Omni-directional moving general assembly platform device

Abstract

The invention discloses an omni-directional moving general assembly platform device, and relates to the field of equipment general assembly, the omni-directional moving general assembly platform device comprises a clamping mechanism, a cross-shaped sliding table, an industrial robot and an AGV, one end of the industrial robot is connected with the clamping mechanism through the cross-shaped sliding table, the other end of the industrial robot is connected to the AGV, the clamping mechanism is used for clamping a conical section product, and the clamping mechanism is used for clamping the conical section product. The AGV is used for driving the conical section products to be transferred to the butt joint station; the clamping mechanism comprises a cross beam, a hoop and connecting frames, the surface of one side of the cross beam is connected with the cross-shaped sliding table, the other side of the cross beam is connected with the two connecting frames in a sliding mode, and the two connecting frames are relatively close to or away from each other to clamp or loosen the conical section product; two hoops are installed on the side, opposite to the other connecting frame, of each connecting frame, and the radians of the two hoops and the positions of the two hoops in the moving direction of the connecting frames are determined according to conical section products. The problems of lifting, overturning, transportation and butt joint of conical section products in the assembling process are solved, and the assembling automation problem is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of equipment assembly, and in particular relates to an omnidirectional mobile assembly platform device, which is applied to product assembly material transfer and assembly processes. Background Art

[0002] Due to the large size and weight of some heavy cone products, in the traditional assembly process, the cone products are generally parked vertically with the large end facing down. It is often necessary to use a hoist to lift and flip, and then use a transfer vehicle to transport it to the right place, and then use the docking tooling to dock it. This process requires the use of several types of equipment, the process is complicated, there are many operators, and the docking accuracy is difficult to guarantee. When docking, traditional manual adjustment is often used. Because the docking height is too high, workers need to stand on the work ladder and manually operate the adjustment mechanism to repeatedly roll, lift and adjust the posture before they can align. This docking mode places too high demands on workers and is difficult to operate, making it difficult to meet the high-quality and efficient assembly requirements of cone products. Summary of the invention

[0003] The technical problem solved by the present application is: to overcome the shortcomings of the prior art, to provide an omnidirectional mobile assembly platform device, to solve the problems of lifting, flipping, transporting and docking of cone segment products during the assembly process, and the problem of assembly automation. The present invention uses components such as a mechanical arm, an AGV transport vehicle and an automatic fixture to realize the automated transportation, lifting, posture adjustment and docking of cone segment products, improve the docking assembly quality, improve production efficiency, shorten the assembly cycle, and meet the requirements of simplification and automation of cone segment product assembly process.

[0004] The technical solutions provided by this application are as follows:

[0005] An omnidirectional mobile assembly platform device comprises a clamping mechanism, a cross slide, an industrial robot and an AGV vehicle, wherein one end of the industrial robot is connected to the clamping mechanism via a cross slide, and the other end of the industrial robot is connected to the AGV vehicle, the clamping mechanism is used to clamp a cone segment product, and the AGV vehicle is used to drive the cone segment product to be transferred to a docking station; the clamping mechanism comprises a cross beam, a clamping hoop and a connecting frame, one side surface of the cross beam is connected to the cross slide, and the other side of the cross beam is slidably connected to two connecting frames, and the two connecting frames are relatively close or far away to achieve clamping or loosening of the cone segment product; two clamping hoops are installed on the side of each connecting frame opposite to the other connecting frame, and the two clamping hoops are respectively in contact with different surfaces of the cone segment product in the axial direction, and the curvature of the clamping hoop and the position in the moving direction of the connecting frame are determined according to the cone segment product.

[0006] The curvature of the clamp is consistent with the curvature of the conical section product at the contact part, and the position of the clamp in the moving direction of the connecting frame is determined according to the diameter of the conical section product at the contact part, so that both clamps can contact and clamp the surface of the conical section product.

[0007] Each connecting frame is connected to two mounting parts on one side opposite to the other connecting frame. The mounting parts are used to mount arc-shaped clamps. The surface of the mounting parts facing the other connecting frame is an arc-shaped surface, which fits with one side of the clamp.

[0008] The clamp and the connecting frame are rotationally connected via a slewing mechanism.

[0009] The rotating mechanism includes a gear and a guide hole. The guide hole is opened in the mounting portion. The guide hole is arc-shaped, and the axis of the arc-shaped guide hole is coaxial with the axis of the clamp. The mounting portion is opened with a connecting hole, one end of the connecting hole is connected to the guide hole, and the other end extends to the arc-shaped surface. The clamp is fixedly connected with a connecting ear on the side facing the mounting portion, and the end of the connecting ear extends from the connecting hole into the guide hole. The gear is rotatably connected to the connecting ear. The two opposite arc-shaped inner wall surfaces of the guide hole are both gear ring structures. The gear is located in the guide hole and meshes with the gear rings on both sides. The gear is connected to a motor for driving the gear to rotate.

[0010] The output shaft of the motor is connected to the gear for driving the gear to rotate. The body of the motor is fixedly connected with a connecting plate, and the connecting plate is fixedly connected with the clamp.

[0011] Two mutually parallel linear guide rails are installed on the side of the cross beam away from the cross slide, and each connecting frame is slidably connected to the two linear guide rails at the same time.

[0012] The crossbeam is fixedly connected to two cylinders, and piston rods of the cylinders are fixedly connected to the connecting frames, so as to drive the two connecting frames to be relatively close to or away from each other.

[0013] The cross slide comprises a connecting plate, an upper base plate, a lower base plate, an upper lead screw and a lower lead screw; a first linear slide is arranged on the surface of the lower base plate, and is rotatably connected to the lower lead screw; a first driving motor is used to drive the lower lead screw to rotate; the upper base plate is slidably connected to the lower base plate through the first linear slide; the lower lead screw 2-3 passes through the upper base plate and is threadedly connected to the upper base plate, so that the first driving motor drives the lower lead screw to rotate, and then drives the upper base plate to move relative to the lower base plate along the direction of the first linear slide; a second linear guide is installed on the surface of the upper base plate away from the lower base plate, and is rotatably connected to the upper lead screw; the direction of the second linear guide is perpendicular to the first linear guide; the second driving motor is used to drive the upper lead screw to rotate, the connecting plate is slidably connected to the upper base plate through the second linear guide, the upper lead screw passes through the connecting plate and is threadedly connected to the connecting plate, so that the second driving motor drives the upper lead screw to rotate, and then drives the connecting plate to move relative to the upper base plate along the direction of the second linear guide; the connecting plate is connected to the industrial robot, and the lower base plate is connected to the clamping mechanism.

[0014] In summary, this application at least includes the following beneficial technical effects:

[0015] This system uses industrial robot system, AGV, and clamping mechanism to realize automatic cone segment product docking. It has the advantages of improving the efficiency of cone segment product docking, reducing the difficulty of workers' operation, reducing the number of hoisting and transportation, significantly improving assembly quality and accuracy, improving assembly efficiency, promoting product assembly automation, and has a good prospect for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the schematic diagram of the assembly platform structure

[0017] Figure 2 Schematic diagram of the clamping mechanism

[0018] Figure 3 This is a schematic diagram of the cross slide structure

[0019] Figure 4 This is a schematic diagram of the local structure of the clamping mechanism

[0020] Explanation of the accompanying figures: 1. Clamping mechanism; 1-1. Crossbeam; 1-2. Cylinder; 1-3. Linear guide; 1-4. Connecting frame; 1-5. Motor; 1-6. Clamp; 1-7. Connecting plate; 1-8. Gear; 2. Cross slide; 2-1. Connecting plate; 2-2. Upper base plate; 2-3. Lower base plate; 2-4. Upper lead screw; 2-5. Lower lead screw; 3. Industrial robot; 4. AGV vehicle. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] The present application embodiment discloses an omnidirectional mobile assembly platform device, such as Figure 1 As shown, it includes a clamping mechanism 1, a cross slide 2, an industrial robot 3 and an AGV vehicle 4, wherein the industrial robot 3 can be a robotic arm, one end of the industrial robot 3 is connected to the clamping mechanism 1 through the cross slide 2, and the other end of the industrial robot 3 is connected to the AGV vehicle 4. The industrial robot 3 can drive the cone segment product to move, and can also adjust the cone segment product from a vertical state to a horizontal state, and can also perform multi-degree-of-freedom adjustments; the clamping mechanism 1 is used to clamp the cone segment product, and the AGV vehicle 4 is used to drive the cone segment product to be transported to the docking station.

[0023] The cone segment product is clamped by the clamping mechanism 1 and transferred to the docking station by the AGV vehicle 4. The posture of the cone segment product is adjusted by the industrial robot 3. After approaching the docking product, the cross slide 2 is used to perform more precise forward and backward and left and right translation, and the rolling posture is adjusted by the rotary mechanism on the clamping mechanism 1 for docking.

[0024] like Figure 3As shown, the cross slide can realize the movement of the nozzle in the front-back and left-right directions, and has two layers of moving mechanisms. Specifically, the cross slide includes a connecting plate 2-1, an upper base plate 2-2, a lower base plate 2-3, an upper lead screw 2-4 and a lower lead screw 2-5; the surface of the lower base plate 2-3 is provided with a first linear slide rail, and is rotatably connected to the lower lead screw 2-5, and the first drive motor is used to drive the lower lead screw 2-5 to rotate, the upper base plate 2-2 is slidably connected to the lower base plate 2-3 through the first linear slide rail, the lower lead screw 2-3 passes through the upper base plate and is threadedly connected to the upper base plate, so that the first drive motor drives the lower lead screw to rotate, and then drives the upper base plate relative to the lower base plate along the first linear slide rail. The upper base plate 2-2 is installed with a second linear guide on the surface facing away from the lower base plate, and is rotatably connected with an upper lead screw 2-4. The direction of the second linear guide is perpendicular to the first linear guide. The second drive motor is used to drive the upper lead screw to rotate. The connecting plate 2-1 is slidably connected to the upper base plate 2-2 through the second linear guide. The upper lead screw 2-4 passes through the connecting plate 2-1 and is threadedly connected to the connecting plate 2-1, so that the second drive motor drives the upper lead screw 2-4 to rotate, and then drives the connecting plate to move relative to the upper base plate along the direction of the second linear guide. The connecting plate is connected to the industrial robot 3, and the lower base plate is connected to the clamping mechanism 1.

[0025] like Figure 2 As shown, the clamping mechanism 1 is used to clamp the cone segment product. The clamping mechanism includes a crossbeam 1-1, a cylinder 1-2, a linear guide 1-3, a clamp 1-6 and a connecting frame 1-4. One side surface of the crossbeam 1-1 is fixedly connected to the lower base plate, and two linear guides parallel to each other are installed on the other side of the crossbeam 1-1. The connecting frame 1-4 is slidably connected to the two linear guides at the same time. Two connecting frames 1-4 and two cylinders 1-2 are provided. The cylinder 1-2 is fixedly connected to the crossbeam 1-1, and the piston rod of the cylinder 1-2 is fixedly connected to the connecting frame 1-4. The two connecting frames 1-4 are driven respectively by the two cylinders 1-2, so that the distance between the two connecting frames 1-4 becomes smaller to complete the clamping of the cone segment product, and the distance between the two connecting frames 1-4 becomes larger to complete the loosening of the cone segment product.

[0026] like Figure 4As shown, each connecting frame 1-4 is connected to two mounting parts on the side opposite to the other connecting frame 1-4, and the mounting part is used to mount the arc-shaped clamp 1-6, and the curvature of the clamp 1-6 is consistent with the curvature of the cone segment product. The surface of the mounting part facing the other connecting frame 1-4 is an arc-shaped surface, and the clamp 1-6 is slidably connected to the mounting part along the circumferential direction of the arc-shaped surface. The clamp 1-6 is rotationally connected to the connecting frame 1-4 through a slewing mechanism. The slewing mechanism includes a gear and a guide hole, the guide hole is opened in the mounting part, the guide hole is arc-shaped, and the axis of the arc-shaped guide hole is coaxial with the axis of the clamp 1-6, the mounting part is opened with a connecting hole, one end of the connecting hole is connected to the guide hole, and the other end extends to the arc-shaped surface, the clamp 1-6 is fixedly connected to the side of the mounting part, the end of the connecting lug extends from the connecting hole into the guide hole, the gear is rotatably connected to the connecting lug, and the two opposite arc-shaped inner wall surfaces of the guide hole are gear ring structures, the gear is located in the guide hole, and meshes with the gear rings on both sides. The output shaft of the motor is connected to the gear to drive the gear to rotate. The motor body is fixedly connected with a connecting plate, and the connecting plate is fixedly connected to the clamp 1-6. The motor drives the gear to move in the gear ring, and the cone segment product can be adjusted to move around the axis.

[0027] The implementation principle of this application is:

[0028] After the clamping mechanism 1 clamps the cone segment product, the axis of the cone segment product and the product to be connected are adjusted to align through the AGV vehicle 4, the industrial robot 3 and the cross slide 2. There is a situation where the hole positions of the cone segment product and the product to be connected are not aligned. At this time, the motor is started, the motor drives the gear to rotate, the gear moves in the guide hole, and then the gear drives the clamp 1-6 to rotate, and the clamp 1-6 drives the clamped cone segment product to rotate until the hole positions are aligned, and then the cone segment product and the product to be connected can be further connected.

[0029] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0030] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. An omnidirectional mobile assembly platform device, characterized in that: The invention comprises a clamping mechanism (1), a cross slide (2), an industrial robot (3) and an AGV vehicle (4); one end of the industrial robot (3) is connected to the clamping mechanism (1) via the cross slide (2); the other end of the industrial robot (3) is connected to the AGV vehicle (4); the clamping mechanism (1) is used to clamp the cone segment product; and the AGV vehicle (4) is used to drive the cone segment product to be transported to a docking station; The clamping mechanism (1) comprises a crossbeam (1-1), a clamp (1-6) and a connecting frame (1-4); one side surface of the crossbeam (1-1) is connected to a cross slide (2); the other side of the crossbeam (1-1) is slidably connected to two connecting frames (1-4); the two connecting frames (1-4) are relatively close to or away from each other to achieve clamping or loosening of the cone segment product; two clamps (1-6) are installed on the side of each connecting frame (1-4) opposite to the other connecting frame (1-4); the curvature of the clamp (1-6) and the position of the clamp (1-6) in the moving direction of the connecting frame (1-4) are determined according to the cone segment product.

2. The omnidirectional mobile assembly platform device according to claim 1, characterized in that: Each connecting frame (1-4) is connected to two mounting parts on a side opposite to the other connecting frame (1-4), the mounting parts being used to mount the arc-shaped clamp (1-6), the surface of the mounting part facing the other connecting frame (1-4) being an arc-shaped surface, and the arc-shaped surface is in contact with one side of the clamp (1-6).

3. The omnidirectional mobile assembly platform device according to claim 1, characterized in that: The clamp (1-6) and the connecting frame (1-4) are rotationally connected via a slewing mechanism.

4. The omnidirectional mobile assembly platform device according to claim 3, characterized in that: The rotary mechanism comprises a gear and a guide hole, wherein the guide hole is provided in the mounting portion, the guide hole is arc-shaped, and the axis of the arc-shaped guide hole is coaxial with the axis of the clamp (1-6), the mounting portion is provided with a connecting hole, one end of the connecting hole is connected to the guide hole, and the other end extends to the arc-shaped surface, the clamp (1-6) is fixedly connected with a connecting lug on one side facing the mounting portion, the end of the connecting lug extends from the connecting hole into the guide hole, the gear is rotatably connected to the connecting lug, the two opposite arc-shaped inner wall surfaces of the guide hole are both gear ring structures, the gear is located in the guide hole, and meshes with the gear rings on both sides, and the gear is connected to a motor for driving the gear to rotate.

5. The omnidirectional mobile assembly platform device according to claim 4, characterized in that: The output shaft of the motor is connected to the gear and is used to drive the gear to rotate. The body of the motor is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the clamp (1-6).

6. The omnidirectional mobile assembly platform device according to claim 1, characterized in that: Two mutually parallel linear guide rails are installed on the side of the cross beam (1-1) facing away from the cross slide (2), and each connecting frame (1-4) is slidably connected to the two linear guide rails at the same time.

7. The omnidirectional mobile assembly platform device according to claim 1, characterized in that: The crossbeam (1-1) is fixedly connected to two cylinders (1-2), and piston rods of the cylinders (1-2) are fixedly connected to the connecting frames (1-4) for driving the two connecting frames (1-4) to move relatively closer or farther away.

8. The omnidirectional mobile assembly platform device according to claim 1, characterized in that: The cross slide (2) comprises a connecting plate (2-1), an upper base plate (2-2), a lower base plate (2-3), an upper lead screw (2-4) and a lower lead screw (2-5); a first linear slide rail is arranged on the surface of the lower base plate (2-3) and is rotatably connected to the lower lead screw (2-5); a first drive motor is used to drive the lower lead screw (2-5) to rotate; the upper base plate (2-2) is slidably connected to the lower base plate (2-3) via the first linear slide rail; the lower lead screw 2-3 passes through the upper base plate and is threadedly connected to the upper base plate, so that the first drive motor drives the lower lead screw to rotate, thereby driving the upper base plate to move relative to the lower base plate along the direction of the first linear slide rail; the upper base plate ( A second linear guide is installed on the surface facing away from the lower base plate (2-2), and is rotatably connected to an upper lead screw (2-4); the direction of the second linear guide is perpendicular to the first linear guide; a second drive motor is used to drive the upper lead screw to rotate; a connecting plate (2-1) is slidably connected to the upper base plate (2-2) via the second linear guide; the upper lead screw (2-4) passes through the connecting plate (2-1) and is threadedly connected to the connecting plate (2-1), so that the second drive motor drives the upper lead screw (2-4) to rotate, thereby driving the connecting plate to move relative to the upper base plate along the direction of the second linear guide; the connecting plate is connected to the industrial robot (3), and the lower base plate is connected to the clamping mechanism (1).

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