An omnidirectional mobile assembly platform device

Abstract

The application discloses an omnidirectional mobile assembly platform device, and relates to the field of equipment assembly, which comprises a clamping mechanism, a cross slide, an industrial robot and an AGV vehicle, one end of the industrial robot is connected with the clamping mechanism through the cross slide, the other end of the industrial robot is connected to the AGV vehicle, the clamping mechanism is used for clamping a conical section product, and the AGV vehicle is used for transferring the conical section product to a docking station; the clamping mechanism comprises a cross beam, a clamp and a connecting frame, one side surface of the cross beam is connected with the cross slide, the other side of the cross beam is slidably connected with two connecting frames, and the two connecting frames are relatively close or far away to realize clamping or loosening of the conical section product; two clamps are installed on the side, opposite to the other connecting frame, of each connecting frame, and the curvature and position of the two clamps in the moving direction of the connecting frame are determined according to the conical section product. The problems of lifting, turning, transporting and docking of the conical section product in the assembly process and the problem of assembly automation are solved.

Description

Technical Field

[0001] This application belongs to the field of equipment assembly technology, and specifically relates to an omnidirectional mobile assembly platform device, which is used for product assembly material transfer and assembly processes. Background Technology

[0002] Due to the excessive size and weight of some heavy-duty tapered products, they are typically placed vertically with the larger end facing down during traditional assembly. This often requires lifting and flipping with a hoist, followed by transport by a transfer vehicle, and then docking using a docking fixture. This process involves several pieces of equipment, is complex, requires many operators, and struggles to guarantee docking accuracy. During docking, traditional manual adjustment is often used. Because the docking height is too high, workers must stand on a ladder and manually operate the adjustment mechanism, repeatedly rolling, raising, and lowering to adjust the alignment. This docking method places excessive demands on workers and is difficult to operate, making it unsuitable for meeting the high-quality and high-efficiency assembly requirements of tapered products. Summary of the Invention

[0003] The technical problem solved by this application is to overcome the shortcomings of the prior art and provide an omnidirectional mobile assembly platform device that solves the problems of lifting, flipping, transporting, and docking conical products during the assembly process, as well as the problem of assembly automation. This invention uses components such as robotic arms, AGV transport vehicles, and automatic fixtures to achieve automated transfer, lifting, posture adjustment, and docking of conical products, improving docking assembly quality, increasing production efficiency, shortening the assembly cycle, and meeting the needs for simplified and automated assembly processes for conical products.

[0004] The technical solution provided in this application is as follows:

[0005] An omnidirectional mobile assembly platform device includes a clamping mechanism, a cross slide, an industrial robot, and an AGV (Automated Guided Vehicle). One end of the industrial robot is connected to the clamping mechanism via the cross slide, and the other end of the industrial robot is connected to the AGV. The clamping mechanism is used to clamp conical products, and the AGV is used to transport the conical products to the docking station. The clamping mechanism includes a crossbeam, clamps, and connecting frames. One side of the crossbeam is connected to the cross slide, and two connecting frames are slidably connected to the other side of the crossbeam. The two connecting frames are positioned close to or far apart to clamp or release the conical products. Two clamps are installed on the opposite side of each connecting frame. The two clamps contact different surfaces of the conical products along the axial direction. The curvature of the clamps and their position in the moving direction of the connecting frames are determined according to the conical products.

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

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

[0008] The clamp and the connecting frame are rotatably connected by a rotary mechanism.

[0009] The rotating mechanism includes a gear and a guide hole. The guide hole is located in the mounting part and is arc-shaped. The axis of the arc-shaped guide hole is coaxial with the axis of the clamp. The mounting part has 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. A connecting lug is fixedly connected to the side of the clamp facing the mounting part. The end of the connecting lug extends into the guide hole from the connecting hole. The gear is rotatably connected to the connecting lug. The two opposite arc-shaped inner walls 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 to drive the gear to rotate. The motor body is fixedly connected to a connecting plate, which is fixedly connected to a clamp.

[0011] Two parallel linear guide rails are installed on the side of the crossbeam away from the cross slide table, and each connecting frame is simultaneously slidably connected to the two linear guide rails.

[0012] The crossbeam is fixedly connected to two cylinders, and the piston rods of the cylinders are fixedly connected to the connecting frame, which is used to drive the two connecting frames to move closer or further apart.

[0013] The cross slide includes a connecting plate, an upper base plate, a lower base plate, an upper lead screw, and a lower lead screw. A first linear guide rail is provided on the surface of the lower base plate, and the lower lead screw is rotatably connected to it. A first drive motor drives the lower lead screw to rotate. The upper base plate is slidably connected to the lower base plate via the first linear guide rail. The lower lead screw 2-3 passes through the upper base plate and is threadedly connected to it. Thus, 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 guide rail. A second linear guide rail is mounted on the surface of the upper base plate opposite to the lower base plate, and the upper lead screw is rotatably connected to it. The direction of the second linear guide rail is perpendicular to the first linear guide rail. A second drive motor drives the upper lead screw to rotate. The connecting plate is slidably connected to the upper base plate via the second linear guide rail. The upper lead screw passes through the connecting plate and is threadedly connected to it. Thus, the second drive motor drives the upper lead screw to rotate, thereby driving the connecting plate to move relative to the upper base plate along the direction of the second linear guide rail. The connecting plate is connected to an industrial robot, and the lower base plate is connected to a clamping mechanism.

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

[0015] This system utilizes industrial robot systems, AGVs, and clamping mechanisms to achieve automated docking of tapered products. It offers advantages such as improved docking efficiency, reduced operator difficulty, fewer lifting and transfer operations, significantly enhanced assembly quality and precision, increased assembly efficiency, and promoted the automation of final product assembly, demonstrating excellent prospects for widespread application. Attached Figure Description

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

[0017] Figure 2 This is a 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 partial structural diagram of the clamping mechanism.

[0020] Explanation of reference numerals in the attached diagram: 1. Clamping mechanism; 1-1. Crossbeam; 1-2. Cylinder; 1-3. Linear guide rail; 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 Implementation

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

[0022] This application discloses an omnidirectional mobile assembly platform device, such as... Figure 1 As shown, the system includes a clamping mechanism 1, a cross slide 2, an industrial robot 3, and an AGV vehicle 4. The industrial robot 3 can be a robotic arm. One end of the industrial robot 3 is connected to the clamping mechanism 1 via 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 move the conical product, adjust the conical product from a vertical state to a horizontal state, and perform multi-degree-of-freedom adjustments. The clamping mechanism 1 is used to clamp the conical product, and the AGV vehicle 4 is used to transport the conical product to the docking station.

[0023] The conical product is clamped by the clamping mechanism 1, and the AGV 4 transports the conical product to the docking station. The industrial robot 3 adjusts the posture of the conical product, and after approaching the docking product, it performs more precise forward, backward, left and right translation via the cross slide 2, and adjusts its rolling posture via the rotary mechanism on the clamping mechanism 1 to achieve docking.

[0024] like Figure 3As shown, the cross slide can move the nozzle in the forward and backward, and left and 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 the lower lead screw 2-5 is rotatably connected to it. 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 through the first linear slide rail. The lower lead screw 2-3 passes through the upper base plate and is threadedly connected to it. Thus, the first drive motor drives the lower lead screw to rotate, thereby driving the upper base plate relative to the lower base plate along the first linear slide rail. The slide rail moves in the direction of movement; a second linear guide rail is mounted on the surface of the upper substrate 2-2 away from the lower substrate, and an upper lead screw 2-4 is rotatably connected to it. The direction of the second linear guide rail is perpendicular to the first linear guide rail. A second drive motor is used to drive the upper lead screw to rotate. The connecting plate 2-1 is slidably connected to the upper substrate 2-2 through the second linear guide rail. The upper lead screw 2-4 passes through the connecting plate 2-1 and is threadedly connected to the connecting plate 2-1. Thus, the second drive motor drives the upper lead screw 2-4 to rotate, thereby causing the connecting plate to move relative to the upper substrate along the direction of the second linear guide rail. The connecting plate is connected to the industrial robot 3, and the lower substrate is connected to the clamping mechanism 1.

[0025] like Figure 2 As shown, the clamping mechanism 1 is used to clamp the tapered product. The clamping mechanism includes a crossbeam 1-1, a cylinder 1-2, a linear guide rail 1-3, a clamp 1-6, and a connecting frame 1-4. One side of the crossbeam 1-1 is fixedly connected to the lower base plate, and two parallel linear guide rails are installed on the other side of the crossbeam 1-1. The connecting frame 1-4 is slidably connected to the two linear guide rails. Two cylinders are provided for both the connecting frame 1-4 and the cylinder 1-2. 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 cylinders 1-2 drive the two connecting frames 1-4 respectively, so that the distance between the two connecting frames 1-4 decreases, thereby clamping the tapered product. When the distance between the two connecting frames 1-4 increases, the tapered product is released.

[0026] like Figure 4As shown, each connecting frame 1-4 has two mounting parts connected to the opposite side of another connecting frame 1-4. These mounting parts are used to mount arc-shaped clamps 1-6, the curvature of which matches the curvature of the tapered product. The surface of the mounting part facing the other connecting frame 1-4 is arc-shaped, and the clamp 1-6 slides along the circumferential direction of the arc-shaped surface to the mounting part. The clamp 1-6 and the connecting frame 1-4 are rotatably connected via a rotating mechanism. The rotating mechanism includes a gear and a guide hole. The guide hole is located in the mounting part and is arc-shaped, with its axis coaxial with the axis of the clamp 1-6. The mounting part has a connecting hole, one end of which connects to the guide hole and the other end extends to the arc-shaped surface. A connecting lug is fixedly connected to the side of the clamp 1-6 facing the mounting part, the end of which extends from the connecting hole into the guide hole. The gear is rotatably connected to the connecting lug. The two opposite arc-shaped inner walls of the guide hole are both gear ring structures, with the gear located inside the guide hole and meshing with the gear rings on both sides. The motor's output shaft is connected to a gear to drive its rotation. A connecting plate is fixedly connected to the motor body, and this connecting plate is also fixedly connected to clamps 1-6. By driving the gear to move within the gear ring, the movement of the tapered product around its axis can be adjusted.

[0027] The implementation principle of this application is as follows:

[0028] After clamping mechanism 1 clamps the tapered product, the AGV 4, industrial robot 3, and cross slide 2 are used to align the axes of the tapered product and the product to be docked. However, if the holes of the tapered product and the product to be docked are not yet aligned, the motor is started. The motor drives the gear to rotate, and the gear moves in the guide hole. In turn, the gear drives the clamps 1-6 to rotate, and the clamps 1-6 drive the clamped tapered product to rotate until the holes are aligned. Then, the tapered product and the product to be docked can be further connected.

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

[0030] The present application has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present application. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and implementation methods of the present application without departing from the spirit and scope of the present application, and all such modifications and improvements fall within the scope of the present application. The scope of protection of the present application is determined by the appended claims.

Claims

1. An omnidirectional mobile assembly platform device, characterized in that: It includes 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) through the cross slide (2), and the other end of the industrial robot (3) is connected to the AGV vehicle (4). The clamping mechanism (1) is used to clamp the conical product, and the AGV vehicle (4) is used to drive the conical product to the docking station. The clamping mechanism (1) includes a crossbeam (1-1), clamps (1-6), and connecting frames (1-4). One side surface of the crossbeam (1-1) is connected to the cross slide (2), and 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 or far apart to achieve clamping or loosening of the tapered 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 clamps (1-6) and the position of the clamps (1-6) in the moving direction of the connecting frame (1-4) are determined according to the tapered product. Each connecting frame (1-4) has two mounting parts connected to the side opposite to the other connecting frame (1-4). The mounting parts are used to install the arc-shaped clamp (1-6). The surface of the mounting part facing the other connecting frame (1-4) is an arc-shaped surface, and the arc-shaped surface fits against one side of the clamp (1-6). The clamp (1-6) and the connecting frame (1-4) are rotatably connected by a rotary mechanism; The rotary mechanism includes a gear and a guide hole. The guide hole is located in the mounting part and is arc-shaped. The axis of the arc-shaped guide hole is coaxial with the axis of the clamp (1-6). The mounting part has 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 a connecting lug on the side facing the mounting part. The end of the connecting lug extends into the guide hole from the connecting hole. The gear is rotatably connected to the connecting lug. The two opposite arc-shaped inner walls 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 gear drive motor for driving the gear to rotate. The cross slide (2) 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). A first linear guide rail is provided on the surface of the lower base plate (2-3), and the lower lead screw (2-5) is rotatably connected to it. A first drive motor drives 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 guide rail. The lower lead screw (2-5) passes through the upper base plate and is threadedly connected to it. Thus, 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 guide rail. (2-2) A second linear guide is mounted on the surface away from the lower substrate 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 substrate (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). Thus, the second drive motor drives the upper lead screw (2-4) to rotate, thereby driving the connecting plate to move relative to the upper substrate along the direction of the second linear guide. The connecting plate is connected to the industrial robot (3), and the lower substrate is connected to the clamping mechanism (1).

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

3. The omnidirectional mobile assembly platform device according to claim 1, characterized in that: Two parallel linear guides are installed on the side of the crossbeam (1-1) away from the cross slide (2), and each connecting frame (1-4) is simultaneously slidably connected to the two linear guides.

4. 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 the piston rod of the cylinder (1-2) is fixedly connected to the connecting frame (1-4) to drive the two connecting frames (1-4) to move closer or further apart.

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