Rotary assembly RGV

Abstract

The invention discloses a rotary assembled RGV which comprises a frame, a walking driving system, a power supply system, a control system and a rotary supporting platform. The rotary supporting platform is provided with an electromagnetic adsorption supporting block, a slewing bearing, a driving motor and a rotary encoder, 360-degree rotation and accurate positioning of the frame can be achieved, and the frame is fixed through electromagnetic adsorption force. The walking driving system is provided with a mechanical clutch mechanism, and manual pushing emergency movement is supported. And the power supply system adopts non-contact power supply, so that the flexibility and safety are improved. The safety protection system comprises a laser radar and an electronic safety contact edge, and the protection range can be automatically adjusted according to the workpiece size. The addressing positioning system is combined with RFID, a rotary encoder and a magnetic induction switch, and the positioning precision reaches + / -2mm. The control system supports three modes of single-machine remote control, automatic operation and system linkage. The problems that a traditional RGV is difficult in posture adjustment, low in positioning precision and poor in collaboration are solved, the assembling flexibility, efficiency and safety are improved, and the method is suitable for an engineering machinery general assembly line.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery assembly and relates to a rotary assembly RGV. Background Art

[0002] In the field of construction machinery manufacturing, especially in the final assembly production lines of large-scale construction machinery such as excavators and loaders, assembly efficiency and flexible production capacity directly determine the core competitiveness of manufacturing companies. At present, leading manufacturers generally use RGV (Rail Guided Vehicle) or AGV (Automated Guided Vehicle) as the main automated transportation and assembly platform in the design of the final assembly line. These devices realize the automatic transportation of materials and workpieces through preset tracks or navigation systems, which significantly improves the automation level of the production line. With the widespread application of intelligent manufacturing technology, more and more intelligent assembly equipment has been introduced into the production line, such as articulated robots, truss manipulators, and visual recognition systems. The introduction of these devices has put forward higher requirements on the flexibility and precision of the assembly line. However, traditional RGV or AGV has exposed many shortcomings in practical applications, which limits its deep integration with modern automated assembly technology.

[0003] Traditional RGV or AGV usually adopts a fixed frame design. After the frame is loaded onto the RGV or AGV, its posture adjustment ability is extremely limited. Since the fixing method of the frame mostly relies on self-weight placement, no effective limit or adsorption mechanism is set. During the assembly process, especially when subjected to external forces or automated equipment operation, relative movement between the frame and the RGV / AGV is prone to occur. This movement not only affects the stability of the assembly posture, but may also lead to a decrease in positioning accuracy. This defect is particularly obvious for some workstations that require high positioning accuracy, such as bolt tightening operations that require precise docking. In addition, the frame posture adjustment of traditional RGV or AGV mainly relies on manual intervention or external mechanical devices, which has poor flexibility and cannot quickly adapt to the needs of different workpieces or different assembly stations. This rigid design makes it difficult to meet the diversified and personalized production requirements in modern flexible manufacturing.

[0004] At the same time, with the popularization of automated assembly equipment, assembly lines have placed higher demands on the collaborative working capabilities of RGV or AGV. For example, articulated robots need to complete grasping or assembly actions at specific angles and positions, while the frames of traditional RGV or AGV cannot achieve 360° rotation or precise positioning, which limits the operation of the robots and makes it difficult to further improve assembly efficiency. In addition, the power supply systems of traditional RGVs mostly use contact power supply methods, such as busbars or cable drag chains. This method is prone to unstable power supply due to poor contact or wear during long-term operation, and has high maintenance costs, and the flexibility of production line layout is also limited. On the other hand, the safety protection measures of traditional RGVs are relatively simple, usually relying only on mechanical limiters or simple infrared sensors, and are unable to dynamically adjust the protection range according to the size of the workpiece, posing certain safety hazards.

[0005] In terms of drive and positioning, the travel drive system of traditional RGV mostly adopts a fixed connection design and lacks a flexible clutch mechanism. When the equipment fails or the electronic control system fails, the RGV cannot be moved manually, which can easily cause the production line to stagnate or even get blocked, further affecting production efficiency. In addition, the positioning accuracy of traditional RGV usually relies on a single encoder or magnetic strip navigation, and the positioning error is large, which makes it difficult to meet the needs of high-precision assembly. For example, in the assembly of excavator chassis, the positioning accuracy is required to reach the millimeter level to ensure the smooth progress of subsequent processes. The existence of these problems limits the application of traditional RGV or AGV in modern automated assembly lines, and cannot give full play to its advantages as an automated transfer tool.

[0006] In summary, traditional RGV or AGV has significant deficiencies in flexible adjustment, positioning accuracy, safety, and coordination with intelligent assembly equipment, which limits the further improvement of the production efficiency of the entire assembly workshop. Therefore, the development of a new RGV that has assembly flexibility, high assembly efficiency, excellent positioning accuracy, and seamless connection with the general assembly line has become the current research focus in the field of engineering machinery manufacturing. This new RGV needs to solve the technical bottlenecks of traditional equipment in posture adjustment, power control, safety protection, etc. through innovative structural design and control systems, thereby promoting the development of assembly lines towards intelligence and flexibility. Summary of the invention

[0007] In view of this, the object of the present invention is to solve the above-mentioned problems and provide a rotary assembly RGV to solve the limitations of traditional RGV in assembly flexibility, positioning accuracy and collaborative working ability.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A rotary assembly RGV, comprising an RGV frame, a travel drive system, a power supply system, and a control system; the travel drive system is arranged on the RGV frame and is used to drive the RGV frame to move; a rotary support platform is arranged on the RGV frame, and the rotary support platform, the travel drive system, and the power supply system are all connected to the control system;

[0010] The rotating support platform includes an electromagnetic adsorption support block, a slewing bearing, a driving motor, and a rotary encoder; the electromagnetic adsorption support block is rotatably connected to the RGV frame through the slewing bearing, the electromagnetic adsorption support block is used to support the workpiece to be assembled, and the electromagnetic adsorption force of the electromagnetic adsorption support block is controlled by changing the current of the electromagnetic adsorption support block; the driving motor is transmission-connected to the slewing bearing, used to drive it to rotate, and the rotation angle is controlled through the rotary encoder.

[0011] Furthermore, the travel drive system includes a driving gear train, a driven gear train, a drive motor, a mechanical clutch mechanism, and a rotary encoder; the driving gear train is connected to the drive motor through a sprocket and a chain, and the mechanical clutch mechanism is arranged at the output end of the drive motor. By manipulating the separation or engagement of the mechanical clutch mechanism, the output and cut-off of power are controlled; the rotary encoder is arranged on the driven gear train for calculating and providing feedback on the running distance.

[0012] Furthermore, the mechanical clutch mechanism includes a spring push rod, an engaging follower tooth, a clutch power tooth, a clutch paddle, and a screw fork mechanism; one end of the spring push rod is connected to the driving motor, and the other end is sleeved with the clutch power tooth, and the clutch power tooth slides along the axial direction of the spring push rod; one end of the engaging follower tooth is connected to the driving gear train, and the other end is detachably engaged with the clutch power tooth; the screw fork mechanism is arranged in parallel with the spring push rod, and is connected to the clutch power tooth through the clutch paddle, driving the clutch power tooth to move axially, thereby realizing the engagement and separation of the engaging follower tooth and the clutch power tooth.

[0013] Furthermore, the RGV also includes a safety protection system connected to the control system. The safety protection system is a secondary safety protection system, including laser radars and electronic safety touch edges installed at the front and rear of the RGV; the laser radars constitute a primary protection system, which automatically adjust the protection range according to different frame sizes to detect obstacles in the running direction and avoid collisions; the electronic safety touch edges constitute a secondary protection system, which is used for anti-collision protection of the RGV after the laser radar fails.

[0014] Furthermore, the RGV also includes an addressing and positioning system, which includes an RFID system, a rotary encoder, and a magnetic induction switch. The RFID system records, identifies, and stores the operation information of the stop sites and workstations. The rotary encoder is used to calculate the driving path and stop sites, and to perform real-time control and correction of the running distance. The magnetic induction switch is used to accurately locate the workstation by identifying the stop station transmitter.

[0015] Furthermore, through the addressing and positioning system, the positioning accuracy of RGV is ±2mm.

[0016] Furthermore, the control system includes a PLC, a frequency converter, a wireless network module, a remote control module, a power conversion system, and a weak current system, realizing three modes: single-machine remote control, automatic operation control, and system linkage control.

[0017] Furthermore, the power supply system is a contactless power supply system. An induction cable is laid on the running path of the RGV, a power board is provided at the bottom of the RGV, and a power converter is provided in the power conversion system. Through contactless induction between the power board and the induction cable, the 50KHz medium frequency electricity on the induction cable is transmitted to the control system for use.

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

[0019] 1. The RGV rotating support platform is equipped with an electromagnetic adsorption support block. Through the magnetic effect of the current, it can prevent the frame from moving after being subjected to external force, ensuring the consistency of the assembly posture. At the same time, it can automatically adjust the current size and electromagnetic adsorption force according to the weight of different workpieces.

[0020] The rotating support platform of the present invention significantly improves the stability of the frame on the RGV through the design of the electromagnetic adsorption support block. Traditional RGVs are usually placed only by the weight of the frame and lack effective fixing measures. During the assembly process, especially when subjected to external forces (such as manipulator operation or workpiece adjustment), the frame is prone to sliding or offset, resulting in a decrease in assembly accuracy. The present invention utilizes the principle of electromagnetic adsorption to generate an adjustable adsorption force by controlling the current size, which can not only firmly fix the frame to prevent its relative movement, but also dynamically adjust the adsorption force according to the weight and size of different workpieces. This adaptive adjustment capability ensures the consistency of the frame posture in different assembly scenarios, and is particularly suitable for workstations with high positioning accuracy requirements in the assembly of large-scale engineering machinery such as excavators. For example, when the chassis is docked with the upper frame, the electromagnetic adsorption support block can ensure that the frame is always in a preset position, avoiding assembly failure or rework due to posture deviation, thereby improving production efficiency and product quality.

[0021] 2. The RGV rotating support platform can realize 360° free rotation and precise positioning of the frame through the setting of slewing bearing, rotary encoder and drive motor, meeting the assembly requirements of different angles in the subsequent assembly process.

[0022] The rotary support platform of the present invention enables the RGV frame to rotate 360° freely through the cooperation of the slewing bearing and the drive motor, and realizes high-precision angle control in combination with the rotary encoder. The frame posture adjustment of the traditional RGV usually relies on manual operation or external mechanical devices, which is inefficient and has poor flexibility. The present invention can adjust the angle of the frame in real time during the assembly process according to the needs of different workstations (such as welding, bolt tightening or component installation). For example, at the excavator support wheel installation station, the robot may need to grasp and position from multiple angles. The rotary support platform of the present invention can quickly adjust the frame to the optimal angle, reduce the auxiliary adjustment time, and improve the operating efficiency of the automated equipment. In addition, the application of the rotary encoder ensures the accuracy of the angle control and avoids assembly errors caused by angle deviation, thereby significantly improving the flexible production capacity and the overall coordination of the assembly line.

[0023] 3. The RGV drive system is equipped with a mechanical clutch, which controls the output and cut-off of power through the engagement and disengagement of the mechanical clutch. When the RGV cannot be driven by the electronic control system due to a fault, the RGV can be pushed manually to avoid blocking the assembly line.

[0024] The present invention introduces a mechanical clutch mechanism into the travel drive system. This design greatly enhances the emergency handling capability and production continuity of the RGV. The drive system of a traditional RGV is usually fixedly connected. Once the electronic control system or the motor fails, the RGV can only stay on the track and cannot move, which easily leads to stagnation of the assembly line or even a complete shutdown. The mechanical clutch of the present invention can quickly cut off the power output when necessary through the synergistic effect of the spring push rod, the meshing follower gear and the screw fork mechanism, so that the RGV enters a free state. At this time, the staff can manually push the faulty RGV out of the production line to avoid production congestion. For example, in an excavator assembly line running at high load, if a certain RGV stops due to a power supply or control system failure, the application of a mechanical clutch can ensure that the production line quickly resumes normal operation, reduces line stoppage losses, and improves the reliability of the equipment and the stability of the production line.

[0025] 4. The RGV power supply system adopts a non-contact power supply system, which makes the production line layout more flexible, the power supply efficiency higher, and the subsequent maintenance cost low, reducing the risk of maintenance personnel working near live equipment and improving safety.

[0026] The present invention adopts a contactless power supply system, which has significant advantages over the traditional RGV busbar or cable drag chain power supply method. Contactless power supply does not require physical electrical connection, avoids power supply interruption problems caused by poor contact, wear or aging, and has a more stable power supply efficiency. At the same time, this design makes the production line layout more flexible, without the need to set up complex power supply lines along the track, and has stronger adaptability, which is particularly suitable for assembly workshops with multiple stations and complex layouts. In addition, the contactless power supply system reduces the maintenance requirements of electrical contact components in traditional power supply methods, such as regularly checking the wear of the busbar or replacing the cable, reducing the subsequent maintenance costs. More importantly, maintenance personnel do not need to frequently contact live equipment, which significantly reduces the time and risk of working in high-risk areas and improves the overall safety of the production line. For example, in a humid or dusty assembly environment, the contactless power supply system can effectively avoid electrical failures caused by environmental factors, further ensuring the reliability of equipment operation.

[0027] 5. The laser radar configured in the RGV safety protection system can automatically adjust the protection distance according to the size of different workpieces, which is safer.

[0028] The safety protection system of the present invention adopts a two-level protection design, in which the first-level protection is composed of a laser radar, which can dynamically adjust the protection range according to the external dimensions of the frame or workpiece. The safety protection of traditional RGVs is mostly fixed-distance infrared sensors or mechanical limits, which cannot adapt to the protection needs of workpieces of different sizes and pose a risk of collision. The laser radar of the present invention can identify obstacles in the direction of travel through real-time scanning and intelligent algorithms, and automatically optimize the protection distance according to the size of the workpiece. For example, when transporting a large excavator chassis, the laser radar will automatically expand the protection range to ensure a safe distance from the equipment or personnel in front; when transporting smaller components, the protection range will be appropriately reduced to improve operating efficiency. This adaptive protection capability significantly reduces the probability of collision accidents, ensures the safety of personnel and equipment, and is particularly suitable for high-density, high-dynamic automated assembly environments.

[0029] 6. The RGV addressing and positioning system adopts RFID addressing, rotary encoder correction and deviation correction, and magnetic induction switch precise docking control mode, which makes site identification more accurate and the positioning accuracy can reach ±2mm.

[0030] The addressing and positioning system of the present invention realizes high-precision site identification and positioning functions through the coordinated work of RFID, rotary encoder and magnetic induction switch. The positioning system of traditional RGV mostly relies on a single magnetic strip or encoder, and the positioning error is usually at the centimeter level, which is difficult to meet the high-precision assembly requirements. The present invention records and identifies the workstation information through the RFID system, the rotary encoder calculates the driving path and corrects the deviation in real time, and the magnetic induction switch realizes precise positioning by identifying the workstation transmitter, and finally improves the positioning accuracy to ±2mm. For example, in the key workstations of the excavator assembly line (such as slewing bearing installation), the positioning accuracy of ±2mm can ensure the precise docking of the frame and the automation equipment, avoiding assembly failures caused by positioning deviations. This high-precision positioning capability not only improves the assembly quality, but also enhances the synergy between RGV and intelligent assembly equipment, and promotes the intelligence level of the production line.

[0031] 7. The RGV control system is more flexible. Under the linkage of the system, multiple RGVs can realize three operation modes: forced assembly line mode, multiple synchronous operation mode, and single-station assembly line mode.

[0032] The control system of the present invention realizes highly flexible operation mode switching through the integration of PLC, frequency converter and wireless network module. The control system of traditional RGV is usually relatively simple and difficult to adapt to diversified production needs. The present invention supports three modes: single-machine remote control, automatic operation control and system linkage control, and can be flexibly adjusted according to the production plan. For example, during peak production periods, multiple RGVs can enter the forced assembly line mode through system linkage to ensure rapid flow of workpieces; during debugging or small-batch production, they can switch to the single-station assembly line mode to focus on the optimization of a certain process; when collaborative work is required, multiple RGVs can achieve synchronous operation mode to ensure consistent assembly rhythm. This multi-mode operation capability significantly improves the adaptability and efficiency of the production line, and is particularly suitable for the flexible production needs of multiple varieties and small batches in engineering machinery manufacturing.

[0033] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0035] Figure 1 It is a front view of the rotary assembly RGV in the present invention.

[0036] Figure 2It is a top view of the rotatably assembled RGV in the present invention.

[0037] Figure 3 It is a schematic diagram of the mechanical clutch mechanism in the present invention.

[0038] Attached icons: 1-RGV frame; 2-rotating support platform; 3-power supply system; 4-electromagnetic adsorption support block; 5-driven gear train; 6-safety system; 7-driving motor; 8-slewing bearing; 9-control system; 11-driving gear train; 12-screw fork mechanism; 13-engaging follower gear; 14-clutch power gear; 15-spring push rod. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0040] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and descriptions in the drawings may be omitted.

[0041] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0042] See also Figures 1 to 3 This embodiment provides a rotary assembly RGV for assembling an excavator chassis, the RGV comprising an RGV frame 1, a rotary support platform 2, a power supply system 3, a travel drive system, a control system 9 and a safety protection system 6. Take the lower frame assembly line of the excavator assembly workshop as an example:

[0043] Functions of each structure and functional module:

[0044] RGV frame 1: It adopts high-strength steel frame, which serves as the main structure of RGV, carrying the lower frame and various functional modules to ensure stability under heavy load.

[0045] Rotating support platform 2: installed on the top of RGV frame 1, including electromagnetic adsorption support block 4, slewing bearing 8, driving motor 7 and rotary encoder.

[0046] Electromagnetic adsorption support block 4: The lower frame is adsorbed by electromagnetic force to fix the workpiece to prevent sliding due to external forces such as robot operation during assembly, ensuring posture consistency.

[0047] Slewing bearing 8: connects the electromagnetic adsorption support block 4 and the frame, and its function is to support the rotating parts to achieve 360° free rotation.

[0048] Driving motor 7: drives slewing bearing 8 through gears, and its function is to provide rotational power and adjust the angle of the lower frame to adapt to the requirements of different workstations.

[0049] Rotary encoder: monitors the rotation angle in real time, and its function is to feedback the angle data, ensure the rotation accuracy, and meet the precise positioning requirements.

[0050] Power supply system 3: It is a contactless power supply system. An induction cable is laid on the running path of the RGV. A power board is set at the bottom of the RGV. A power converter is set in the power conversion system. Through contactless induction between the power board and the induction cable, the 50KHz medium frequency electricity on the induction cable is transmitted to the control system for use. Its function is to provide stable and efficient power support for the RGV and avoid wear and maintenance problems of contact power supply.

[0051] Travel drive system: includes a driving gear train 11, a driven gear train 5, a driving motor 7, a mechanical clutch mechanism and a rotary encoder.

[0052] Driving gear train 11: connected to driving motor 7 through a chain, its function is to transmit power and drive RGV to move along the track.

[0053] Driven wheel system 5: Auxiliary support and movement, its function is to enhance the stability of the vehicle body and cooperate with the driving wheel to run.

[0054] Driving motor 7: drives the driving gear train 11, and its function is to provide walking power to ensure that the RGV runs along the predetermined path.

[0055] Mechanical clutch mechanism such as Figure 3As shown: it includes a spring push rod 15, an engaging follower tooth 13, a clutch power tooth 14, a clutch paddle and a screw fork mechanism 12, which is used to control power output and cut off, support manual movement of RGV in case of failure, and avoid blockage of the production line.

[0056] Rotary encoder: installed on the driven gear train 5, its function is to measure the running distance and feedback data to assist positioning control.

[0057] Control system 9: Integrates PLC, frequency converter, wireless network module and remote control module. Its function is to coordinate the operation of each module and supports three modes: stand-alone remote control, automatic operation and system linkage.

[0058] Safety protection system 6: includes laser radar and electronic safety touch edges installed at the front and rear of the vehicle.

[0059] LiDAR: detects obstacles in the running direction and automatically adjusts the protection range according to the size of the lower frame to prevent collisions.

[0060] Electronic safety edge touch: As a secondary protection, it triggers an emergency stop when the lidar fails to ensure safety.

[0061] Addressing and positioning system: includes RFID module, rotary encoder and magnetic induction switch.

[0062] RFID module: records workstation and operation information, identifies sites and stores data for easy workstation management.

[0063] Rotary encoder: calculates the driving path and corrects the deviation in real time to ensure accurate running distance.

[0064] Magnetic induction switch: Identifies the workstation transmitter and is used to achieve precise positioning with an accuracy of ±2mm.

[0065] Features:

[0066] The rotary assembly RGV of this embodiment is specially designed for assembly under the excavator frame and has the following functional features:

[0067] High stability fixation: The electromagnetic adsorption support block 4 firmly fixes the lower frame through adjustable electromagnetic force to adapt to its large weight and complex structure.

[0068] Flexible posture adjustment: The rotating support platform 2 can realize 360° rotation of the lower frame to meet the multi-angle requirements of crawler installation, travel motor assembly and other workstations.

[0069] High-precision positioning: The addressing and positioning system ensures that the RGV can stop at each station with an accuracy of ±2mm, making it easy to connect with automated equipment.

[0070] Emergency response capability: The mechanical clutch mechanism supports manual push to ensure the continuity of the production line.

[0071] Safe and efficient: Non-contact power supply and secondary safety protection system improve operational safety and efficiency.

[0072] Working process:

[0073] Loading of the lower frame: The lower frame is placed on the electromagnetic adsorption support block 4 by hoisting, and the control system 9 adjusts the current according to the weight of the lower frame of about 5 tons, and the electromagnetic adsorption support block 4 generates sufficient adsorption force to fix the workpiece.

[0074] Transfer to the workstation: The travel drive system is started, and the drive motor 7 drives the RGV to move along the track to the crawler installation station through the active gear train 11. The rotary encoder on the driven gear train 5 provides real-time distance feedback, the RFID module identifies the workstation information, the magnetic induction switch detects the transmitter, and the RGV stops accurately with a positioning error of ≤±2mm.

[0075] Attitude adjustment: After arriving at the work station, the drive motor 7 drives the slewing bearing 8 to rotate the lower frame 90° to align with the track installation position, and the rotary encoder ensures the angle accuracy.

[0076] Safety monitoring: The laser radar in the safety protection system 6 adjusts the protection range to 5 meters according to the size of the lower frame, which is about 3 meters long. It detects the robot or person in front and slows down if there is an obstacle. The electronic safety touch edge serves as a backup protection.

[0077] Assembly and emergency handling: After the robot completes the crawler installation, the RGV continues to the next station. If the power supply system 3 fails, the operator separates the clutch power tooth 14 and the meshing follower tooth 13 through the screw fork mechanism 12, manually pushes the RGV to the maintenance area, and the wireless charging module automatically charges.

[0078] Application effect:

[0079] This embodiment significantly improves assembly efficiency and quality in the excavator lower frame assembly line through electromagnetic adsorption fixation, high-precision positioning and flexible rotation. The mechanical clutch and safety protection design ensure production continuity and safety. The positioning accuracy of ±2mm meets the needs of collaborative operation with robots and is suitable for modern assembly workshops.

[0080] This embodiment realizes efficient transportation and precise assembly of the chassis through the coordinated action of various modules, with a positioning accuracy of ±2mm.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A rotary assembly RGV, characterized in that: It includes a RGV frame, a travel drive system, a power supply system, and a control system; the travel drive system is arranged on the RGV frame and is used to drive the RGV frame to move; a rotating support platform is arranged on the RGV frame, and the rotating support platform, the travel drive system, and the power supply system are all connected to the control system; The rotating support platform includes an electromagnetic adsorption support block, a slewing bearing, a driving motor, and a rotary encoder; the electromagnetic adsorption support block is rotatably connected to the RGV frame through the slewing bearing, the electromagnetic adsorption support block is used to support the workpiece to be assembled, and the electromagnetic adsorption force of the electromagnetic adsorption support block is controlled by changing the current of the electromagnetic adsorption support block; the driving motor is transmission-connected to the slewing bearing, used to drive it to rotate, and the rotation angle is controlled through the rotary encoder.

2. The rotary assembly RGV according to claim 1, characterized in that: The walking drive system includes a driving gear train, a driven gear train, a driving motor, a mechanical clutch mechanism, and a rotary encoder; the driving gear train is connected to the driving motor through a sprocket and a chain, and the mechanical clutch mechanism is arranged at the output end of the driving motor. By manipulating the separation or engagement of the mechanical clutch mechanism, the output and cut-off of power are controlled; the rotary encoder is arranged on the driven gear train for calculating and providing feedback on the running distance.

3. The rotary assembly RGV according to claim 2, characterized in that: The mechanical clutch mechanism includes a spring push rod, an engaging follower tooth, a clutch power tooth, a clutch paddle, and a screw fork mechanism; one end of the spring push rod is connected to the driving motor, and the other end is sleeved with the clutch power tooth, and the clutch power tooth is axially slidably matched with the spring push rod; one end of the engaging follower tooth is connected to the driving gear train, and the other end is detachably engaged with the clutch power tooth; the screw fork mechanism is arranged in parallel with the spring push rod, and is connected to the clutch power tooth through the clutch paddle, driving the clutch power tooth to move axially, thereby realizing the engagement and separation of the engaging follower tooth and the clutch power tooth.

4. The rotary assembly RGV according to claim 1, characterized in that: The RGV also includes a safety protection system connected to the control system. The safety protection system is a secondary safety protection system, including laser radars and electronic safety touch edges installed at the front and rear of the RGV; the laser radars constitute a primary protection system, which automatically adjust the protection range according to different frame sizes to detect obstacles in the running direction and avoid collisions; the electronic safety touch edges constitute a secondary protection system, which is used to protect the RGV from collision after the laser radar fails.

5. The rotary assembly RGV according to claim 1, characterized in that: The RGV also includes an addressing and positioning system, which includes an RFID system, a rotary encoder, and a magnetic induction switch. The RFID system records, identifies, and stores information on stop sites and workstation operations. The rotary encoder is used to calculate the driving path and stop sites, and to perform real-time control and deviation correction on the running distance. The magnetic induction switch identifies the stop station transmitter and is used to accurately locate the workstation.

6. The rotary assembly RGV according to claim 5, characterized in that: Through the addressing and positioning system, the positioning accuracy of RGV is ±2mm.

7. The rotary assembly RGV according to claim 1, characterized in that: The control system includes PLC, frequency converter, wireless network module, remote control module, power conversion system and weak current system, realizing three modes: single machine remote control, automatic operation control and system linkage control.

8. The rotary assembly RGV according to claim 7, characterized in that: The power supply system is a contactless power supply system. An induction cable is laid on the running path of the RGV, a power board is provided at the bottom of the RGV, and a power converter is provided in the power conversion system. Through contactless induction between the power board and the induction cable, the 50KHz medium frequency electricity on the induction cable is transmitted to the control system for use.

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