.
[0087] refer to Figure 6The tooling set 33 includes a first tooling 331. The cabin section 6 is a tubular shape with one end larger than the other end. The first tooling 331 is used to be installed on the end surface of the smaller end of the cabin section 6.
[0088] refer to Figure 7 The first tooling 331 has an annular portion 3311 and a hoisting portion 3312 connected to each other. The hoisting portion 3312 can be in a square bar shape. The gripper assembly 232 grabs both ends of the hoisting portion 3312, lifts up the hoisting portion 3312, and lifts up the first tooling 331 and the cabin section 6.
[0089] refer to Figure 8 The inner annular surface of the annular portion 3311 has a linear groove 33111, which is used to limit the docking angle with the cabin section 6. The smaller end of the cabin section 6 has a radially outwardly protruding cylindrical pin 61. The diameter of the cylindrical pin 61 is equal to the width of the linear groove 33111. When the smaller end of the cabin section 6 passes through the annular portion 3311, the cylindrical pin 61 is vertically inserted into the linear groove 33111, and the cylindrical pin 61 slides along the linear groove 33111 in an adaptive manner. The first tooling 331 and the cabin section 6 can be connected and fixed to each other, for example, with reference to Figure 7 The first tooling 331 has a radial first stop 33114, and the smaller end of the compartment 6 has a radial end stop. The first stop 33114 butts against the end stop, and bolts are passed through the first stop 33114 and the end stop to fix the first tooling 331 and the compartment 6 to each other. In this way, the positions of the first tooling 331 and the compartment 6 are determined, and the positioning is accurate and reproducible.
[0090] The first tooling 331 and the positioning seat assembly 34 have the mutually interlocking positioning mechanism, which may have a hole at one end and an insertion shaft at the other end. The insertion shaft can be adapted to be inserted into the hole, and the hole and the insertion shaft form a mutually interlocking positioning mechanism.
[0091] Based on the above arrangement of the cabin 6, the first fixture 331 and the positioning seat group 34, when installing the first fixture 331, the relative angle between the first fixture 331 and the cabin 6 is determined, the angle between the first fixture 331 and the positioning seat group 34 is determined, the axial position of the first fixture 331 is determined, and the cabin 6 and the first fixture 331 are fixed at the same position each time, so that the positioning of the cabin 6 and the first fixture 331 is accurate. Among them, the first fixture 331 is connected to the smaller end of the cabin 6, and when the radar 7 is assembled into the cabin 6, the cabin 6 is placed vertically, the first fixture 331 is facing downward, and the larger end of the cabin 6 is facing upward, which is conducive to the smooth placement of the radar 7 into the cabin 6.
[0092] refer to Figure 6The tooling set 33 further includes a second tooling 332 and a third tooling 333. When the cabin section 6 is placed horizontally on the lifting seat 32, the second tooling 332 is used to be installed on the upper part of the larger end of the cabin section 6, and the third tooling 333 is used to be installed on the lower part of the larger end of the cabin section 6. The second tooling 332 is configured to be grasped by the gripper set 232.
[0093] refer to Figure 6 The positioning seat group 34 includes a first positioning seat 341 and a second positioning seat 342. The first positioning seat 341 and the first tool 331 have the positioning mechanism that fits with each other, and the second positioning seat 342 can adapt and position the third tool 333, so that the positioning seat group 34 can accurately position the tool group 33 and the cabin section 6. Among them, the positioning mechanism can include an alignment column on the first positioning seat 341, referring to Fig. 9 , and the alignment hole 33112 on the first tooling 331. When the cabin section 6 is placed horizontally, the alignment post can be inserted into the alignment hole 33112 so that the first positioning seat 341 and the first tooling 331 are mutually embedded, so that the first tooling 331 is accurately positioned on the first positioning seat 341.
[0094] refer to Fig. 9 The grabbing frame 23 mentioned above also has a grabbing machine group 232 for grabbing the tooling group 33. In view of the tooling group 33 including the first tooling 331, the second tooling 332 and the third tooling 333, the grabbing machine group 232 is correspondingly configured to include three grabbing components for grabbing the three tools.
[0095] refer to Fig.10 Each of the grabbing assemblies includes a cylinder 2321, a connecting block 2322 and a connecting pin 2323. The telescopic rod of the cylinder 2321 is connected to the connecting block 2322.
[0096] refer to Figure 7 In order to facilitate the lifting by the grab assembly of the above structure, the lifting part 3312 of the first tool 331 is provided with two connecting holes 33121, which are respectively located at the two ends of the square bar-shaped lifting part 3312. The second tool 332 has one connecting hole 33121.
[0097] The manipulator 1 drives the grabbing frame 23, and the three cylinders 2321 drive the three connecting blocks 2322 respectively, so that the two connecting blocks 2322 can abut under the hoisting part 3312, and one connecting block 2322 abuts under the second fixture 332, and at the same time, the three connecting pins 2323 are inserted into the three connecting holes 33121 one by one, so that the grabbing frame 23 fixes the first fixture 331 and the second fixture 332. The three grabbing components grab the three fixtures one by one, and the manipulator 1 can drive the three fixtures to drive the cabin 6 to move and turn, so that the cabin 6 can be placed vertically on the assembly table 51 with the smaller end facing downward, that is, the first fixture 331 and the assembly table 51 are abutted.
[0098] refer to Fig. 9 In order to accurately place the first tool 331 and the compartment 6 on the assembly platform 51, the first tool 331 is provided with two positioning holes 33113. Figure 5 The assembly platform 51 has an opening, and the assembly device 5 has a docking mechanism 52 for docking the tooling group 33 at the lower end of the vertically placed compartment section 6. The docking mechanism 52 may include a circular ring 521, a positioning pin 522 and a locking structure 523. The positioning pin 522 is vertically fixed on the circular ring 521. The circular ring 521 is installed on the peripheral side of the opening, and the interior of the circular ring 521 is a through hole 524. The locking structure 523 is arranged on the peripheral side of the circular ring 521.
[0099] When the first fixture 331 installed on the cabin 6 is docked with the docking mechanism 52, the front end of the cabin 6 passes through the through hole 524, the positioning pin 522 in the docking mechanism 52 is tightly inserted into the positioning hole 33113 of the first fixture 331, and the locking structure 523 can be adaptively buckled on the first fixture 331 to fix the cabin 6. In this way, the first fixture 331 can be installed at the same position of the assembly table 51 each time, with accurate positioning and high reproducibility, which is conducive to accurately placing the radar 7 in the cabin 6 and fixing the cabin list to each other.
[0100] refer to Figure 5 In order to automatically assemble and fix the radar 7 and the compartment 6, the assembly device 5 is designed to also include an automatic nail feeding device 8. An inner convex ring 62 is provided near the bottom of the vertically placed compartment 6, and a plurality of assembly holes are provided on the inner convex ring 62. Figure 7, the bottom of the vertically placed radar 7 is also provided with a plurality of assembly holes. When the manipulator 1 places the radar 7 into the cabin 6, the assembly hole of the cabin 6 and the assembly hole of the radar 7 are docked, and then the automatic nail feeding device 8 can automatically suck the connecting screw 81 from the bottom of the assembly platform 51 and automatically screw it upward into the docking assembly hole, tighten the connecting screw 81, and screw in a plurality of connecting screws 81 in this way, and automatically complete the fixing of the radar 7 and the cabin 6. The action of screwing in the connecting screw 81 can also be completed by manual operation.
[0101] A vertical assembly method for a cabin section and a radar is performed using the vertical assembly system, and the vertical assembly method includes the following steps.
[0102] The lifting seat 32 is driven to a high position, the cabin section 6 is manually placed horizontally on the lifting seat 32 , and the tooling set 33 (including the first tooling 331 , the second tooling 332 and the third tooling 333 ) is manually installed at both ends of the cabin section 6 .
[0103] The lifting seat 32 is driven to the lower position, the lifting seat 32 is released from supporting the cabin section 6, and the tooling groups 33 at both ends of the cabin section 6 are pressed down on the positioning seat group 34 to be positioned. Specifically, the first tooling 331 is pressed down on the first positioning seat 341, and the third tooling 333 is pressed down on the second positioning seat 342.
[0104] The above steps can be completed outside the main working area. For example, the positioning platform 31 is carried by an AGV. After the above installation steps are completed, the AGV carries the positioning platform 31 to a fixed position in the main working area. The assembly workers do not need to enter the main working area, which can achieve human-machine separation and is more conducive to personal safety. The above steps can also be completed in the main working area. Safety should be paid attention to during the work process.
[0105] After the above steps are completed, the manipulator 1 absorbs the grab frame 23 on the grab support 22 to the top of the cabin section 6 on the positioning platform 31, and starts the manipulator 1 and the grabber group 232 at the same time, so that the grabber group 232 grabs the tooling group 33 at both ends of the cabin section 6.
[0106] In order to improve the alignment and installation accuracy of the radar 7 and the cabin section 6, a camera device can be installed on the manipulator 1, and a camera device can be installed at the front end of the gripper platform 21.
[0107] The manipulator 1 moves the grabbing frame 23 to the assembly table 51 . During this process, the manipulator 1 vertically places the cabin section 6 on the docking mechanism 52 through a rotation operation.
[0108] The grabbing frame 23 releases the tooling set 33. The manipulator 1 puts the grabbing frame 23 back onto the gripper support 22.
[0109] The camera on the manipulator 1 takes pictures of the interior of the cabin 6. The manipulator 1 takes the vertically placed radar 7 from the placement platform 4, takes pictures on the camera at the front end of the gripper platform 21, obtains the determined position according to the algorithm, and then vertically places the radar 7 into the cabin 6 on the assembly table 51, and locks the cabin 6 and the radar 7 by the automatic nail feeding device 8, or manually. The concentricity of the radar 7 and the cabin 6 meets the axial deviation of <0.1mm.
[0110] The above assembly method adopts a vertical assembly mode, and the radar 7 is vertically placed in the vertical compartment 6 for installation and fixation. This method saves time and labor, the deformation degree of the radar 7 is low, and the coaxiality of the radar 7 and the compartment 6 is good.
[0111] In summary, the vertical assembly system and vertical assembly method of the cabin and radar of the present application have the following beneficial effects.
[0112] 1) The cabin 6 is vertically positioned on the assembly platform 51, and the radar 7 is vertically installed from the upper end of the cabin 6 by the manipulator 1. The vertical assembly is not affected by the gravity of the radar 7, and the deformation of the radar 7 is small. Therefore, the concentric assembly accuracy of the cabin 6 and the radar 7 is high. At the same time, the use of the manipulator 1 for assembly can save manpower.
[0113] 2) Based on the vertical assembly system, after manually placing the cabin section 6 on the support, manual adjustment can be conveniently performed so that the first tooling 331 and the third tooling 333 on the cabin section 6 can be aligned with the first positioning seat 341 and the second positioning seat 342. The cabin section 6 is lowered by rotating the screw 3261, and is positioned and supported by the first positioning seat 341 and the second positioning seat 342. This ensures that the position of the cabin section 6 on the positioning platform 31 is the same each time, so that the manipulator 1 can accurately grasp the cabin section 6.
[0114] 3) The positioning connection structure between the cabin section 6 and the first tooling 331 , as well as the positioning connection structure between the first tooling 331 and the first positioning seat 341 , can enable the cabin section 6 to be accurately vertically positioned on the assembly table 51 , thereby achieving precise vertical assembly of the cabin section 6 and the radar 7 .
[0115] The above description explains the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and various optimizations and improvements may be made to the present application without departing from the essence of the present application, and these optimizations and improvements all fall within the scope of the protection required.
Claims
1. A vertical assembly system for cabins and radars, characterized in that: include: A manipulator (1) having a suction mechanism (101); A gripper device (2) comprises a gripper support (22) and a gripper frame (23), wherein the gripper frame (23) is placed on the gripper support (22); the gripper frame (23) has a first quick suction structure (231) suitable for being adsorbed and fixed by the suction mechanism (101); the gripper frame (23) also has a gripper assembly (232); The positioning device (3) comprises a positioning platform (31), a lifting seat (32), a tooling group (33) and a positioning seat group (34); the lifting seat (32) and the positioning seat group (34) are both mounted on the positioning platform (31); the lifting seat (32) has a supporting surface for supporting the side of the cabin section (6); the tooling group (33) is used to be mounted and fixed at both ends of the cabin section (6); the positioning seat group (34) is configured to receive the tooling group (33) mounted at both ends of the cabin section (6) after the lifting seat (32) releases its support for the cabin section (6); the positioning seat group (34) and the tooling group (33) are connected via a positioning mechanism so that the positions of the tooling group (33) and the cabin section (6) are determined; the tooling group (33) is configured to be grasped by the grasping machine group (232); A placement platform (4) is used to place a radar (7); the top of the vertically placed radar (7) is provided with a second quick suction structure (71) suitable for being sucked and fixed by the suction mechanism (101); An assembly device (5) comprises an assembly table (51), and also comprises a docking mechanism (52) having the tooling assembly (33) docked with one end of a vertically placed cabin section (6); the docking mechanism (52) is mounted on the assembly table (51); The lifting seat (32) comprises a first support (321), a second support (322), a first lifting shaft (323), a second lifting shaft (324), a wedge block (325) and a propulsion mechanism (326); The first lifting shaft (323) is mounted on the positioning platform (31), and the first lifting shaft (323) is connected upward to the first support (321); the first support (321) has a curved surface that fits the side surface of the cabin section (6); The second lifting shaft (324) is mounted on the positioning platform (31), and the second lifting shaft (324) is upwardly connected to the second support (322); the second support (322) has a curved surface that fits the side surface of the cabin section (6); The lifting seat (32) is configured such that when the cabin section (6) is placed horizontally on the curved surface of the first support (321) and the curved surface of the second support (322) at the same time, the central axis of the cabin section (6) is in a horizontal position; The wedge block (325) has a continuous first high-level plane (3251), a first inclined surface (3252) and a first low-level plane (3253), and also has a continuous second high-level plane (3254), a second inclined surface (3255) and a second low-level plane (3256); the first high-level plane (3251) and the second high-level plane (3254) have the same height; the first inclined surface (3252) and the second inclined surface (3255) have the same inclination direction and length; the first low-level plane (3253) and the second low-level plane (3256) have the same height; The propulsion mechanism (326) is connected to the wedge block (325) and can drive the wedge block (325) to move forward or backward, so that the first support (321) is located in the first high plane (3251) and the second support (322) is located in the second high plane (3254), or the first support (321) is located in the first low plane (3253) and the second support (322) is located in the second low plane (3256); when the first support (321) is located in the first high plane (3251), the positioning seat group (34) does not carry the tooling groups (33) at both ends of the cabin section (6); when the first support (321) is located in the first low plane (3253), the positioning seat group (34) carries the tooling groups (33) at both ends of the cabin section (6), and the cabin section (6) is separated from the first support (321) and the second support (322).
2. The vertical assembly system of cabin and radar according to claim 1, characterized in that: The propulsion mechanism (326) comprises a screw rod (3261), a handle (3262) and a nut (3263); the side surface of the nut (3263) is fixed to the wedge block (325); the nut (3263) is sleeved on the screw rod (3261); the screw rod (3261) is mounted on the positioning platform (31) via a bearing; and the handle (3262) is fixed to one end of the screw rod (3261).
3. The vertical assembly system of cabin and radar according to claim 1, characterized in that: The tooling set (33) comprises a first tooling (331); the cabin section (6) is in the shape of a tube with one end being larger than the other end; the first tooling (331) is used to be installed at the smaller end of the cabin section (6); The first tooling (331) comprises an annular portion (3311) and a hoisting portion (3312) which are connected to each other, and the hoisting portion (3312) is configured to be grasped by the gripper assembly (232); the inner annular surface of the annular portion (3311) comprises a linear groove (33111); The smaller end of the cabin section (6) has a cylindrical pin (61) protruding radially outward; the diameter of the cylindrical pin (61) is equal to the width of the linear groove (33111); when the smaller end of the cabin section (6) passes through the annular portion (3311), the cylindrical pin (61) slides along the linear groove (33111) in an adaptive manner; the first tooling (331) and the cabin section (6) can be connected and fixed to each other; The first tooling (331) and the positioning seat assembly (34) have positioning mechanisms that fit into each other.
4. The vertical assembly system of cabin and radar according to claim 3, characterized in that: The first tooling (331) has a radial first stop (33114), and the smaller end of the compartment (6) has a radial end stop, the first stop (33114) butts against the end stop, and bolts are passed through the first stop (33114) and the end stop that are connected to each other to fix the first tooling (331) and the compartment (6) to each other.
5. The vertical assembly system of a cabin section and a radar according to claim 3 or 4, characterized in that: The first tooling (331) further has a positioning hole (33113); The assembly table (51) has an opening; the docking mechanism (52) comprises a circular ring (521), a positioning pin (522) and a locking structure (523); the positioning pin (522) is fixed on the circular ring (521); the circular ring (521) is installed on the peripheral side of the opening, and the interior of the circular ring (521) is a through hole (524); the locking structure (523) is arranged on the peripheral side of the circular ring (521); When the first tooling (331) installed on the cabin section (6) is docked with the docking mechanism (52), the cabin section (6) passes through the through hole (524), the positioning pin (522) is tightly inserted into the positioning hole (33113), and the locking structure (523) can be adaptively buckled on the first tooling (331) to fix the cabin section (6).
6. The vertical assembly system of cabin and radar according to claim 3, characterized in that: The tooling set (33) further comprises a second tooling (332) and a third tooling (333); When the cabin section (6) is placed horizontally on the lifting seat (32), the second tooling (332) is used to be installed on the upper part of the larger end of the cabin section (6), and the third tooling (333) is used to be installed on the lower part of the larger end of the cabin section (6); The second tooling (332) is configured to be grasped by the grasping assembly (232); The positioning seat group (34) comprises a first positioning seat (341) and a second positioning seat (342); the first positioning seat (341) and the first tooling (331) have mutually engaged positioning mechanisms; and the second positioning seat (342) can adaptably connect and position the third tooling (333).
7. The vertical assembly system of cabin and radar according to claim 6, characterized in that: The gripper assembly (232) comprises three gripping components; each of the gripping components comprises a cylinder (2321), a connecting block (2322) and a connecting pin (2323); the telescopic rod of the cylinder (2321) is connected to the connecting block (2322); The hoisting portion (3312) has two connection holes (33121); the second tooling (332) has one connection hole (33121); The manipulator (1) drives the grabbing frame (23), and the three cylinders (2321) respectively drive the three connecting blocks (2322), so that two of the connecting blocks (2322) are pressed against the bottom of the hanging part (3312), and one connecting block (2322) is pressed against the bottom of the second tooling (332), and at the same time, the three connecting pins (2323) are inserted into the three connecting holes (33121) one by one, so that the grabbing frame (23) fixes the first tooling (331) and the second tooling (332).
8. The vertical assembly system of cabin and radar according to claim 1, characterized in that: The assembly device (5) further comprises an automatic nail feeding device (8), wherein the automatic nail feeding device (8) is configured to suck screws from the bottom of the assembly platform (51) and automatically screw them upward and tighten the screws to fix the radar (7) and the cabin section (6).
9. A method for vertically assembling a cabin section and a radar, characterized in that: The vertical assembly method is performed using the vertical assembly system according to any one of claims 1 to 8, and comprises: The lifting seat (32) is driven to a high position, the cabin section (6) is manually placed horizontally on the lifting seat (32), and the tooling assembly (33) is manually installed at both ends of the cabin section (6); The lifting seat (32) is driven to a low position, the support of the lifting seat (32) on the cabin section (6) is released, and the tooling groups (33) at both ends of the cabin section (6) are pressed down on the positioning seat group (34) to be positioned; The manipulator (1) sucks the grabbing frame (23) on the grabbing support (22) to the top of the cabin section (6) on the positioning platform (31), and simultaneously starts the manipulator (1) and the grabbing machine group (232), so that the grabbing machine group (232) grabs the tooling groups (33) at both ends of the cabin section (6); The manipulator (1) moves the grabbing frame (23) onto the assembly table (51), during which the manipulator (1) vertically places the cabin section (6) onto the docking mechanism (52) through a rotation operation; The grabbing frame (23) releases the tooling group (33); the manipulator (1) puts the grabbing frame (23) back onto the grabbing support (22); The manipulator (1) absorbs the vertically placed radar (7) from the placement platform (4), vertically places the radar (7) into the cabin (6) on the assembly table (51), and locks the cabin (6) and the radar (7) by an automatic nail feeding device (8), or manually locks the cabin (6) and the radar (7).
Citation Information
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