An automatic transfer system

Abstract

The present invention relates to the technical field of structural part transportation, and in particular to an automatic transportation system, which includes an assembly platform, a transportation tool, a first transportation component, a transfer platform, a second transportation component and a welding platform, and the methods include assembling, transporting, welding, resetting and disassembling the structural parts. The above-mentioned system and method solve the technical problems in the existing technology such as factory cranes, manually operated electric hoists, etc., which require extremely high operating skills of workers, have high labor intensity, cumbersome transportation processes, low production efficiency, personnel safety risks and product quality hazards, thereby realizing the safe transportation of large structural parts, and reducing the personnel safety risks and product safety risks during the automatic transportation operation, while also improving the processing efficiency.

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 structural parts requires that the assembled large structural parts be transported from the assembly station to the welding station and positioned. After welding is completed, the welded structural parts 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 the electric hoist. This method requires extremely high operating skills of the workers, is labor-intensive, and has 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 work at the welding station, and parts are prone to friction and collision during manual transport and positioning, which increases product quality risks.

[0005] In addition, the lifting of large aviation structures has high requirements for 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, which aims to solve the problem that automatic transfer cannot be achieved by using factory cranes, manually operated electric hoists, etc. in the existing technology.

[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 provided 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 number 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 further provided on the connecting end.

[0010] Optionally, a first positioning code is provided below the assembly platform, a second positioning code is provided in the transfer platform, and a third positioning code is provided 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 provided between the two second guide rails.

[0012] Optionally, the transfer platform includes several first guide rails, a support seat and a transfer positioning assembly, the second positioning code is set at the center of the several first guide rails, and the support seat is slidably set on the first guide rails, and the transfer positioning assembly is set on the support seat and can cooperate with the 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 taper pin mechanism or taper 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 mechanism 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, releases the cooperation of the second positioning interface and the first positioning joint, the lifting mechanism performs a descending action to make the third positioning joint and the third positioning interface complete positioning cooperation, the lifting mechanism 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 the 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 factory cranes, manually operated electric hoists, etc. in the existing technology cannot be used for automatic transfer, realizes the safe transfer of large structural components, and reduces the personnel safety risks and product safety risks during the transfer process during the automatic transfer operation, while also improving the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the overall structure of the automatic transfer system of the present invention;

[0019] Figure 2 A structural schematic diagram of the assembly platform of the present invention;

[0020] Figure 3 A schematic structural diagram of the transfer tooling of the present invention;

[0021] Figure 4 It is a bottom view of the base plate structure;

[0022] Figure 5 is a structural schematic diagram of the first transfer component;

[0023] Figure 6 A structural diagram of a transfer platform;

[0024] Figure 7 is a structural schematic diagram of the second transfer component;

[0025] Figure 8 A structural schematic diagram of the welding platform of the present invention;

[0026] Figure 9 Schematic diagram of the process of the transport method of the present invention;

[0027] Reference numerals:

[0028] 1-Assembly platform,

[0029] 11-first positioning interface, 12-positioning seat, 13-first positioning code;

[0030] 2-Transfer tooling,

[0031] 21- tooling frame, 22- base plate, 23- connection end;

[0032] 221-second positioning interface, 222-first positioning joint;

[0033] 231-third positioning joint, 232-second positioning joint;

[0034] 3-first transfer component;

[0035] 4- Transfer platform,

[0036] 41-first guide rail, 42-support base, 43-transfer positioning assembly, 44-second positioning code;

[0037] 5- Second transfer component,

[0038] 51-car body, 52-lifting assembly, 53-taper pin assembly, 54-track assembly;

[0039] 6-Welding platform,

[0040] 61-the third positioning code, 62-the welding positioning assembly, 63-the second guide rail, 64-the welding support frame.

[0041] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] 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 various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0044] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] 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 for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. 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 this field to implement. When the combination of technical solutions is mutually 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.

[0046] Example 1:

[0047] Please refer to the attached Figure 1 To the attached Figure 8In this embodiment, an automatic transfer system is provided, which is used to transfer structural parts. The 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; 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 includes a car body 51. A lifting component 52 and a cone pin component 53 are provided in the car body 51, and a track component 54 is movably connected under the car body 51. The track component 54 is used to transfer the transfer tool 2 with the structural parts to the welding platform 6, and the welding platform 6 is used to complete the welding process.

[0048] It can be understood that the structural parts in the present invention are large components 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 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.

[0049] Based on the above problems, the applicant proposed an automatic transfer system, which 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, and the structural component transfer body is transported to the transfer platform 4 by the first transfer component 3, and the structural component assembly is transported from the transfer platform 4 to the welding platform 6 by the second transfer component 5. After the welding operation is completed on the welding platform 6, the structural component welded body is finally transferred in sequence through the transfer platform 4 and the assembly platform 1 by the second transfer component 5 and the first transfer component 3. The technical problems of the existing technology such as factory cranes, manually operated electric hoists, etc., which require extremely high operating skills of workers, have high labor intensity, cumbersome transfer processes, low production efficiency, personnel safety risks and product quality hazards are solved. The safe transfer of large structural parts is achieved, and in the process of automatic transfer operation, the personnel safety risks and product safety risks during the transfer process are reduced, while also improving processing efficiency.

[0050] 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 McRae wheel installed on the AGV body. Specifically, the AGV uses a lithium battery to drive the motor to drive the McRae 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 7In this embodiment, the second transfer assembly 5 is preferably an RGV. The RGV's body 51 preferably utilizes servo motor-driven rollers in conjunction with a track assembly 54 for displacement. The track assembly 54 preferably comprises two steel rails that are sunken and flush with the ground. The taper pin assembly 53 is preferably four taper pins, removably connected to the top of the lifting assembly 52 via a screw or other structure. The lifting assembly 52 preferably has a similar structure to the lifting mechanism, namely, a scissor jack.

[0051] Example 2:

[0052] As an optional embodiment, 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 provided 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.

[0053] As another optional embodiment, refer to the attached Figure 3 In this embodiment, a second positioning joint 232 is provided on the lower end surface of the connecting end 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 end 23.

[0054] It should be noted that in the prior art, when manual assisted transportation is performed using factory cranes, manually operated electric hoists, etc., there is still a problem of dynamic displacement of the geometric center of gravity of 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 end 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 end 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 is completed, providing 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.

[0055] 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 this embodiment are all high-precision positioning joints that have been precisely mechanically designed and processed, and can achieve micron-level repeat positioning accuracy. This high-precision repeat 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 transfer, 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 match, and the cooperation of multiple joints and interfaces can effectively correct tiny 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.

[0056] In this embodiment, a first positioning code 13 is provided below the assembly platform 1, a second positioning code 44 is provided within the transfer platform 4, and a third positioning code 61 is provided within the welding platform 6. To achieve precise positioning in this embodiment, the movement path of the first transfer component 3 is positioned using a laser radar, while the movement path of the second mobile component is moved and positioned using a track structure. The first positioning code 13 is a high-precision positioning station, and the positioning process is completed after the first positioning code 13 is recognized by the QR code recognition device equipped on the first transfer component 3. The second positioning code 44 and the third positioning code 61 operate on similar principles.

[0057] The positioning code also provides the transfer assembly with accurate site location information, ensuring that the vehicle can accurately travel to the target location. After the transfer assembly reaches the target location, the taper pin mechanism or taper pin assembly 53 achieves precise docking through the cooperation of the taper pin and the taper pin hole. After the positioning joint and the positioning interface cooperate, the precise positioning and connection between the various transfer structures are ensured. In addition, the self-centering ability of the taper pin can compensate for the slight errors caused by the rough positioning of the QR code, ensuring high-precision docking. Furthermore, each positioning code can not only provide location information, but also store transfer task information, guiding the transfer assembly to complete the automatic transfer task, such as storing site information, transfer task and other data for the control system to read and execute.

[0058] 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 provided on the second guide rails 63, a welding positioning assembly 62 is provided 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.

[0059] For the transfer platform 4, the transfer platform 4 includes several 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 several first guide rails 41, and the support seat 42 is slidably set on the first guide rail 41, and the transfer positioning assembly 43 is set on the support seat 42 and can cooperate with the third positioning joint 231.

[0060] Based on the above structure, it can be understood that the welding support frame 64 is slidably mounted on the second guide rail 63. Due to the size differences between different types of structural components, in order to increase the adaptability of the transfer system to structural components, in this embodiment, the distance between the support seat 42 and the first guide rail 41 is adjusted to meet the transfer requirements of structural components of different sizes. It can also be understood that for structural components of different lengths and sizes, the position of their geometric center of gravity will inevitably be different. The flexible adjustment of the support seat 42 enables the transfer system to handle a variety of types of aviation structural components without requiring major modifications to the hardware structure involved in the transfer process. The force applied to the structural components on the transfer platform 4 is also relatively uniform, further enhancing the adaptability of the system, enabling it to withstand the weight of large aviation structural components and ensuring stability during transfer. The transfer positioning assembly 43 on the support seat 42 is fixed to the guide rail through mechanical locking, ensuring that the structural components remain stable during transfer and effectively preventing damage caused by vibration or impact.

[0061] Example 3:

[0062] This embodiment only describes the parts that are different from Example 1. Specifically, a cone pin mechanism and a lifting mechanism are provided in the first transfer component 3, and a cone pin component 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 component 53 is detachably connected to the top of the lifting component 52.

[0063] In this embodiment, the lower end surface of the base plate 22 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 taper pin mechanism or taper pin assembly 53.

[0064] Based on the above structure, by providing a taper pin mechanism and a taper pin assembly 53 within the first transfer assembly 3 and the second transfer assembly 5, respectively, and providing a plurality of guide holes, directional holes, and positioning holes on the lower end surface of the base plate 22 of the transfer tool 2, high-precision positioning and stable connection are achieved during the transfer process. This structural design ensures precise docking and stable fixation between the transfer tool 2 and each platform during the transfer process, thereby effectively reducing the risk of structural displacement or damage caused by vibration or impact during the transfer process, and improving the reliability and safety of the transfer.

[0065] 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 to achieve smooth lifting and detachment of the transfer tooling 2 from the assembly platform 1, ensuring 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 tooling 2 to be accurately positioned and firmly placed on the transfer platform 4, facilitating 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 tooling 2 on the welding platform 6, provide stable support for the welding process, and avoid affecting the welding quality due to instability of the structural parts during the welding process.

[0066] In addition, this structural design also has additional technical effects. Specifically, the detachable connection method of the taper pin mechanism and the taper 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 taper 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 and applied to other industrial scenarios that require high-precision positioning and stable transportation.

[0067] Example 4:

[0068] Reference Figure 9 , this embodiment provides a transport method, the method comprising:

[0069] Step 1: Install the structural parts inside the transfer tooling 2 on the assembly platform 1;

[0070] 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;

[0071] Step 3, completing the welding of the structural parts through the welding platform 6;

[0072] 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;

[0073] Step 5: Complete the disassembly of the structural parts on the transfer tooling 2 through the assembly platform 1.

[0074] 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:

[0075] In 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 match, and the lifting mechanism performs a lifting action to make the taper pin mechanism match with the guide hole, the directional hole and the positioning hole. The lifting mechanism continues to perform the lifting action to separate the first positioning joint 222 and the first positioning;

[0076] In 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 and completes 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 complete the positioning cooperation between the third positioning joint 231 and the third positioning interface. 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.

[0077] 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 the 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 the set height. Preferably, the number of positioning holes is 4.

[0078] The first transfer component 3 moves 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 moves to the parking position.

[0079] The second transfer component 5 travels to the transfer platform 4. After completing positioning through the second positioning code 44, the lifting component 52 of the second transfer component 5 starts the lifting action. 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.

[0080] The second transfer assembly 5 moves along the preset trajectory to the welding platform 6. After completing positioning via the third positioning code 61, the second positioning interface 221 provided above the bottom plate 22 of the transfer tooling 2 releases the lock from the second positioning joint 232 on the connecting end 23 of the transfer tooling 2. The lifting assembly 52 of the second transfer assembly 5 begins to descend, and the third positioning joint 231 provided on the connecting end 23 of the transfer tooling 2 is connected to 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 tooling 2 is disengaged from the connecting end 23. The bottom plate 22 of the transfer tooling 2 and the lifting assembly 52 of the second transfer assembly 5 are lowered to the lowest position together. Then, the second transfer assembly 5 and the bottom plate 22 of the transfer tooling 2 are driven to the transfer platform 4 and parked.

[0081] Through a series of orderly steps, structural components are assembled, transferred, welded, repositioned, and disassembled. This method utilizes a transfer platform 4 as an intermediate transfer node and leverages the collaborative operation of a first transfer component 3 (e.g., an AGV) and a second transfer component 5 (e.g., a RGV). This method addresses many of the challenges inherent in traditional transfer methods, including high worker skill requirements, high labor intensity, low production efficiency, high safety risks, and potential product quality issues. This method not only improves transfer efficiency and safety, but also reduces human involvement through automated operations, minimizing errors and risks caused by human error.

[0082] In Example 4, the automatic transfer method can be linked with multiple key structures, thereby producing additional technical effects. First, when linked with the assembly platform 1, the first positioning code 13 and the positioning interface 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 tapered pin mechanism and the positioning hole 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 cooperate to achieve precise positioning of the transfer tooling 2 on the welding platform 6, providing stable support for the welding process, and avoiding the impact of unstable structural parts on welding quality during welding.

[0083] Furthermore, this method can be linked to the lifting mechanism and taper pin mechanism of the first and second transfer assemblies 3 and 5. The lifting and lowering of the lifting mechanism, combined with the precise alignment of the taper pin mechanism with the positioning holes, enables the smooth transfer and secure fixation of the transfer tool 2 between different platforms. The detachable design of the taper pin mechanism enhances the system's flexibility and ease of maintenance. It also provides self-centering capabilities, compensating for minor deviations caused by positioning errors, further improving the system's overall accuracy and reliability.

[0084] This automated transfer method, coupled with the aforementioned structure, not only enables efficient and safe transfer of large structural components, but also improves the automation and stability of the entire production process, reduces plant infrastructure requirements, and reduces infrastructure costs. This method is particularly well-suited for the transfer and welding of large structural components in the aviation manufacturing industry, significantly improving production efficiency and product quality while ensuring personnel safety.

[0085] For the specific reset process:

[0086] 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. The lifting component 52 continues to perform the lifting action to separate the third positioning joint 231 and the third positioning interface and then lift it to the set height; the second transfer component 5 moves to the welding platform 6 together with the bottom plate 22 of the transfer tooling 2 according to the preset trajectory, and completes the positioning through the third positioning code 61. The lifting component 52 of the second transfer component 5 starts the 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. 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 part welded body to the set height.

[0087] 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. 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.

[0088] After that, the second transfer component 5 travels to the transfer platform 4. After completing the positioning through the second positioning code 44, 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 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.

[0089] Finally, the first transfer component 3 moves to the assembly platform 1 according to the preset trajectory. After completing the positioning through the first positioning, the lifting mechanism of the first transfer component 3 starts to descend, and the first positioning joint 222 set 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 moves to the parking position, and then the structural part welded body and the transfer tooling 2 are disassembled at the assembly platform 1, and the parts are transferred to the subsequent process.

[0090] It can be understood that the PLC control, servo drive system, positioning sensing technology, communication network and human-computer interaction interface used in the implementation process of the automation control involved in the above embodiments have all been relatively maturely applied in the existing technology, and their specific application logic in the present invention will not be repeated here.

[0091] 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 description 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 transfer system for transferring large aircraft parts, characterized in that: 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 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. A lifting assembly and a taper pin assembly are provided in the vehicle body, and a track assembly is movably connected under the vehicle body. 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. The taper pin assembly is a taper pin. The assembly platform includes a plurality of evenly spaced positioning seats, each of which 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 provided 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. The lower end surface of the connecting end is provided with a second positioning joint, the upper end surface of the base 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; the transfer platform includes a plurality of first guide rails, a support seat and a transfer positioning assembly, the second positioning code is provided at the center of the plurality of first guide rails, and the support seat is slidably provided on the first guide rail, and the transfer positioning assembly is provided on the support seat and can cooperate with the third positioning joint; The first transfer assembly is provided with a taper pin mechanism and a lifting mechanism; 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; the lower end surface of the base 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; The transfer process of the system is as follows: Install the structural parts inside the transfer tooling on the assembly platform; 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; Complete the welding of structural parts through the welding platform; The transfer tooling with the structural parts is transferred to the transfer platform by the second transfer component, and then the transfer tooling with the structural parts is transferred to the assembly platform by the first transfer component; Complete the disassembly of structural parts on the transfer tooling through the assembly platform; The lifting mechanism performs a lifting action to make the taper pin mechanism match the guide hole, the directional hole and the positioning hole; The lifting assembly performs a lifting action to make the tapered pin assembly cooperate with the guide hole, the directional hole and the positioning hole and then lift it to a set height.

2. An automatic transport system according to claim 1, characterized in that: A first positioning code is provided below the assembly platform, a second positioning code is provided in the transfer platform, and a third positioning code is provided in the welding platform.

3. An automatic transport system according to claim 2, characterized in that: 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 provided between the two second guide rails.

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