Centering and positioning system and method for upper frame

Abstract

The invention relates to an upper frame centering and positioning system and method, and belongs to the field of excavator transfer equipment. Comprising a supporting platform used for placing an upper frame of the excavator. The two first pushing head mechanisms are arranged on the supporting platform in a spaced and parallel mode, and each first pushing head mechanism is provided with a telescopic end stretching out and drawing back in the X direction so as to push the upper frame to be centered in the X direction; the two second pushing head mechanisms are oppositely arranged on the supporting platform in a spaced mode, and each second pushing head mechanism is provided with a telescopic end stretching out and drawing back in the Y direction so as to push the upper frame to be centered in the Y direction; the lifting mechanism is arranged below the supporting platform and used for adjusting the height of the supporting platform so as to transfer the centered upper frame to the transfer equipment; and the control module is in signal connection with the first push head mechanism, the second push head mechanism and the lifting mechanism. The centering positioning system and the positioning method provided by the invention can be suitable for positioning and assembling of various types of excavator upper frames, and have the advantages of high positioning precision and good positioning effect.

Description

Technical Field

[0001] The invention belongs to the field of excavator transfer equipment and relates to an upper frame centering positioning system and method. Background Art

[0002] The upper frame of the excavator is an important part of the excavator. It carries key components such as the cab, engine, and working device. The upper frame is connected to the lower frame through a slewing bearing to achieve the rotation of the upper structure of the excavator. It plays a vital role in the overall performance and stability of the excavator.

[0003] With the application of automated logistics equipment such as AGV and RGV, the assembly line of the excavator frame has also shifted from the ground drag chain to the more flexible and automated AGV and RGV assembly line. At the same time, the frame also adopts automatic transfer and on-line methods such as accumulation and release chains or truss manipulators to replace the manual transfer and on-line methods of driving or forklifts, which puts forward higher requirements on the posture and positioning accuracy of the frame. The traditional frame positioning method of marking, making reference marks or manual visual inspection can no longer adapt to the fast-paced and high-requirement modern excavator production line. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an upper frame centering positioning system and method, which has high positioning accuracy and can be adapted to match the upper frame positioning assembly of various models of excavators.

[0005] In order to achieve the above object, the present invention provides an upper frame centering and positioning system, comprising two centering and positioning parts symmetrically arranged along the center line of the excavator rotary platform; each centering and positioning part comprises:

[0006] Support platform for placing the upper frame of the excavator;

[0007] Two first push head mechanisms are arranged on the support platform at intervals and parallel to each other, and have telescopic ends that telescope along the X direction to push the upper frame to center along the X direction;

[0008] Two second pusher head mechanisms are arranged on the support platform at intervals and opposite to each other, and have telescopic ends that telescope along the Y direction to push the upper frame to center along the Y direction;

[0009] The lifting mechanism is arranged below the supporting platform and is used to adjust the height of the supporting platform so as to transfer the centered upper frame to the transfer equipment.

[0010] Optionally, the upper frame centering and positioning system includes a control module, and the control module is respectively connected to the first push head mechanism, the second push head mechanism and the lifting mechanism by signal.

[0011] Optionally, the upper frame centering and positioning system includes an identification module, which is connected to the control module signal for identifying the upper frame model; the control module outputs the centering and positioning formula according to the upper frame model, controls the first push head mechanism and the second push head mechanism to complete the upper frame positioning, and transfers the upper frame to the transfer equipment through the lifting mechanism.

[0012] Optionally, the control module is connected to a signal acquisition component, which is used to collect the lifting height, lifting time, lifting speed and acceleration of the lifting mechanism; the control module generates a target height change S curve according to the lifting height, lifting time, lifting speed and acceleration of the lifting mechanism, and controls the lifting mechanism to rise and fall according to the target height change S curve.

[0013] Optionally, the lifting mechanism is a hydraulic scissor-type mechanism, the support platform constitutes the lifting end of the hydraulic scissor-type mechanism, and the control module is connected to the hydraulic pipeline signal of the hydraulic scissor-type mechanism.

[0014] Optionally, the control module also includes a PID controller, and the PID controller is used to control the synchronous lifting of the two lifting mechanisms.

[0015] Optionally, each centering positioning portion also includes a floating support slide arranged on the support platform, and the floating support slide is constructed to slide on the support platform along the X direction and the Y direction under the push of the first push head mechanism and the second push head mechanism; the telescopic end of the first push head mechanism faces the first side surface of the floating support slide, and the first side surface is a side surface parallel to the Y direction and away from the edge of the support platform; the telescopic ends of the two second push head mechanisms respectively face the second side surface and the third side surface of the floating support slide, and the second side surface and the third side surface are two side surfaces parallel to the X direction.

[0016] Optionally, the first push head mechanism and the second push head mechanism both include a servo electric telescopic cylinder.

[0017] Optionally, the telescopic end of the servo electric telescopic cylinder and the upper surface of the supporting platform are both provided with a flexible layer.

[0018] In a second aspect, the present invention further provides an upper frame centering positioning method, which is applied to the upper frame centering positioning system mentioned above, and the method comprises:

[0019] The front-end loading device places the upper frame on the floating support slide;

[0020] Identify the upper frame model, and the control module outputs the centering positioning formula according to the upper frame model;

[0021] Control the first push head mechanism to complete the centering of the upper frame along the X direction, and the second push head mechanism to complete the centering of the upper frame along the Y direction;

[0022] The control module controls the lifting mechanism to transport the upper frame to the transfer equipment;

[0023] The lifting mechanism is reset.

[0024] The beneficial effects of the present invention are:

[0025] The upper frame is placed on the support platform on the centering and positioning part. The upper frame is pushed to center along the X direction by the first push head mechanism, and the upper frame is pushed to center along the Y direction by the second push head mechanism, so that the positioning and centering of the upper frame are accurate and there is no need for repeated operations. By symmetrically setting the two centering and positioning parts, the force on the upper frame is more uniform during the centering and positioning process, and the positioning effect is better. The upper frame model is identified by the identification module, and the control module outputs the centering and positioning formula according to the upper frame model to complete the positioning of the upper frame. It can match a variety of upper frames of different models to complete assembly, and has a wider range of applications.

[0026] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 This is one of the structural schematic diagrams of the upper frame centering and positioning system according to an embodiment of the present invention;

[0029] Figure 2 This is the second structural schematic diagram of the upper frame centering and positioning system according to an embodiment of the present invention.

[0030] Figure numerals: 1. Support platform; 2. First push head mechanism; 3. Second push head mechanism; 4. Lifting mechanism; 5. Floating support slide. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0032] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0033] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] See also Figure 1-2 , is a centering positioning system for an upper frame, the centering positioning system may include a center line along the center line of the excavator slewing platform (such as Figure 1 The two centering positioning parts (shown in dotted lines) are symmetrically arranged, the lifting mechanism 4, the control module and the identification module.

[0035] Each centering and positioning portion includes a support platform 1, two first push head mechanisms 2, and two second push head mechanisms 3. The two first push head mechanisms 2 are arranged on the support platform 1 at intervals and parallel to each other, and the telescopic ends of the two are telescopic along the X direction. The two second push head mechanisms 3 are arranged on the support platform 1 at intervals and opposite to each other, and the telescopic ends of the two are telescopic along the Y direction.

[0036] The upper frame is placed on the support platform 1 by the front-end loading device, the first push head mechanism 2 pushes the upper frame to be centered along the X direction, and the second push head mechanism 3 pushes the upper frame to be centered along the Y direction. It can be understood that the X direction is the length direction of the support platform 1, and the Y direction is the width direction of the support platform 1. Each centering and positioning part also includes a lifting mechanism 4, which is arranged below the support platform 1 and connected to the support platform 1. The lifting mechanism 4 is used to transfer the upper frame to the transfer equipment after the upper frame is aligned in the X direction and the Y direction.

[0037] The control module is connected to the first push head mechanism 2, the second push head mechanism 3 and the lifting mechanism 4 by signals, respectively, to control the operation of the first push head mechanism 2, the second push head mechanism 3 and the lifting mechanism 4. The identification module is used to identify the upper frame model. For example, the identification module can be an image processing-based identification module, a barcode identification module or an RFID identification module. The identification module is connected to the control module by signals. The control module outputs a centering positioning formula according to the upper frame model, controls the first push head mechanism 2 and the second push head mechanism 3 to complete the positioning of the upper frame, and transports the upper frame to the transport equipment through the lifting mechanism 4.

[0038] The upper frame centering and positioning system of the present invention is that the upper frame is placed on the support platform 1 on the centering and positioning part, and the upper frame is pushed to center along the X direction by the first push head mechanism 2, and the upper frame is pushed to center along the Y direction by the second push head mechanism 3, so that the positioning and centering of the upper frame are accurate and there is no need to perform repeated operations. By symmetrically setting the two centering and positioning parts, the upper frame is subjected to more uniform force during the centering and positioning process, and the positioning effect is better. The upper frame model is identified by the identification module, and the control module outputs the centering and positioning formula according to the upper frame model to complete the positioning of the upper frame. It can match a variety of upper frames of different models to complete assembly, and has a wider range of applications.

[0039] In some optional embodiments, the control module is connected to a signal acquisition component, such as a height sensor (pull rope encoder), a speed sensor, etc. The signal acquisition component is used to collect the lifting height, lifting time, lifting speed, and acceleration of the lifting mechanism 4. The control module generates a target height change S curve according to the lifting height, lifting time, lifting speed, and acceleration of the lifting mechanism 4, and controls the lifting mechanism 4 to rise and fall according to the target height change S curve. The smoothness of the target height change S curve is conducive to reducing the rigid impact between the first push head mechanism 2, the second push head mechanism 3, and the upper frame during the centering process, ensuring the smooth transition of the lifting mechanism 4 during the start, stop, and acceleration process, thereby reducing the impact and vibration on the mechanical structure and improving the safety and stability of the equipment.

[0040] In some optional embodiments, the lifting mechanism 4 includes a hydraulic scissor mechanism, the support platform 1 constitutes the lifting end of the hydraulic scissor mechanism, and the control module is connected to the hydraulic pipeline signal of the hydraulic scissor mechanism. The lifting and lowering of the support platform 1 is controlled by the hydraulic scissor mechanism, and the response is rapid, and the operation process of the equipment is more stable and accurate.

[0041] In some optional embodiments, the control module also includes a PID controller, which is used to control the synchronous lifting of the two lifting mechanisms 4. The PID controller calculates the difference between the current height of the support platforms 1 on both sides and the target curve every 100ms, amplifies the analog current signal through the amplifier and outputs it to the hydraulic system, adjusts the opening size of the proportional valve of the hydraulic pipeline of the positioning device on both sides, and adjusts the flow of hydraulic oil, thereby controlling the lifting speed of the lifting platform, so that the left and right platforms rise or fall according to the target height change curve, and corrects the lifting of the elevator in real time to achieve synchronization of bilateral lifting. The PID controller calculates the difference between the target height and the current height on both sides, outputs a control signal to the hydraulic system, and controls the speed of the elevators on both sides, so that the height difference on both sides can reach ±1mm, realizing synchronous lifting and automatic height correction of the elevators on both sides.

[0042] In some optional embodiments, the upper frame centering and positioning system also includes a floating support slide 5, which is slidably arranged on the support platform 1 along the X direction and the Y direction. Exemplarily, the floating support slide 5 and the support platform 1 may be provided with universal balls so that the floating support slide 5 can slide along the X direction and the Y direction. The telescopic end of the first push head mechanism 2 faces the first side of the floating support slide 5, and the first side is a side parallel to the Y direction and away from the edge of the support platform 1. The telescopic ends of the two second push head mechanisms 3 respectively face the second side and the third side of the floating support slide 5, and the second side and the third side are two sides parallel to the X direction, so as to facilitate the upper frame to be placed on the floating support slide 5 and then pushed to the center and position.

[0043] In some optional embodiments, a spring may be provided between the floating support slide 5 and the support platform 1, and the upper frame slides freely along the X direction or the Y direction on the floating support slide 5. When the floating support slide 5 is centered and positioned and the upper frame is transported to the assembly line, the floating support slide 5 automatically resets under the action of the spring. The first push head mechanism 2 and the second push head mechanism 3 both include a servo electric telescopic cylinder. The servo drive method is conducive to accurately controlling the displacement of the upper frame, thereby realizing the positioning of upper frames of different sizes.

[0044] Furthermore, the telescopic end of the servo electric telescopic cylinder and the upper surface of the support platform 1 are both provided with a flexible layer, and illustratively, the flexible layer can be nylon or rubber. On the one hand, a flexible layer is used at the telescopic end of the servo electric telescopic cylinder that contacts the frame, and at the same time, a torque limit is configured for the servo electric telescopic cylinder, and a certain amount of flexible compression is provided after the telescopic end contacts the frame, so as to achieve redundancy for poor consistency of frame dimensions. On the other hand, the contact portion of the support platform 1 with the frame is provided with a flexible layer, and the floating support platform 5 will not damage the frame paint surface during the centering and positioning process.

[0045] In a second aspect, an embodiment of the present application further provides an upper frame centering positioning method, which is applied to the upper frame centering positioning system mentioned above, and the method comprises:

[0046] S1: The front-end on-line device places the upper frame on the floating support slide 5.

[0047] S2: The identification module identifies the upper frame model, and the control module outputs a centering positioning formula according to the upper frame model. Exemplarily, the centering positioning formula is a centering parameter that matches the current model frame, and may include a displacement of the first push head mechanism 2 along the X direction, and a displacement of the second push head mechanism 3 along the Y direction.

[0048] S3: The control module controls the first push head mechanism 2 to complete the centering of the upper frame along the X direction, and the second push head mechanism 3 to complete the centering of the upper frame along the Y direction; specifically, the control module controls the pushing torque or moving stroke of the electric telescopic cylinder of the first push head mechanism 2 to reach a set value to complete the centering of the upper frame along the X direction; controls the pushing torque or moving stroke of the electric telescopic cylinder of the second push head mechanism 3 to reach a set value to complete the centering of the upper frame along the Y direction.

[0049] S4: The control module controls the lifting mechanism 4 to transport the upper frame to the transfer equipment; specifically, after completing the XY direction positioning of the upper frame, the lifting mechanism 4 synchronously descends according to the set height curve, and after descending to the preset height, the upper frame is placed on the RGV / AGV, and the first push head mechanism 2 and the second push head mechanism 3 return to their original positions, realizing the separation of the upper frame and the frame centering positioning system, and the floating support slide 5 returns to its original position. In this embodiment, the control module generates a target height change S curve according to the lifting height, lifting time, lifting speed, and acceleration of the lifting mechanism 4, and controls the lifting mechanism 4 to rise and fall according to the target height change S curve.

[0050] S5: the lifting mechanism 4 is reset; specifically, after the RGV / AGV transports the upper frame out of the frame centering and positioning system area, the lifting mechanisms 4 on both sides rise synchronously back to their original positions, and the next frame centering can be carried out.

[0051] The upper frame centering positioning method of the present invention has high positioning accuracy due to the use of the upper frame centering positioning system, and can be adapted to match the upper frame positioning assembly of various models of excavators. It has a high degree of automation and greatly reduces the labor intensity of workers.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. An upper frame centering and positioning system, characterized in that: It includes two centering positioning parts symmetrically arranged along the center line of the excavator rotary platform; each of the centering positioning parts includes: A support platform (1) for placing the upper frame of the excavator; Two first push head mechanisms (2) are arranged on the support platform (1) at intervals and in parallel with each other, and have telescopic ends that telescope in the X direction to push the upper frame to center in the X direction; Two second push head mechanisms (3) are arranged on the support platform (1) at intervals and opposite to each other, and have telescopic ends that can be telescoped along the Y direction to push the upper frame to center along the Y direction; A lifting mechanism (4) is arranged below the support platform (1) and is used to adjust the height of the support platform (1) so as to transport the centered upper frame to the transport equipment.

2. The upper frame centering and positioning system according to claim 1, characterized in that: It comprises a control module, and the control module is respectively connected to the first push head mechanism (2), the second push head mechanism (3) and the lifting mechanism (4) by signals.

3. The upper frame centering and positioning system according to claim 2, characterized in that: It includes an identification module, which is connected to the control module by signal and is used to identify the upper frame model; The control module outputs a centering positioning formula according to the upper frame model, controls the first push head mechanism (2) and the second push head mechanism (3) to complete the positioning of the upper frame, and transfers the upper frame to the transfer equipment through the lifting mechanism (4).

4. The upper frame centering and positioning system according to claim 3, characterized in that: The control module is connected to a signal acquisition component, and the signal acquisition component is used to collect the lifting height, lifting time, lifting speed and acceleration of the lifting mechanism (4); The control module generates a target height change S curve according to the lifting height, lifting time, lifting speed and acceleration of the lifting mechanism (4), and controls the lifting mechanism (4) to lift and lower according to the target height change S curve.

5. The upper frame centering and positioning system according to claim 2, characterized in that: The lifting mechanism (4) is a hydraulic scissor-type mechanism, the support platform (1) constitutes the lifting end of the hydraulic scissor-type mechanism, and the control module is connected to the hydraulic pipeline signal of the hydraulic scissor-type mechanism.

6. The upper frame centering and positioning system according to claim 5, characterized in that: The control module also includes a PID controller, and the PID controller is used to control the synchronous lifting of the two lifting mechanisms (4).

7. The upper frame centering and positioning system according to claim 1, characterized in that: Each centering and positioning portion further comprises a floating support slide (5), wherein the floating support slide (5) is arranged on the support platform (1), and the upper frame is placed on the floating support slide (5); The floating support slide (5) is configured to slide along the X direction and the Y direction on the support platform (1) under the push of the first push head mechanism (2) and the second push head mechanism (3); The telescopic end of the first push head mechanism (2) faces the first side surface of the floating support slide (5), and the first side surface is a side surface parallel to the Y direction and away from the edge of the support platform (1); The telescopic ends of the two second push head mechanisms (3) are respectively oriented toward the second side surface and the third side surface of the floating support slide (5), and the second side surface and the third side surface are two side surfaces parallel to the X direction.

8. The upper frame centering and positioning system according to claim 1, characterized in that: The first push head mechanism (2) and the second push head mechanism (3) both comprise a servo electric telescopic cylinder.

9. The upper frame centering and positioning system according to claim 8, characterized in that: The telescopic end of the servo electric telescopic cylinder and the upper surface of the supporting platform (1) are both provided with a flexible layer.

10. A method for centering and positioning an upper frame, characterized in that: Applied to the upper frame centering and positioning system of claim 7, the method comprises: The front-end on-line device places the upper frame on the floating support slide (5); Identify the upper frame model, and the control module outputs a centering and positioning formula according to the upper frame model; Controlling the first push head mechanism (2) to complete the centering of the upper frame along the X direction, and controlling the second push head mechanism (3) to complete the centering of the upper frame along the Y direction; Controlling the lifting mechanism (4) to transport the upper frame to the transfer equipment; The lifting mechanism (4) is reset.

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