Automatic transfer system

Abstract

The invention relates to the technical field of structural part transfer, in particular to an automatic transfer system which comprises an assembly platform, a transfer tool, a first transfer assembly, a transfer platform, a second transfer assembly and a welding platform, and a method comprises the steps of assembly, transfer, welding, resetting and disassembly of structural parts. By means of the system and method, the technical problems that in the prior art, factory building cranes, manual operation of electric hoists and other modes have extremely high requirements for the operation level of workers, labor intensity is large, the transfer process is tedious, production efficiency is low, personnel safety risks exist, and product quality hidden dangers exist are solved, and safe transfer of large structural parts is achieved; and in the automatic transfer operation process, the personnel safety risk and the product safety risk in the transfer process are reduced, and meanwhile the machining efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of structural component transportation, and in particular to an automatic transportation system. Background Art

[0002] The welding production of large aircraft structures requires that the assembled large structures be transported from the assembly station to the welding station and positioned. After welding is completed, the welded structures are transported back to the assembly station for subsequent processes.

[0003] The traditional method of transfer is for the operator to use a factory crane to manually operate an electric hoist. This method requires extremely high operating skills of the workers, has high labor intensity, and low production efficiency. In addition, the welding station is usually equipped with a welding room, which is not convenient for the crane to complete the transfer.

[0004] When transporting large structural parts, there is a safety risk of people falling from heights during the positioning process at the welding station. In addition, parts are prone to friction and collision during manual transport and positioning, which increases the risk of product quality.

[0005] In addition, the lifting of large aviation structures has high requirements on the lifting height, lifting weight, lifting accuracy and factory height of the factory crane, and the infrastructure cost is high. Summary of the invention

[0006] The main purpose of the present invention is to provide an automatic transfer system, aiming to solve the problem that the factory crane, manually operated electric hoist and other methods in the prior art cannot be used for automatic transfer.

[0007] To achieve the above-mentioned purpose, the present invention provides an automatic transfer system, which is used to transfer structural parts. The system includes: an assembly platform, a transfer tool, a first transfer component, a transfer platform, a second transfer component and a welding platform; the transfer tool is placed on the assembly platform, and the structural parts are assembled in the transfer tool. The first transfer component is used to place the transfer tool with the structural parts on the transfer platform. The second transfer component includes a car body, a lifting component and a cone pin component are arranged in the car body, and a track component is movably connected under the car body. The track component is used to transfer the transfer tool with the structural parts to the welding platform, and the welding platform is used to complete the welding process.

[0008] Optionally, the assembly platform includes a plurality of evenly spaced positioning seats, each of which is provided with a first positioning interface, and the transfer tooling includes a tooling frame, a base plate and a connecting end, the connecting end being arranged at both ends of the tooling frame, and the lower end surface of the base plate is provided with a first positioning joint that cooperates with the first positioning interface.

[0009] Optionally, a second positioning joint is provided on the lower end surface of the connecting end, a second positioning interface matching the second positioning joint is provided on the upper end surface of the base plate, and a third positioning joint is also provided on the connecting end.

[0010] Optionally, a first positioning code is arranged below the assembly platform, a second positioning code is arranged in the transfer platform, and a third positioning code is arranged in the welding platform.

[0011] Optionally, the welding platform includes two second guide rails, a welding support frame is provided on the second guide rails, a welding positioning assembly is provided on the welding support frame, the welding positioning assembly includes a third positioning interface matching the third positioning joint, and the third positioning code is arranged between the two second guide rails.

[0012] Optionally, the transfer platform includes a plurality of first guide rails, a support seat and a transfer positioning assembly, the second positioning code is arranged at the center of the plurality of first guide rails, and the support seat is slidably arranged on the first guide rails, and the transfer positioning assembly is arranged on the support seat and can cooperate with a third positioning joint.

[0013] Optionally, a cone pin mechanism and a lifting mechanism are provided in the first transfer component, and a cone pin assembly is provided in the second transfer component, the cone pin mechanism is detachably connected to the top of the lifting mechanism, and the cone pin assembly is detachably connected to the top of the lifting assembly.

[0014] Optionally, the lower end surface of the base plate is further provided with a plurality of guide holes, directional holes and positioning holes, and the guide holes, directional holes and positioning holes are all used to cooperate with the cone pin mechanism or cone pin assembly.

[0015] In addition, to achieve the above-mentioned purpose, the present invention also provides a transfer method, which includes: installing the structural parts inside the transfer tooling on the assembly platform; transferring the transfer tooling with the structural parts as a whole to the transfer platform through the first transfer component, and then transferring the transfer tooling with the structural parts as a whole to the welding platform through the second transfer component; completing the welding of the structural parts through the welding platform; transferring the transfer tooling with the structural parts to the transfer platform through the second transfer component, and then transferring the transfer tooling with the structural parts to the assembly platform through the first transfer component; completing the disassembly of the structural parts on the transfer tooling through the assembly platform.

[0016] Optionally, the transfer tooling with the structural parts is transferred as a whole to the transfer platform by the first transfer component, and then the transfer tooling with the structural parts is transferred as a whole to the welding platform by the second transfer component, including: in the process of the first transfer component transferring the transfer tooling with the structural parts to the transfer platform, after the first transfer component completes positioning through the first positioning code, the first positioning joint and the first positioning interface are released, the lifting mechanism performs a lifting action to make the cone pin mechanism cooperate with the guide hole, the directional hole and the positioning hole, and the lifting mechanism continues to perform a lifting action to separate the first positioning joint and the first positioning; in the process of the second transfer component transferring the transfer tooling with the structural parts to the welding platform, after the second transfer component completes positioning through the second positioning code, the lifting component performs a lifting action to make the cone pin assembly cooperate with the guide hole, the directional hole and the positioning hole, and then lifts it to a set height, the second transfer component moves to the welding platform to complete positioning through the third positioning code, the second positioning interface and the first positioning joint are released, the lifting component performs a descending action to make the third positioning joint and the third positioning interface complete positioning cooperation, the lifting component continues to perform a descending action to separate the bottom plate from the connecting end, and then moves to the transfer platform for parking.

[0017] An automatic transfer system proposed in an embodiment of the present invention uses a transfer platform as an intermediate platform in the transfer process, transports the structural component transfer body to the transfer platform through a first transfer component, and transports the structural component assembly from the transfer platform to a welding platform through a second transfer component. After the welding operation is completed on the welding platform, the structural component welded body is finally transferred through the transfer platform and the assembly platform in sequence through the second transfer component and the first transfer component. This solves the technical problem that automatic transfer cannot be performed by factory cranes, manually operated electric hoists, etc. in the prior art, and realizes the safe transfer of large structural components. In addition, during the automatic transfer operation, the personnel safety risks and product safety risks during the transfer process are reduced, while also improving the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the automatic transport system of the present invention; Figure 2 A structural schematic diagram of the assembly platform of the present invention; Figure 3 A schematic diagram of the structure of the transfer tooling of the present invention; Figure 4 It is a bottom view of the base plate structure; Figure 5 is a structural schematic diagram of a first transport component; Figure 6 A structural schematic diagram of a transfer platform; Figure 7 is a structural schematic diagram of a second transport component; Figure 8A structural schematic diagram of the welding platform of the present invention; Fig. 9 It is a schematic diagram of the process of the transport method of the present invention; Reference numerals: 1-Assembly platform, 11-first positioning interface, 12-positioning seat, 13-first positioning code; 2-Transfer tooling, 21- tooling frame, 22- base plate, 23- connection end; 221-second positioning interface, 222-first positioning joint; 231-third positioning joint, 232-second positioning joint; 3- first transport component; 4- Transfer platform, 41-first guide rail, 42-support seat, 43-transfer positioning assembly, 44-second positioning code; 5- The second transport component, 51-car body, 52-lifting assembly, 53-cone pin assembly, 54-track assembly; 6-Welding platform, 61-the third positioning code, 62-the welding positioning assembly, 63-the second guide rail, 64-the welding support frame.

[0019] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] Embodiment 1: Please refer to the attached Figure 1 To Attachment Figure 8 In the present embodiment, an automatic transfer system is provided, and the system is used for transferring structural parts. The system comprises: an assembly platform 1, a transfer tool 2, a first transfer component 3, a transfer platform 4, a second transfer component 5 and a welding platform 6; the transfer tool 2 is placed on the assembly platform 1, and the structural parts are assembled in the transfer tool 2. The first transfer component 3 is used to place the transfer tool 2 with the structural parts on the transfer platform 4. The second transfer component 5 comprises a vehicle body 51. A lifting component 52 and a cone pin component 53 are arranged in the vehicle body 51, and a track component 54 is movably connected under the vehicle body 51. The track component 54 is used to transfer the transfer tool 2 with the structural parts to the welding platform 6. The welding platform 6 is used to complete the welding process.

[0025] It can be understood that the structural parts in the present invention are large parts of aircraft in the field of aviation manufacturing. During the transportation process before completing the welding operation, they are structural parts assemblies that have completed the basic assembly process. During the transportation process after completing the welding operation, they are structural parts welded bodies. During the above-mentioned transportation process, it is necessary to ensure the precision of the structural parts assembly and the integrity of the structural parts welded bodies to avoid damage to the structural parts caused by external collisions during the transportation process.

[0026] Based on the above problems, the applicant proposed an automatic transfer system, and the transfer system includes an assembly platform 1, a transfer tool 2, a first transfer component 3, a transfer platform 4, a second transfer component 5 and a welding platform 6. Specifically, the transfer platform 4 is used as an intermediate platform in the transfer process, the structural component transfer body is transported to the transfer platform 4 through the first transfer component 3, and the structural component assembly is transported from the transfer platform 4 to the welding platform 6 through the second transfer component 5. After the welding operation on the welding platform 6 is completed, the structural component welded body is transferred through the transfer platform 4 and the assembly platform 1 in sequence through the second transfer component 5 and the first transfer component 3. The technical problems that the factory crane, manually operated electric hoist and other methods in the prior art require extremely high operating levels of workers, have high labor intensity, cumbersome transfer process, low production efficiency, personnel safety risks and product quality hazards are solved, and the safe transfer of large structural parts is realized. In addition, during the automatic transfer operation, the personnel safety risks and product safety risks during the transfer process are reduced, and the processing efficiency is also improved.

[0027] As an optional implementation, refer to Figure 5 In this embodiment, the first transfer component 3 is preferably an AGV, and the mobile component is preferably a Macram wheel installed on the AGV body. Specifically, the AGV uses a lithium battery to drive the Macram wheel to achieve displacement. The lifting mechanism is preferably a screw-driven scissor jack structure, and the lithium battery is used as a power source to drive the servo motor, and then the servo motor drives the screw connected to the reducer to achieve the lifting operation of the lifting mechanism. Figure 7 In this embodiment, the second transfer assembly 5 is preferably an RGV, and the body 51 of the RGV preferably uses a servo motor to drive the roller to cooperate with the track assembly 54 to achieve displacement, wherein the track assembly 54 is preferably two steel rails, the track is sunken and flush with the ground. The cone pin assembly 53 is preferably a cone pin, and the number is 4, and it is detachably connected to the top of the lifting assembly 52 through a spiral structure. For the lifting assembly 52, its preferred structure is similar to the lifting mechanism, both of which are scissor jacks.

[0028] Embodiment 2: As an optional implementation, refer to the attached Figure 2 , provides a specific structure of an assembly platform 1, wherein the assembly platform 1 includes a plurality of evenly spaced positioning seats 12, each of the positioning seats 12 is provided with a first positioning interface 11, the transfer tooling 2 includes a tooling frame 21, a base plate 22 and a connecting end 23, the connecting end 23 is arranged at both ends of the tooling frame 21, and the lower end surface of the base plate 22 is provided with a first positioning joint 222 that cooperates with the first positioning interface 11.

[0029] As another optional implementation, refer to the attached Figure 3In this embodiment, a second positioning joint 232 is provided on the lower end surface of the connecting terminal 23, a second positioning interface 221 matching the second positioning joint 232 is provided on the upper end surface of the base plate 22, and a third positioning joint 231 is also provided on the connecting terminal 23.

[0030] It should be noted that in the prior art, when manual assisted transportation is performed by means of factory cranes, manually operated electric hoists, etc., there is still a problem of dynamic displacement of the geometric center of gravity of the structural parts, that is, the assembly gap of the structural parts after the initial assembly is increased or the matching relationship is changed during the transportation process. Therefore, the applicant has made targeted improvements to the assembly platform 1, by arranging a number of positioning seats 12 in a uniformly spaced manner to ensure the stability of the tooling frame 21 on the assembly platform 1, and realizing effective fixation of the structural parts in the tooling frame 21 through the cooperation of the first positioning joint 222 on the bottom plate 22 and the first positioning interface 11, and realizing effective fixation of the bottom plate 22 and the connecting terminal 23 through the cooperation of the second positioning interface 221 on the bottom plate 22 and the second positioning joint 232. As for the structural parts, they are fixed in the transfer tooling 2 through the overall cooperation of the tooling frame 21 and the connecting terminal 23. The cooperation between the first positioning joint 222 and the first positioning interface 11 ensures the initial positioning accuracy of the structural part after assembly, and provides a basis for subsequent transportation and welding. In addition, the mechanical locking of the first positioning joint 222 and the first positioning interface 11 effectively prevents the structural part from displacement or vibration during transportation, ensuring that the positioning accuracy is not affected.

[0031] It should also be noted that the first positioning joint 222, the first positioning interface 11, the second positioning joint 232 and the second positioning interface 221 in the present embodiment are all high-precision positioning joints that have been precisely mechanically designed and processed, and can achieve micron-level repeatable positioning accuracy. This high-precision repeatable positioning capability ensures that the structural parts always maintain a consistent position and posture during multiple transfers and positioning processes; the above-mentioned joint / interface structure can also firmly connect the transfer tooling 2 to the platform or vehicle to prevent displacement or tilting caused by vibration, impact or gravity during transportation, thereby maintaining positioning accuracy; it can be understood that the matching structure of the joint and the interface also has an error compensation mechanism, such as the guiding effect when the joint and the interface are matched, and the cooperation of multiple joints and interfaces can effectively correct small docking errors to ensure positioning accuracy; finally, in aviation manufacturing, the size and shape of structural parts are very complex. The joints can adapt to structural parts of different sizes and shapes through modular design and adjustable functions, ensuring high-precision positioning under various working conditions.

[0032] In this embodiment, a first positioning code 13 is provided below the assembly platform 1, a second positioning code 44 is provided in the transfer platform 4, and a third positioning code 61 is provided in the welding platform 6. For the realization of precise positioning in this embodiment, the moving path of the first transport component 3 is positioned by laser radar, and the moving path of the second moving component is moved and positioned by a track structure. The first positioning code 13 is a positioning site with high-precision requirements, and the positioning process is completed after the first positioning code 13 is recognized by the two-dimensional code recognition device equipped by the first transport component 3. The working principles of the second positioning code 44 and the third positioning code 61 are similar.

[0033] The setting of the positioning code also provides accurate site location information for the transfer component, ensuring that the vehicle can accurately drive to the target location. After the transfer component reaches the target location, the cone pin mechanism or cone pin component 53 achieves accurate docking through the cooperation of the cone pin and the cone pin hole; after the positioning joint cooperates with the positioning interface, the accurate positioning and connection between the transfer structures are ensured. In addition, the self-centering ability of the cone pin can compensate for the slight error caused by the rough positioning of the two-dimensional code, ensuring high-precision docking. Furthermore, each positioning code can not only provide location information, but also store transfer task information, guide the transfer component to complete the automatic transfer task, such as storing site information, transfer task and other data for the control system to read and execute.

[0034] In this embodiment, refer to the attached Figure 8 The welding platform 6 includes two second guide rails 63, a welding support frame 64 is arranged on the second guide rails 63, a welding positioning assembly 62 is arranged on the welding support frame 64, the welding positioning assembly 62 includes a third positioning interface matching the third positioning joint 231, and the third positioning code 61 is arranged between the two second guide rails 63.

[0035] For the transfer platform 4, the transfer platform 4 includes a plurality of first guide rails 41, a support seat 42 and a transfer positioning assembly 43, the second positioning code 44 is set at the center of the plurality of first guide rails 41, and the support seat 42 is slidably set on the first guide rails 41, and the transfer positioning assembly 43 is set on the support seat 42 and can cooperate with the third positioning joint 231.

[0036] Based on the above structure, it can be understood that the welding support frame 64 is slidably arranged on the second guide rail 63. Due to the size differences between different types of structural parts, in order to increase the adaptability of the transfer system to the structural parts, in this embodiment, the distance of the support seat 42 on the first guide rail 41 is adjusted to meet the transfer requirements of structural parts of different sizes. It can also be understood that for structural parts of different lengths and sizes, the position of their geometric center of gravity must be different, and the flexible adjustment of the support seat 42 enables the transfer system to handle various types of aviation structural parts without major modifications to the hardware structure involved in the transfer process, and the force on the structural parts on the transfer platform 4 is also relatively uniform, which further enhances the adaptability of the system, enabling it to withstand the weight of large aviation structural parts and ensure stability during the transfer process. The cooperation of the transfer positioning assembly 43 on the support seat 42 is fixed to the guide rail through mechanical locking, ensuring that the structural parts remain stable during the transfer process and effectively preventing damage caused by vibration or impact.

[0037] Embodiment 3: This embodiment only describes the parts that are different from Embodiment 1. Specifically, a cone pin mechanism and a lifting mechanism are provided in the first transfer component 3, and a cone pin assembly 53 is provided in the second transfer component 5. The cone pin mechanism is detachably connected to the top of the lifting mechanism, and the cone pin assembly 53 is detachably connected to the top of the lifting component 52.

[0038] In this embodiment, a plurality of guide holes, directional holes and positioning holes are further provided on the lower end surface of the bottom plate 22 , and the guide holes, directional holes and positioning holes are all used to cooperate with the cone pin mechanism or cone pin assembly 53 .

[0039] Based on the above structure, by respectively setting a cone pin mechanism and a cone pin assembly 53 in the first transfer assembly 3 and the second transfer assembly 5, and setting a plurality of guide holes, directional holes and positioning holes on the lower end surface of the bottom plate 22 of the transfer tool 2, high-precision positioning and stable connection during the transfer process are achieved. This structural design can ensure the precise docking and stable fixation between the transfer tool 2 and each platform during the transfer process, thereby effectively reducing the risk of displacement or damage of structural parts caused by vibration or impact during the transfer process, and improving the reliability and safety of the transfer.

[0040] When the structure is linked with the assembly platform 1, the cone pin mechanism cooperates with the guide holes, directional holes and positioning holes on the base plate 22, so as to realize the smooth lifting and detachment of the transfer tool 2 from the assembly platform 1, and ensure that the positioning accuracy of the structural parts in the initial transfer stage is not affected; when linked with the transfer platform 4, the cooperation of the cone pin assembly 53 enables the transfer tool 2 to be accurately positioned and firmly placed on the transfer platform 4, which is convenient for subsequent transfer operations; when linked with the welding platform 6, the cooperation of the cone pin assembly 53 and the positioning holes can ensure the precise positioning of the transfer tool 2 on the welding platform 6, provide stable support for the welding process, and avoid affecting the welding quality due to the instability of the structural parts during the welding process.

[0041] In addition, this structural design also has additional technical effects. Specifically, the detachable connection method of the cone pin mechanism and the cone pin assembly 53 improves the flexibility and maintenance convenience of the system, and is convenient for rapid adjustment or replacement according to different transportation requirements; at the same time, the cooperation between the cone pin and the positioning hole has a certain self-centering ability, which can compensate for the slight deviation caused by positioning errors, and further improve the overall accuracy and reliability of the system. The above-mentioned high-precision positioning and connection mechanism is not only suitable for the transportation of large structural parts, but can also be promoted to other industrial scenarios that require high-precision positioning and stable transportation.

[0042] Embodiment 4: Reference Fig. 9 , this embodiment provides a transport method, the method comprising: Step 1, installing the structural parts inside the transfer tooling 2 on the assembly platform 1; Step 2, the transfer tool 2 with the structural parts is transferred as a whole to the transfer platform 4 by the first transfer component 3, and then the transfer tool 2 with the structural parts is transferred as a whole to the welding platform 6 by the second transfer component 5; Step 3, completing the welding of the structural parts through the welding platform 6; Step 4, the transfer tool 2 with the structural parts is transferred to the transfer platform 4 by the second transfer component 5, and then the transfer tool 2 with the structural parts is transferred to the assembly platform 1 by the first transfer component 3; Step 5: Complete the disassembly of the structural parts on the transfer tooling 2 through the assembly platform 1.

[0043] In this embodiment, the transfer tool 2 with the structural parts is transferred as a whole to the transfer platform 4 by the first transfer component 3, and then the transfer tool 2 with the structural parts is transferred as a whole to the welding platform 6 by the second transfer component 5, including: Step 2-1, during the process of the first transfer component 3 transferring the transfer tooling 2 with the structural parts to the transfer platform 4, after the first transfer component 3 completes the positioning through the first positioning code 13, the first positioning joint 222 and the first positioning interface 11 are released from the cooperation, the lifting mechanism performs a lifting action to make the cone pin mechanism cooperate with the guide hole, the directional hole and the positioning hole, and the lifting mechanism continues to perform a lifting action to separate the first positioning joint 222 and the first positioning; Step 2-2, during the process of the second transfer component 5 transferring the transfer tooling 2 with the structural parts to the welding platform 6, after the second transfer component 5 completes the positioning through the second positioning code 44, the lifting component 52 performs a lifting action to make the cone pin component 53 cooperate with the guide hole, the directional hole and the positioning hole and then lift it to the set height, the second transfer component 5 moves to the welding platform 6 to complete the positioning through the third positioning code 61, releases the cooperation between the second positioning interface 221 and the first positioning joint 222, and the lifting component 52 performs a descending action to make the third positioning joint 231 and the third positioning interface complete the positioning cooperation, and the lifting component 52 continues to perform a descending action to separate the base plate 22 from the connecting end 23 and then moves to the transfer platform 4 for parking.

[0044] In this embodiment, in order to make the transfer process of the structural part assembly in this embodiment clearer, the transfer process of the structural part assembly is specifically described here. Specifically: the structural part assembly is installed inside the transfer tooling 2 on the assembly platform 1, and the first transfer component 3 travels to the bottom of the assembly platform 1. After positioning is completed by the first positioning code 13, the first positioning joint 222 set under the bottom plate 22 of the transfer tooling 2 is released from the lock with the second positioning interface 221 of the assembly platform 1, and the lifting mechanism of the first transfer component 3 starts the lifting action. After the cone pin mechanism of the first transfer component 3 and the positioning hole of the bottom plate 22 of the transfer tooling 2 are positioned and connected, the lifting mechanism of the first transfer component 3 continues the lifting action, and the first positioning joint 222 set under the bottom plate 22 of the transfer tooling 2 is disengaged from the first positioning interface 11 of the assembly platform 1, and then the first transfer component 3 lifts the transfer tooling 2 and the structural part assembly to a set height. Preferably, the number of positioning holes is 4.

[0045] The first transfer component 3 travels to the transfer platform 4 according to the preset trajectory. After completing the positioning through the second positioning code 44, the lifting mechanism of the first transfer component 3 starts to descend, and the third positioning joint 231 set on the connecting end 23 of the transfer tooling 2 is connected with the transfer positioning component 43 of the transfer platform 4. The lifting mechanism of the first transfer component 3 continues to descend, and then the cone pin mechanism of the first transfer component 3 is disengaged from the bottom plate 22 of the transfer tooling 2, and then the first transfer component 3 travels to the parking position.

[0046] The second transfer component 5 travels to the transfer platform 4, and after completing positioning through the second positioning code 44, the lifting component 52 of the second transfer component 5 starts the lifting action, and after the cone pin component 53 of the second transfer component 5 completes positioning and connection with the bottom plate 22 of the transfer tooling 2, the transfer tooling 2 and the structural parts assembly are lifted to the set height.

[0047] The second transfer assembly 5 moves to the welding platform 6 according to the preset trajectory. After completing the positioning through the third positioning code 61, the second positioning interface 221 set on the bottom plate 22 of the transfer tool 2 releases the lock with the second positioning joint 232 on the connecting end 23 of the transfer tool 2, and the lifting assembly 52 of the second transfer assembly 5 starts to descend. The third positioning joint 231 set on the connecting end 23 of the transfer tool 2 is connected with the transfer positioning assembly 43 of the welding platform 6. The lifting assembly 52 of the second transfer assembly 5 continues to descend, and then the bottom plate 22 of the transfer tool 2 is disconnected from the connecting end 23, and the bottom plate 22 of the transfer tool 2 and the lifting assembly 52 of the second transfer assembly 5 are lowered to the lowest position together, and then the second transfer assembly 5 together with the bottom plate 22 of the transfer tool 2 are driven to the transfer platform 4 and parked.

[0048] The assembly, transfer, welding, resetting and disassembly of the structural parts are achieved through a series of orderly steps. This method uses the transfer platform 4 as the intermediate transfer node and the coordinated work of the first transfer component 3 (such as AGV) and the second transfer component 5 (such as RGV) to solve many problems existing in the traditional transfer method, such as high requirements for workers' operating level, high labor intensity, low production efficiency, high safety risks and product quality hazards. This method not only improves the efficiency and safety of transfer, but also reduces the participation of personnel through automated operation, reducing errors and risks caused by human factors.

[0049] In Example 4, the automatic transfer method can be linked with multiple key structures to produce additional technical effects. First, when linked with the assembly platform 1, the first positioning code 13 and the positioning interface are used to cooperate to achieve precise positioning and stable fixation of the transfer tooling 2, ensuring the initial positioning accuracy of the structural parts in the assembly stage; secondly, when linked with the transfer platform 4, the first transfer component 3 and the second transfer component 5 cooperate with the positioning holes through the cone pin mechanism to achieve rapid docking and stable placement of the transfer tooling 2 on the transfer platform 4, providing reliable intermediate support for subsequent transfer; thirdly, when linked with the welding platform 6, the third positioning code 61 and the welding positioning component 62 are used to achieve precise positioning of the transfer tooling 2 on the welding platform 6, providing stable support for the welding process, and avoiding the welding quality being affected by the instability of the structural parts during the welding process.

[0050] In addition, the method can also be linked with the lifting mechanism, cone pin mechanism and other structures of the first transfer component 3 and the second transfer component 5; the lifting and lowering actions of the lifting mechanism, combined with the precise docking of the cone pin mechanism and the positioning hole, realize the smooth transfer and stable fixation of the transfer tool 2 between different platforms. The detachable design of the cone pin mechanism improves the flexibility and maintenance convenience of the system, and also has self-centering capability, which can compensate for minor deviations caused by positioning errors, further improving the overall accuracy and reliability of the system.

[0051] Through the linkage of this automatic transfer method and the above structure, not only the efficient and safe transfer of large structural parts is achieved, but also the automation and stability of the entire production process are improved, the requirements for plant infrastructure are reduced, and the infrastructure cost is reduced. This method is particularly suitable for the transfer and welding of large structural parts in the field of aviation manufacturing, which can significantly improve production efficiency and product quality while ensuring personnel safety.

[0052] For the specific reset process: After the welding platform 6 completes the welding operation of the structure, the second transfer component 5 moves to the welding platform 6 together with the bottom plate 22 of the transfer tooling 2, and completes the positioning through the third positioning code 61, and then performs a lifting action through the lifting component 52 to complete the positioning connection of the second positioning joint 232 and the second positioning interface 221, and the lifting component 52 continues to perform a lifting action to separate the third positioning joint 231 and the third positioning interface and then lift them to a set height; the second transfer component 5 together with the bottom plate 22 of the transfer tooling 2 travels to the welding platform 6 according to a preset trajectory, and after completing the positioning through the third positioning code 61, the lifting component 52 of the second transfer component 5 starts a lifting action, and the second positioning interface 221 set above the bottom plate 22 of the transfer tooling 2 is connected and locked with the second positioning joint 232 on the connecting end 23, and the lifting component 52 of the second transfer component 5 continues to rise, and the third positioning joint 231 set on the connecting end 23 of the transfer tooling 2 is separated from the third positioning interface of the welding platform 6, and then the second transfer component 5 lifts the transfer tooling 2 and the structural component welded body to a set height.

[0053] After that, the second transfer component 5 travels to the transfer platform 4, and after completing the positioning through the second positioning code 44, the lifting component 52 of the second transfer component 5 starts to descend, and the third positioning joint 231 set on the connecting end 23 of the transfer tooling 2 is connected with the transfer positioning component 43 of the transfer platform 4, and the lifting component 52 of the second transfer component 5 continues to descend, and then the cone pin component 53 of the second transfer component 5 is disengaged from the bottom plate 22 of the transfer tooling 2, and the second transfer component 5 travels to the welding platform 6 and stops.

[0054] Afterwards, the second transfer component 5 travels to the transfer platform 4, and after completing the positioning through the second positioning code 44, the lifting mechanism of the first transfer component 3 starts the lifting action, and after the cone pin mechanism of the first transfer component 3 and the four positioning holes of the bottom plate 22 of the transfer tooling 2 are positioned and connected, the transfer tooling 2 and the structural parts welded body are lifted to the set height.

[0055] Finally, the first transfer component 3 travels to the assembly platform 1 along the preset trajectory. After completing the first positioning, the lifting mechanism of the first transfer component 3 starts to descend, and the first positioning joint 222 arranged under the bottom plate 22 of the transfer tooling 2 is connected and locked with the first positioning interface 11 of the assembly platform 1. The lifting mechanism of the first transfer component 3 continues to descend, and then the cone pin mechanism is disengaged from the bottom plate 22 of the transfer tooling 2. The unloading is completed, and the first transfer component 3 travels to the parking position, and then the structural component welded body and the transfer tooling 2 are disassembled on the assembly platform 1, and the parts are transferred to the subsequent process.

[0056] It can be understood that the PLC control, servo drive system, positioning sensor technology, communication network and human-computer interaction interface used in the implementation process of the automatic control involved in the above embodiments have been relatively maturely applied in the prior art, and their specific application logic in the present invention will not be repeated here.

[0057] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic transport system, the system is used for transporting structural parts, characterized in that: The system comprises: an assembly platform, a transfer tool, a first transfer component, a transfer platform, a second transfer component and a welding platform; The transfer tooling is placed on the assembly platform, and the structural parts are assembled in the transfer tooling. The first transfer assembly is used to place the transfer tooling with the structural parts on the transfer platform. The second transfer assembly includes a vehicle body, and a lifting assembly and a cone pin assembly are arranged in the vehicle body. A track assembly is movably connected under the vehicle body, and the track assembly is used to transfer the transfer tooling with the structural parts to the welding platform. The welding platform is used to complete the welding process.

2. An automatic transport system as claimed in claim 1, characterized in that: The assembly platform includes a plurality of positioning seats evenly spaced apart, each of the positioning seats is provided with a first positioning interface, the transfer tooling includes a tooling frame, a base plate and a connecting end, the connecting end is arranged at both ends of the tooling frame, and the lower end surface of the base plate is provided with a first positioning joint that cooperates with the first positioning interface.

3. An automatic transport system as claimed in claim 2, characterized in that: The lower end surface of the connecting end is provided with a second positioning joint, the upper end surface of the bottom plate is provided with a second positioning interface matching the second positioning joint, and the connecting end is also provided with a third positioning joint.

4. An automatic transport system as claimed in claim 3, characterized in that: A first positioning code is arranged below the assembly platform, a second positioning code is arranged in the transfer platform, and a third positioning code is arranged in the welding platform.

5. An automatic transport system as claimed in claim 4, characterized in that: The welding platform includes two second guide rails, a welding support frame is arranged on the second guide rails, a welding positioning assembly is arranged on the welding support frame, the welding positioning assembly includes a third positioning interface matching the third positioning joint, and the third positioning code is arranged between the two second guide rails.

6. An automatic transport system as claimed in claim 5, characterized in that: The transfer platform includes a plurality of first guide rails, a support seat and a transfer positioning assembly. The second positioning code is arranged at the center of the plurality of first guide rails, and the support seat is slidably arranged on the first guide rails. The transfer positioning assembly is arranged on the support seat and can cooperate with the third positioning joint.

7. An automatic transport system as claimed in claim 3, characterized in that: A cone pin mechanism and a lifting mechanism are provided in the first transfer component. The cone pin mechanism is detachably connected to the top end of the lifting mechanism, and the cone pin component is detachably connected to the top end of the lifting component.

8. An automatic transport system as claimed in claim 7, characterized in that: The lower end surface of the bottom plate is also provided with a plurality of guide holes, directional holes and positioning holes, and the guide holes, directional holes and positioning holes are all used to cooperate with the cone pin mechanism or the cone pin assembly.

Images