Planetary reducer assembly vehicle and control system thereof

Abstract

A planetary reducer assembly vehicle and a control system thereof belong to the technical field of assembly vehicles, the planetary reducer assembly vehicle comprises wheels, a loading platform, a gear turnover structure, a mechanical clamp and first extension arms, the loading platform is connected with the wheels through a lifting device, the wheels are connected with a driving device, and the first extension arms are arranged on opposite sides of the loading platform. The first extension arm is connected with the mechanical pincers through the gear overturning structure, the gear overturning structure is connected with the planetary reducer, the symmetrically-arranged mechanical pincers clamp a workpiece on the object carrying platform, and the driving device, the lifting device and the planetary reducer are connected with the computer control system. The assembly vehicle is provided with the adjustable supporting legs controlled by the motor, the height range can be freely adjusted through the motor, the multi-angle overturning and positioning functions are achieved through the mechanical arm structure driven by the gear, the autonomous navigation and automatic transportation functions are achieved, and automatic operation is achieved through an intelligent control system.

Description

Technical Field

[0001] The invention belongs to the technical field of assembly vehicles, and in particular relates to a planetary reducer assembly vehicle and a control system thereof. Background Art

[0002] With the rapid development of industrial automation, automated assembly technology plays an increasingly important role in improving production efficiency, reducing labor costs and improving product quality. Especially in the assembly process of precision mechanical parts such as planetary reducers, the requirements for operational flexibility, workpiece handling efficiency and automation level are increasing.

[0003] In the existing planetary reducer assembly process, traditional assembly vehicles are usually used for operation. Although these assembly vehicles can complete basic handling and assembly tasks, they have certain limitations in terms of operational flexibility, workpiece handling efficiency and automation level. For example, the height of traditional assembly vehicles is fixed, which makes it difficult to adapt to operators of different heights, resulting in reduced operating comfort and efficiency. In addition, the complexity of multi-angle processing of workpieces also makes the traditional manual flipping of workpieces time-consuming and labor-intensive, and prone to positioning errors. Furthermore, the inefficiency of transporting workpieces between workstations is also a prominent problem in the prior art.

[0004] The assembly vehicles of the prior art mainly have the following disadvantages:

[0005] 1. Inconvenient operation: The height of traditional assembly vehicles is fixed and cannot adapt to operators of different heights, resulting in reduced operating comfort and efficiency;

[0006] 2. Inflexible workpiece flipping: During the assembly process, the workpiece needs to be assembled or processed from multiple angles. The traditional manual flipping method is not only time-consuming and labor-intensive, but also prone to positioning errors;

[0007] 3. Inefficient transportation between workstations: Traditional assembly vehicles need to rely on manual pushing to transport workpieces between different workstations, which is not only time-consuming but also prone to path planning errors, affecting production efficiency.

[0008] 4. The functions of the assembly vehicles in the prior art rely on traditional mechanical principles, and basically have no intelligent control system and lack automated operation. Summary of the invention

[0009] In order to solve the above-mentioned problems, the present invention proposes: a planetary reducer assembly vehicle, comprising wheels, a loading platform, a gear flipping structure, a mechanical clamp and a first extension arm, the loading platform is connected to the wheels through a lifting device, the wheels are connected to a driving device, first extension arms are arranged on opposite sides of the loading platform, the first extension arms are connected to the mechanical clamp through the gear flipping structure, the gear flipping structure is connected to the planetary reducer, and the symmetrically arranged mechanical clamps clamp the workpiece on the loading platform.

[0010] Furthermore, the mechanical pliers include an elongated support arm and a clamp for fixing and clamping a workpiece, the elongated support arm is connected to the clamp, and the elongated support arm is connected to the first extension arm via a gear flip structure.

[0011] Further, the mechanical pliers include an inner ring mechanical pliers, a fine-tuning mechanical pliers lifting handle, and an outer ring mechanical pliers. The outer ring mechanical pliers include an upper semicircular outer clamp and a lower semicircular outer clamp. The inner ring mechanical pliers include an upper semicircular inner clamp and a lower semicircular inner clamp. The outer ring mechanical pliers is connected to the first extension arm through a gear flipping structure. The semicircular middle edge of the upper semicircular outer clamp is connected to the upper semicircular inner clamp through a gear flipping structure. The semicircular middle edge of the lower semicircular outer clamp is connected to the lower semicircular inner clamp through a gear flipping structure. The upper mechanical pliers connecting end of the upper semicircular outer clamp is connected to the fine-tuning mechanical pliers lifting handle, and the lower mechanical pliers connecting end of the lower semicircular outer clamp is rotatably set on the first extension arm.

[0012] Furthermore, the planetary reducer and the motor of the driving device are connected to a computer control system.

[0013] Furthermore, the lifting device includes a lifting motor and legs, wheels are arranged below the legs, the legs are connected to the loading platform via the lifting motor, and the lifting motor is connected to the computer control system.

[0014] Furthermore, a position sensor is arranged on the lifting device.

[0015] Furthermore, a support rod is arranged on the loading platform, the support rod is rotatably connected to the second extension arm, a display screen is arranged on the second extension arm, and the display screen is connected to a computer control system.

[0016] Furthermore, a braking device is arranged on the wheel.

[0017] A control system for a planetary reducer assembly vehicle as described above comprises a computer control system, a lifting circuit module, a position sensor circuit module, a drive displacement path module, a planetary reducer drive module and a display module, wherein the computer control system is connected to the lifting circuit module, the position sensor circuit module, the drive displacement path module, the planetary reducer drive module and the display module.

[0018] The beneficial effects of the present invention are:

[0019] This assembly vehicle is equipped with motor-controlled adjustable legs, and the height range can be freely adjusted by the motor. The operator can adjust the platform height with one button through the control interface according to their own needs, thereby ensuring the best working posture and improving the comfort of operation and ergonomics.

[0020] This assembly vehicle achieves multi-angle flipping and positioning functions through a gear-driven mechanical arm structure. Each mechanical arm is equipped with a gripper at the end, which can firmly clamp heavy objects and perform precise flipping at 0°, 90°, 180°, 270° and other custom angles. The structure has high strength and good stability, and can carry heavy enough weight to ensure safety and accuracy during the flipping process of the workpiece.

[0021] This assembly vehicle integrates the A* path planning algorithm and has autonomous navigation and automatic transportation functions. The vehicle can automatically plan the optimal route according to the preset target location, avoid obstacles, accurately reach the next designated workstation, and complete automatic transportation without human intervention. This function effectively improves the efficiency and accuracy of workpiece transportation, and significantly improves the automation level of the assembly process, helping enterprises move towards intelligent manufacturing.

[0022] Compared with the prior art, the planetary reducer assembly vehicle of the present invention has the following significant advantages:

[0023] 1. Improved operating comfort and efficiency: The motor-controlled adjustable outriggers of the assembly vehicle allow the operator to easily adjust the platform height through the control interface according to personal height and work requirements. This design ensures that the operator can maintain the best working posture, significantly improving the comfort and work efficiency of the operator.

[0024] 2. Multi-angle flipping and precise positioning: Through the gear-driven mechanical clamp structure, the assembly vehicle can achieve multi-angle flipping and precise positioning of heavy objects. The planetary reducer integrated at the end of each mechanical clamp provides stable clamping force and precise flipping control, ensuring the stability and safety of heavy objects at key angles such as 0°, 90°, 180°, and 270°.

[0025] 3. Automated transportation and navigation: The integrated A* path planning algorithm gives the assembly vehicle the ability to navigate and transport autonomously. The vehicle can automatically plan the optimal route, avoid obstacles, and accurately reach the designated workstation without human intervention. This not only improves transportation efficiency and accuracy, but also improves the automation level of the entire assembly process.

[0026] 4. Cost-effectiveness: The present invention focuses on cost-effectiveness in design, using mechanical clamps instead of more expensive mechanical arms, simplifying the structural design and reducing the complexity of manufacturing and maintenance. This design choice reduces the initial investment and reduces the long-term operating costs by reducing the possible failure points caused by the mechanical arm.

[0027] 5. Improve productivity and quality: Automated and intelligent design reduces the need for manual operation, reduces the possibility of human error, and improves the accuracy and quality of the production process. At the same time, automated transportation and flipping functions speed up the production rhythm and improve overall productivity.

[0028] 6. Energy saving and environmental protection: Through optimized design and automated operation, the assembly vehicle reduces energy consumption and waste of raw materials, meeting the requirements of modern industrial production for energy saving and environmental protection.

[0029] 7. Environmental adaptability: The automated features of the assembly vehicle enable it to work stably in a variety of environments, including dusty, humid or other harsh conditions, improving the applicability and reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The three-dimensional vehicle for assembling the planetary reducer of the present invention Figure 1 ;

[0031] Figure 2 This is a front view of the vehicle for assembling the planetary reducer of the present invention. Figure 1 ;

[0032] Figure 3 Side view of the vehicle for assembling the planetary reducer of the present invention Figure 1 ;

[0033] Figure 4 A top view of the vehicle for assembling the planetary reducer of the present invention Figure 1 ;

[0034] Figure 5 This is a control system block diagram of a vehicle equipped with a planetary reducer according to the present invention;

[0035] Figure 6 The three-dimensional vehicle for assembling the planetary reducer of the present invention Figure 2 .

[0036] 1. Wheels, 2. Lifting motor, 3. Loading platform, 4. Display screen, 5. Gear flipping structure, 6. Mechanical clamp, 7. Outrigger, 8. First extension arm, 9. Second extension arm, 10. Support rod, 11. Inner circle mechanical clamp, 12. Fine-tuning mechanical clamp lifting handle, 13. Outer circle mechanical clamp, 131. Upper mechanical clamp connecting end, 132. Lower mechanical clamp connecting end. DETAILED DESCRIPTION

[0037] Example 1

[0038] In order to make the technical means adopted by the present invention and the purpose achieved easy to understand, the present invention is further explained in combination with a specific implementation method below. A planetary reducer assembly vehicle includes a wheel 1, a loading platform 3, a gear flip structure 5, a mechanical clamp 6 and a first extension arm 8. The loading platform 3 is connected to the wheel 1 through a lifting device, and the wheel 1 is connected to the driving device. The first extension arms 8 are arranged on the opposite sides of the loading platform 3. The first extension arm 8 is connected to the mechanical clamp 6 through the gear flip structure 5, and the gear flip structure 5 is connected to the planetary reducer. The symmetrically arranged mechanical clamps 6 clamp the workpiece on the loading platform 3.

[0039] Among them, Figure 1-Figure 4 As shown, the mechanical clamp 6 includes an inner ring mechanical clamp 11, a fine-tuning mechanical clamp lifting handle 12, and an outer ring mechanical clamp 13. The outer ring mechanical clamp 13 includes an upper semicircular outer clamp and a lower semicircular outer clamp. The inner ring mechanical clamp 11 includes an upper semicircular inner clamp and a lower semicircular inner clamp. The outer ring mechanical clamp 13 is connected to the first extension arm 8 through a gear flipping structure 5. The semicircular middle edge of the upper semicircular outer clamp is connected to the upper semicircular inner clamp through the gear flipping structure 5. The semicircular middle edge of the lower semicircular outer clamp is connected to the lower semicircular inner clamp through the gear flipping structure 5. The upper mechanical clamp connecting end 131 of the upper semicircular outer clamp is connected to the fine-tuning mechanical clamp lifting handle 12. The lower mechanical clamp connecting end 132 of the lower semicircular outer clamp is rotatably set on the first extension arm 8.

[0040] Example 2

[0041] Among them, Figure 6 As shown, the mechanical clamp 6 includes an elongated support arm and a clamp for fixing and clamping a workpiece, the elongated support arm is connected to the clamp, and the elongated support arm is connected to the first extension arm 8 through a gear flip structure 5.

[0042] Wherein, the planetary reducer and the motor of the driving device are connected to a computer control system.

[0043] The lifting device includes a lifting motor 2 and a support leg 7. A wheel 1 is arranged below the support leg 7. The support leg 7 is connected to a loading platform 3 via the lifting motor 2. The lifting motor 2 is connected to a computer control system.

[0044] Wherein, a position sensor is arranged on the lifting device.

[0045] A support rod 10 is disposed on the loading platform 3, and the support rod 10 is rotatably connected to the second extension arm 9. A display screen 4 is disposed on the second extension arm 9, and the display screen 4 is connected to a computer control system.

[0046] Wherein, a braking device is arranged on the wheel 1.

[0047] Example 3

[0048] like Figure 5 As shown, a control system for a planetary reducer assembly vehicle includes a computer control system, a lifting circuit module, a position sensor circuit module, a drive displacement path module, a planetary reducer drive module and a display module. The computer control system is connected to the lifting circuit module, the position sensor circuit module, the drive displacement path module, the planetary reducer drive module and the display module.

[0049] The principle of the method for assembling a planetary reducer vehicle of the present invention is as follows:

[0050] 1. Principle of the lifting system of the outrigger 7

[0051] Function: The four legs 7 can be automatically raised and lowered to ensure the stability of the assembly vehicle and adapt to the needs of different heights.

[0052] Core principle: Each leg 7 is equipped with a motor and a lifting mechanism (such as a screw drive, hydraulic or pneumatic system). The motor drives the lifting device to adjust the height of the leg, ensuring that the assembly vehicle can stand stably in different working environments. There are wheels 1 under the legs 7 for manual pushing. The lifting motor 2 is controlled by a switch or a computer control system to ensure that workers can adjust the height of the assembly vehicle according to their needs.

[0053] After the motor is powered on, the lead screw moves axially to adjust the height of the support leg 7 to the set value.

[0054] The system is equipped with position sensors (such as photoelectric encoders) to monitor the height of the outriggers in real time to form a closed-loop control. The control system dynamically adjusts the motor speed and direction based on sensor feedback to ensure that the loading platform always remains level.

[0055] Working process:

[0056] 1. The user enters the target height on the touch screen.

[0057] 2. The computer control system sends instructions to the motor to adjust the height of the four legs 7.

[0058] 3. The position sensor feeds back the real-time height, and the system continuously corrects until the target value is reached.

[0059] 2. Wheel movement principle

[0060] Core principle: The wheel driving mode is divided into manual mode and automatic navigation mode:

[0061] Manual mode: No electric drive is required. The operator pushes the vehicle to move. The wheels have built-in bearings to reduce friction and move flexibly.

[0062] Automatic mode: The built-in servo motor drives the wheel 1 to rotate, and the navigation module is combined to achieve path planning and automatic movement. Path planning is based on laser radar or visual sensors to determine the vehicle position and target point.

[0063] Automatic moving process:

[0064] 1. The computer control system calculates the path and sends the control signal to the servo motor.

[0065] 2. The motor drives wheel 1 to rotate, and the vehicle moves along the planned path.

[0066] 3. The sensor provides real-time position feedback, and the control system adjusts the wheel speed and direction to ensure accurate path tracking.

[0067] 3. Rotation principle of the loading platform 3 and the support arm

[0068] Function: The loading platform is used to carry workpieces and flip and rotate heavy objects through supporting arms and gears.

[0069] Arm: Each arm is connected to a gear at one end, and the other end is fixed with a mechanical clamp. The arm completes the flipping of the workpiece by rotating the gear. The gear is equipped with a planetary reducer to ensure precise control and high torque during flipping, and can accurately control the flipping process of the workpiece at different angles.

[0070] Core principle: Loading platform: The loading platform at the top is connected to the main body of the assembly vehicle through the support arm. The platform itself is designed as a horizontal plane, and the heavy objects are carried and turned over by the action of the support arm. The turning structure is centered on the planetary reducer, which achieves low-speed and high-torque output through a high transmission ratio. During the turning process, the planetary reducer converts the high-speed and low-torque output of the motor into low-speed and high-torque to meet the needs of turning over large-mass workpieces.

[0071] Flipping process:

[0072] 1. The user sets the target flip angle by touching the display screen 4.

[0073] 2. The motor starts, drives the planetary reducer, and drives the mechanical clamp 6 to flip through the gear transmission.

[0074] 3. The angle sensor detects the flip angle in real time and feeds back to the control system.

[0075] 4. When the set angle is reached, the control system stops the motor and the mechanical clamp is positioned and locked.

[0076] 4. Application principle of planetary reducer

[0077] Function: Provide precise control and large output torque to ensure the stability and accuracy of heavy object flipping.

[0078] Principle: The planetary reducer is installed in the gear system, and transmits power through the cooperation of multiple planetary gears and the sun gear, reducing the speed of the gear and increasing the output torque. The advantages of the planetary reducer are high torque transmission, low noise and compact design. The planetary reducer is used here to adjust the rotation speed of the gear and provide precise torque support to ensure smooth and reliable turning of the workpiece.

[0079] 5. Fixing and clamping principle of mechanical clamps

[0080] Function: Clamp the heavy object with mechanical clamps to ensure that the workpiece does not fall off during the turning process.

[0081] Core principle: Mechanical clamps are divided into inner ring mechanical clamps and outer ring mechanical clamps. The upper inner ring mechanical clamps are connected to the upper outer ring mechanical clamps, and the lower inner ring mechanical clamps are connected to the lower outer ring mechanical clamps. The mechanical clamps are opened and closed by fine-tuning the lifting handle of the mechanical clamps. The built-in pressure sensor monitors the clamping force to prevent damage or slippage of the workpiece.

[0082] 6. Rotation principle of display screen and control system

[0083] Function: The lifting, flipping and path planning are displayed and controlled by touching the display screen 4. The display screen 4 can be rotated to any angle to provide the best operating viewing angle.

[0084] Core principle: The touch screen 4 provides a human-machine interactive interface for the device, and realizes data input, display and control through an industrial computer. The screen content includes:

[0085] Equipment status display: outrigger height, flip angle, clamping status, etc.

[0086] Path planning input: The user inputs the moving path, and the system calculates the planned path.

[0087] Workpiece parameter setting: set flip angle, clamping force, etc.

[0088] Interaction process:

[0089] 1. The user inputs operation instructions through the touch screen.

[0090] 2. The instructions are transmitted to the corresponding modules (legs, wheels, flipping mechanisms, etc.) through the computer control system.

[0091] 3. The system feeds back the operating status and updates the information on the display screen 4 in real time.

[0092] Example 4

[0093] A planetary reducer assembly vehicle, comprising a loading platform 3, a wheel 1 arranged below the loading platform 3, a leg 7, and a lifting motor 2 for driving the leg to automatically lift and lower. The loading platform 3 is provided with a mechanical clamp 6 for clamping a workpiece and a gear flip structure 5 of a planetary reducer that can rotate 360° in the up and down direction. The mechanical clamp 6 is connected to a first extension arm 8 through the gear flip structure 5 equipped with a planetary reducer. The front end of the loading platform 3 is provided with a display screen 4 that can control the planetary reducer assembly vehicle to automatically find a path, lift and lower the motor, and rotate the workpiece by the mechanical clamp. A second extension arm 9 is connected to the right side below the display screen 4, and a support rod 10 is connected below the second extension arm 9. The leg 7 is equipped with a lifting motor 2 that can realize automatic lifting and lowering, mainly used to ensure that workers can adjust the height of the assembly vehicle according to needs. The gear flip structure 5 at the end of the mechanical clamp 6 is equipped with a planetary reducer, which is used to realize multiple angles of positioning rotation when the mechanical clamp clamps the workpiece.

[0094] 1. Main components and structure of the equipment

[0095] The planetary reducer assembly vehicle of the present invention comprises the following main components:

[0096] Wheel 1: Located at the bottom of the four legs, it enables the equipment to move by manual pushing or path planning.

[0097] Lifting motor 2: installed inside the outrigger, controls the lifting and lowering of the outrigger height through a lifting device (such as a lead screw, a hydraulic cylinder).

[0098] Loading platform 3: located on the top of the equipment, used to place the workpiece and provide basic support for the mechanical clamp 6 and the gear flipping structure 5.

[0099] Display screen 4: fixed to one side of the loading platform 3 via a support rod 10, used for equipment control and parameter adjustment, and displaying status information.

[0100] Gear turning structure 5: installed in the center of the loading platform 3, and realizes the turning and positioning of the workpiece through the planetary reducer.

[0101] Mechanical clamp 6: divided into inner ring mechanical clamp and outer ring mechanical clamp, each mechanical clamp is installed with a gear flip structure 5 at the end for clamping the workpiece for multi-angle positioning and rotation in horizontal and vertical directions.

[0102] The supporting legs 7 support the loading platform 3 and are equipped with a lifting motor 2 for controlling the automatic lifting of the supporting legs 7 .

[0103] Fine-tuning mechanical clamp lifting handle 12: installed above the first extension arm 8, used to drive the upper mechanical clamp connecting end 131 to move upward or downward, so that the mechanical clamp 6 opens or closes, thereby achieving the tightness of the mechanical clamp 6.

[0104] 2. Technical Implementation Solution

[0105] 1. Implementation of Wheel 1

[0106] Technical solution: The wheel 1 is installed at the lower end of the leg 7 through a base and has a brake device. There are two ways to drive the wheel:

[0107] Manual mode: Using the adjustable height of the legs 7, the operator pushes the vehicle to move.

[0108] Automatic mode: The built-in servo motor controls the rotation of wheel 1, and automatic navigation is achieved through path planning.

[0109] Position relationship: The wheel 1 is fixed to the bottom of the four legs 7 and works independently of the leg lifting system.

[0110] 2. Implementation of outriggers and lifting motor 2

[0111] Technical solution: The outrigger 7 is driven by a motor to drive a lead screw or a hydraulic cylinder to achieve lifting and lowering. The built-in position sensor detects the height of the outrigger and adjusts the height through a closed-loop control system to ensure that the loading platform remains horizontal. It supports fine-tuning of a single outrigger to adapt to uneven ground.

[0112] Process steps: The display screen receives the target height command and transmits it to the control system. The motor drives the legs to rise and fall, and the sensor feeds back the position information in real time to ensure that it is adjusted to the specified height.

[0113] 3. Implementation of Carrying Platform 3

[0114] Technical solution: The loading platform is a steel structure platform with anti-slip and anti-corrosion coating on the surface and embedded workpiece fixing guide rails. The loading platform is rigidly connected to the legs, carrying the workpiece and providing basic support for the mechanical clamp and flip structure.

[0115] 4. Implementation of Display 4

[0116] Technical solution: The display screen is a touch-type industrial display, which is suspended on one side of the loading platform through a rotatable arm and supports angle and position adjustment. It has a built-in industrial computer to provide a user operation interface (input path, adjust height, set flip angle, etc.).

[0117] Functional steps: The display screen communicates with the control system and receives the parameters input by the user. Displays the operating status of the equipment, including leg height, flip angle, path, etc.

[0118] 5. Implementation of gear flipping structure 5

[0119] Technical solution: The gear flipping structure achieves high torque transmission through a planetary reducer, driving the workpiece on the loading platform to flip accurately, with a positioning accuracy of ±0.1°. Its main components include:

[0120] Planetary reducer: provides high transmission ratio and ensures high torque output.

[0121] Encoder: detects the flip angle and the feedback control system realizes closed-loop control.

[0122] Support bearing: reduces friction during the tipping process and ensures smooth operation.

[0123] Action relationship: The flipping structure clamps the workpiece through mechanical clamps, and then drives the workpiece to flip according to the set angle.

[0124] 6. Implementation of Mechanical Clamp 6

[0125] Technical solution: The mechanical clamp is divided into inner ring mechanical clamp and outer ring mechanical clamp. When clamping the workpiece, the control system can realize multi-angle positioning and rotation in the horizontal and vertical directions.

[0126] Action relationship: The mechanical clamp works with the flip structure, and the action is controlled by the display screen.

[0127] 7. Implementation of fine-tuning the lifting handle 12 of the mechanical clamp

[0128] Technical solution: Use mechanical transmission to achieve the crank to push the upper part up. The crank drives the screw to rotate, and the screw cooperates with the nut to convert the rotational motion into linear motion, thereby lifting the upper part of the mechanical clamp. By adding a trapezoidal thread with a self-locking function, the mechanical clamp can be kept in the desired position when the crank stops shaking, without the need for additional power support, and the structure is simple and reliable.

[0129] 3. Process steps

[0130] S1. Equipment startup and initialization:

[0131] After the system is started, the legs automatically adjust to the initial height, the wheels unlock, and the loading platform returns to the horizontal position.

[0132] S2. Mobile and docking:

[0133] The equipment moves to the target station via wheels and docks with the workpiece.

[0134] S3, height and angle adjustment:

[0135] The operator sets the outrigger height and flip angle through the display screen. The loading platform rises and falls with the outriggers, and the gear flip structure adjusts the angle.

[0136] S4, clamping and flipping:

[0137] The mechanical clamp clamps the workpiece, and the flipping structure flips the workpiece at a set angle.

[0138] S5, task completion and reset:

[0139] After completing the task, the device automatically resets and goes into standby mode.

[0140] like Figure 2 As shown, the layout and functional relationship of each component are explained, including wheels 1, legs 7, loading platform 3, display screen 4, mechanical clamp 6 and gear flipping structure 5. The overall structural design of the equipment is compact and the functions are clear. The layout and functional relationship of each component are as follows: four wheels 1 are provided at the bottom of the equipment, which are connected to the legs 2 through a universal structure. The wheels can be manually pushed or moved by automatic path planning. The motor 2 lifting system is integrated inside the legs, and the height of the loading platform 3 can be precisely adjusted by control to meet the needs of different workstations. The loading platform is located on the central platform of the equipment and carries the core functional components of the entire equipment, including the gear flipping structure 5, mechanical clamp 6 and display screen 4. The gear flipping structure is driven by a planetary reducer and a high-precision gear set installed at the bottom of the loading platform, which can realize multi-angle precise flipping of the workpiece. The mechanical clamp is fixed at the center of the flipping axis to clamp the workpiece. Its clamping force is dynamically adjusted by a built-in sensor to ensure the stability of the workpiece during flipping or assembly. The display screen is installed on the rotating cantilever on the left side of the loading platform. As the human-machine interaction terminal of the equipment, users can view the equipment status in real time and input control commands through the touch screen, such as adjusting the height of the legs, setting path planning, controlling the flip angle, etc. Overall, the wheels and legs together constitute the mobile and load-bearing module. The loading platform, as the core working area of ​​the equipment, cooperates with the gear flip structure and mechanical clamps to complete the precise operation of the workpiece. The display screen is responsible for the visual control of the equipment to ensure the convenience and efficiency of operation. Through the above structural design, the modules are closely connected and coordinated to ensure that the equipment can flexibly respond to diverse assembly needs.

[0141] like Figure 3 As shown, the lifting position of the legs and the linkage relationship between the mechanical clamp and the gear flipping structure are displayed. The side view of the equipment shows the functional layout and linkage relationship of the legs, the loading platform, the mechanical clamp and the gear flipping structure. The legs 7 are arranged in a rectangular shape at the four corners of the loading platform. The lifting function is achieved by motor drive, and the height range of the loading platform can be flexibly adjusted. The lifting of the legs enables the equipment to adapt to different working environments or the height requirements of docking stations. Universal wheels 1 are installed at the bottom of the legs, and the wheels can realize manual pushing or automatic movement of path planning, enhancing the maneuverability of the equipment.

[0142] A gear flipping structure 5 is provided in the center of the loading platform 3. The gear flipping structure 5 provides powerful torque and precise angle control through a planetary reducer and precision gear transmission. The mechanical clamp 6 is installed on the rotating shaft of the gear flipping structure, forming an integrated design with the flipping shaft, and realizing linkage with the flipping structure through gear transmission. The opening and closing action of the mechanical clamp is synchronized with the flipping angle, which can maintain stable grasping of the workpiece during the flipping process. The mechanical clamp can achieve precise positioning at multiple angles (such as 0°, 90°, 180° and custom angles) in the horizontal and vertical directions to meet the assembly or adjustment requirements of complex workpieces.

[0143] The display screen 4 is installed on one side of the loading platform through a cantilever and is within the operating line of sight. The user can control the outrigger lifting, flip angle, path planning and other functions through the display screen. At the same time, the side view clearly shows the linkage relationship between the mechanical clamp and the gear flip structure, as well as the dynamic adaptability of the outrigger lifting to the overall height adjustment. This modular layout enables the equipment to have flexible adaptability and efficient operation performance.

[0144] like Figure 4 As shown, the size distribution of the loading platform and the specific layout of the gear flipping structure are clearly shown. The top view of the equipment shows the overall size distribution of the loading platform 3 and the specific layout of the gear flipping structure 5. The loading platform is rectangular in design, with mounting positions for the legs 2 evenly distributed at the four corners. Each leg is connected to the edge of the loading platform to provide stable support for the loading platform. The middle area of ​​the loading platform is set as the mounting position of the gear flipping structure, and the flipping axis is distributed along the long axis direction of the loading platform to ensure stability and uniform force distribution during the flipping operation.

[0145] The gear flipping structure is located at the center of the loading platform, and its main shaft is powered by a planetary reducer to drive the mechanical clamp 6 to grab and flip the workpiece. The layout of the flipping structure makes full use of the central position of the loading platform, maximizes the balance of the center of gravity of the equipment, and avoids unnecessary tilting or vibration caused by flipping heavy objects.

[0146] In addition, the top view also shows that the display screen 4 is cantilevered and installed on one side of the loading platform, slightly tilted to the operator's side, so that the user can view and operate the control system at any time. The size distribution of the loading platform is balanced, which not only ensures the stability of the overall structure of the equipment, but also provides sufficient space for the operation of the flip structure and mechanical clamps to meet the adaptation requirements of workpieces of different sizes. The flip structure can achieve flexible flipping at multiple angles through precision gear transmission, providing diversified functional support for the assembly and adjustment of workpieces.

[0147] The innovative features of the present invention are as follows:

[0148] 1. Adjustable outriggers: The assembly vehicle is equipped with motor-controlled adjustable outriggers, and the height range can be freely adjusted (automatically raised and lowered) by the motor to accommodate operators of different heights.

[0149] 2. Multi-angle flipping and positioning function: The multi-angle flipping and positioning function is realized through the gear-driven mechanical clamp structure. Each mechanical clamp is equipped with a planetary reducer at the end, which can firmly clamp heavy objects and perform precise flipping at 0°, 90°, 180°, 270° and other custom angles.

[0150] 3. Autonomous navigation and automatic transportation functions: It integrates the A* path planning algorithm and has autonomous navigation and automatic transportation functions. The vehicle can automatically plan the optimal route according to the preset target location, avoid obstacles, and accurately reach the next designated workstation.

[0151] 4. Cost saving: The present invention takes full consideration of cost-effectiveness in design. By using mechanical clamps instead of the more expensive mechanical arms, the structural design is simplified and the complexity of manufacturing and maintenance is reduced. This design choice not only reduces the initial investment, but also reduces the long-term operating costs by reducing the possible failure points caused by the mechanical arms.

[0152] Summary of innovation points:

[0153] 1. Highly integrated multifunctional design:

[0154] This equipment integrates multiple independent systems (leg lifting, flipping, positioning, moving, etc.) into one device, greatly improving the flexibility and stability of operation, which is rare in the current market. Through unique mechanical design and electronic control technology, this equipment can complete multiple tasks with high efficiency and high precision in a very short time, and operate stably under heavy load conditions.

[0155] 2. Future development trends of precision and automation:

[0156] With the continuous improvement of industrial automation, enterprises will have increasing demands for high-precision equipment (weights can be controlled to rotate and position at multiple angles), long-term stability (because multiple independent systems are integrated into one device, the operation is easier, machine failure is less likely to occur, and even if it does occur, it is easier to maintain), remote control and intelligence (such as adding A* algorithm for automatic path finding). This device, with its excellent high-precision positioning, automated operation and intelligent control, is meeting this development trend and will have great market potential.

[0157] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A planetary reducer assembly vehicle, characterized in that: The invention comprises a wheel (1), a loading platform (3), a gear flipping structure (5), a mechanical clamp (6) and a first extension arm (8); the loading platform (3) is connected to the wheel (1) via a lifting device; the wheel (1) is connected to a driving device; first extension arms (8) are arranged on opposite sides of the loading platform (3); the first extension arms (8) are connected to the mechanical clamp (6) via the gear flipping structure (5); the gear flipping structure (5) is connected to a planetary reducer; and the symmetrically arranged mechanical clamps (6) clamp a workpiece on the loading platform (3).

2. The planetary reducer assembly vehicle according to claim 1, characterized in that: The mechanical pliers (6) comprise an elongated support arm and a clamp for fixing and clamping a workpiece, the elongated support arm is connected to the clamp, and the elongated support arm is connected to the first extension arm (8) via a gear flip structure (5).

3. The planetary reducer assembly vehicle according to claim 1, characterized in that: The mechanical clamp (6) comprises an inner ring mechanical clamp (11), a fine-tuning mechanical clamp lifting handle (12), and an outer ring mechanical clamp (13). The outer ring mechanical clamp (13) comprises an upper semicircular outer clamp and a lower semicircular outer clamp. The inner ring mechanical clamp (11) comprises an upper semicircular inner clamp and a lower semicircular inner clamp. The outer ring mechanical clamp (13) is connected to the first extension arm (8) via a gear flip structure (5). The semicircular middle edge of the upper semicircular outer clamp is connected to the upper semicircular inner clamp via the gear flip structure (5). The semicircular middle edge of the lower semicircular outer clamp is connected to the lower semicircular inner clamp via the gear flip structure (5). The upper mechanical clamp connecting end (131) of the upper semicircular outer clamp is connected to the fine-tuning mechanical clamp lifting handle (12). The lower mechanical clamp connecting end (132) of the lower semicircular outer clamp is rotatably arranged on the first extension arm (8).

4. The planetary reducer assembly vehicle according to claim 1, characterized in that: The planetary reducer and the motor of the driving device are connected to a computer control system.

5. The planetary reducer assembly vehicle according to claim 1, characterized in that: The lifting device comprises a lifting motor (2) and a support leg (7); a wheel (1) is arranged below the support leg (7); the top of the support leg (7) is connected to a loading platform (3) via the lifting motor (2); and the lifting motor (2) is connected to a computer control system.

6. The vehicle equipped with a planetary reducer according to claim 5, characterized in that: A position sensor is arranged on the lifting device.

7. The vehicle equipped with a planetary reducer according to claim 6, characterized in that: A support rod (10) is arranged on the object-carrying platform (3), the support rod (10) is rotatably connected to the second extension arm (9), a display screen (4) is arranged on the second extension arm (9), and the display screen (4) is connected to a computer control system.

8. The vehicle equipped with a planetary reducer according to claim 1, characterized in that: A brake device is arranged on the wheel (1).

9. A control system for a planetary reducer assembly vehicle according to any one of claims 1 to 8, characterized in that: It includes a computer control system, a lifting circuit module, a position sensor circuit module, a driving displacement path module, a planetary reducer driving module and a display module. The computer control system is connected with the lifting circuit module, the position sensor circuit module, the driving displacement path module, the planetary reducer driving module and the display module.

Images