Method, controller and assembly system for an engineering machine leg assembly

Abstract

The application discloses an assembly method, a controller and an assembly system for a support leg assembly of an engineering machine, the assembly method comprising: determining that the support leg and a chassis component are respectively in a preset installation state; acquiring first coordinate data of a center of a first rear support leg installation hole and second coordinate data of a center of a second rear support leg installation hole on the chassis component; calculating a deflection angle of the chassis component according to the first coordinate data and the second coordinate data; determining installation center coordinates of an installation end face of a support leg installation cavity; controlling the support leg to perform a position adjustment operation according to the deflection angle and the installation center coordinates of the installation end face, so that a central axis of the support leg coincides with an actual central axis of the support leg installation cavity; and controlling a pushing mechanism of the assembly system to perform a pushing operation, so that the support leg is inserted into the support leg installation cavity, and the assembly method can reduce labor intensity and improve assembly efficiency and assembly quality of the support leg assembly.

Description

Technical Field

[0001] This application belongs to the technical field of engineering machinery assembly systems, and specifically relates to an assembly method, controller and assembly system for outrigger assemblies of engineering machinery. Background Technology

[0002] The underframe and outrigger assemblies are key components of construction machinery. Outrigger assemblies are typically up to 4 meters long and weigh up to 2.5 tons. They are installed inside the underframe cavity and secured by chains or locking pins. The lateral gaps between the outrigger assembly and the underframe cavity are generally 6mm-8mm, and the vertical gaps are 4mm-6mm. Current technology commonly uses manual labor and other primitive methods to assemble the outriggers and underframe. This assembly method easily leads to unilateral positional deviations of the outriggers and underframe exceeding the clearance requirements, making it impossible to ensure that the central axis of the outriggers is substantially aligned with the central axis of the outrigger mounting cavity in the underframe assembly. This can cause damage to the paint by bumping the outriggers and / or underframe during installation, or the outriggers may become stuck and unable to be removed. Summary of the Invention

[0003] The purpose of this application is to provide an assembly method, controller, and assembly system for outrigger assemblies of engineering machinery. The assembly method for outrigger assemblies of engineering machinery has the advantages of being simple, easy to implement, reducing labor intensity, and improving the assembly efficiency and quality of outrigger assemblies.

[0004] To achieve the above objectives, a first aspect of this application provides an assembly method for an outrigger assembly of engineering machinery. The assembly method is applicable to an assembly system. The outrigger assembly includes a base frame assembly and outriggers. The base frame assembly has an outrigger mounting cavity formed inside for mounting the outriggers. The assembly method includes:

[0005] Ensure that the outriggers and base frame assembly are in their respective preset installation positions;

[0006] Obtain the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole on the chassis assembly;

[0007] The deflection angle of the underframe assembly is calculated based on the first coordinate data and the second coordinate data, where the deflection angle is the angle between the actual centerline of the underframe assembly in the width direction and the theoretical centerline of the underframe assembly in the width direction.

[0008] Determine the coordinates of the mounting center on the mounting end face of the outrigger mounting cavity;

[0009] The outriggers are controlled to perform position adjustment operations based on the deflection angle and the mounting center coordinates of the mounting end face, so that the central axis of the outriggers coincides with the actual central axis of the outrigger mounting cavity;

[0010] The push mechanism of the control assembly system performs a push operation to insert the outrigger into the outrigger mounting cavity.

[0011] In embodiments of this application, the base frame assembly includes a base frame and a door panel welded to the base frame. Determining the mounting center coordinates of the mounting end face of the outrigger mounting cavity includes:

[0012] Obtain an image of the mounting end face of the outrigger mounting cavity;

[0013] Determine the horizontal and vertical weld seam areas at the connection point between the base frame and the door panel based on the installation end face image;

[0014] The installation center coordinates of the installation end face are determined based on the horizontal and vertical weld seam areas.

[0015] In the embodiments of this application, determining the mounting center coordinates of the mounting end face based on the horizontal weld area and the vertical weld area includes:

[0016] Obtain the third coordinate data of the point in the horizontal weld area that is closest to the outrigger mounting cavity in the first direction;

[0017] Obtain the fourth coordinate data of the point in the vertical weld area that is closest to the outrigger mounting cavity in the second direction;

[0018] The installation center coordinates of the installation end face are determined based on the third and fourth coordinate data.

[0019] In the embodiments of this application, determining the mounting center coordinates of the mounting end face of the outrigger mounting cavity based on the third coordinate data and the fourth coordinate data includes:

[0020] Determine the horizontal line passing through the point where the third coordinate data is located based on the third coordinate data;

[0021] Determine the vertical line passing through the point where the fourth coordinate data is located based on the fourth coordinate data;

[0022] Determine the coordinates of the intersection of the horizontal and vertical lines;

[0023] The coordinates of the mounting center of the outrigger mounting cavity on the mounting end face are determined based on the coordinates of the intersection point.

[0024] In embodiments of this application, controlling the outrigger to perform a position adjustment operation based on the deflection angle and the mounting center coordinates of the mounting end face, so that the central axis of the outrigger coincides with the actual central axis of the outrigger mounting cavity, includes:

[0025] The outrigger is controlled to perform a first adjustment operation based on the deflection angle, so that the center axis of the outrigger is parallel to the actual mounting axis of the outrigger mounting cavity of the base frame assembly;

[0026] The second adjustment operation is performed on the outriggers according to the installation center coordinates, so that the central axis of the outriggers coincides with the actual installation axis of the outrigger mounting cavity.

[0027] In embodiments of this application, the number of outriggers is multiple, including first outriggers and second outriggers relatively distributed on the base frame assembly. Controlling the outriggers to perform a first adjustment operation based on the deflection angle includes:

[0028] Obtain the preset angle between the center axis of the base frame assembly in the width direction and the center axis of the outrigger mounting cavity;

[0029] Calculate the difference between the preset included angle and the deflection angle, as well as the sum of the preset included angle and the deflection angle;

[0030] The first leg is controlled to perform the first rotation operation based on the difference;

[0031] The second leg performs the second rotation operation based on the sum value.

[0032] In embodiments of this application, the assembly system includes a base frame assembly placement device and a leg assembly device disposed on one side of the base frame mounting mechanism. The leg assembly device includes a translation mechanism, a lifting mechanism, and a clamping and centering mechanism for clamping and centering the leg. The lifting mechanism is movably disposed on the translation mechanism, and the clamping and centering mechanism is vertically disposed on the lifting mechanism. Controlling the leg to perform a second adjustment operation according to the mounting center coordinates to make the central axis of the leg coincide with the actual mounting axis of the leg mounting cavity includes:

[0033] The translation mechanism is controlled to perform translation operation based on the horizontal coordinate value of the installation center coordinate of the installation end face, so that the central axis of the legs on the clamping and centering mechanism and the actual installation axis of the legs mounting cavity are located in the same vertical plane.

[0034] The lifting mechanism is controlled to perform lifting operations based on the vertical coordinate value of the installation center coordinate of the installation end face, so that the central axis of the outrigger on the clamping and centering mechanism coincides with the actual installation axis of the outrigger installation cavity.

[0035] In embodiments of this application, the assembly system includes a base frame assembly placement device and a leg assembly device disposed on one side of the base frame assembly placement device. The leg assembly device includes a translation mechanism, a lifting mechanism, and a clamping and centering mechanism for clamping and centering the leg. The lifting mechanism is movably disposed on the translation mechanism, and the clamping and centering mechanism is vertically disposed on the lifting mechanism. Controlling the leg to perform a second adjustment operation according to the center coordinate to make the central axis of the leg coincide with the actual installation axis of the leg mounting cavity includes:

[0036] The lifting mechanism is controlled to perform lifting operations based on the vertical coordinate value of the center coordinate of the mounting end face, so that the center axis of the outrigger held on the clamping and centering mechanism is on the same horizontal plane as the actual mounting axis of the outrigger mounting cavity;

[0037] The translation mechanism is controlled to perform translation operation based on the horizontal coordinate value of the center coordinate of the mounting end face, so that the center axis of the leg on the clamping and centering mechanism coincides with the actual mounting axis of the leg mounting cavity.

[0038] A second aspect of this application provides a controller configured to perform the above-described assembly method for outrigger assemblies of engineering machinery.

[0039] A third aspect of this application provides an assembly system, which includes the controller described above.

[0040] As can be seen from the above technical solution, the assembly method includes: determining that the outrigger and the base frame assembly are respectively in their respective preset installation states; obtaining the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole on the base frame assembly; calculating the deflection angle of the base frame assembly based on the first coordinate data and the second coordinate data, wherein the deflection angle is the angle between the actual central axis of the base frame assembly in the width direction and the theoretical central axis of the base frame assembly in the width direction; determining the installation center coordinates of the mounting end face of the outrigger mounting cavity; controlling the outrigger to perform an outrigger position adjustment operation based on the deflection angle and the installation center coordinates of the mounting end face, so that the central axis of the outrigger coincides with the actual central axis of the outrigger mounting cavity; and controlling the pushing mechanism of the assembly system to perform a pushing operation to insert the outrigger into the outrigger mounting cavity. This assembly method is simple and easy to implement, enabling the central axis of the outrigger to coincide with the actual installation axis of the outrigger mounting cavity. It requires no manual operation, reducing the labor intensity during outrigger assembly. It can also prevent damage to the paint on the outrigger from bumping into the outrigger and / or the base during installation, and can also prevent the outrigger from getting stuck in the outrigger mounting cavity and being unable to be pulled out. This improves the assembly efficiency and quality of the outrigger assembly.

[0041] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0042] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0043] Figure 1This is a schematic diagram of the main process of the assembly method in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the assembly system in an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the structure of the first connecting frame in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram of the base frame tray in an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of the outrigger connection assembly and the outrigger tray in the embodiments of this application;

[0048] Figure 6 This is a schematic diagram of the outrigger assembly device in the embodiments of this application;

[0049] Figure 7 This is a schematic diagram of the translation mechanism in the embodiments of this application;

[0050] Figure 8 This is a schematic diagram of the lifting mechanism in the embodiments of this application;

[0051] Figure 9 This is a schematic diagram of the rotating mechanism in the embodiments of this application;

[0052] Figure 10 This is a schematic diagram of the structure of the pushing mechanism and the clamping and centering mechanism in the embodiments of this application;

[0053] Figure 11 This is a schematic diagram of the clamping and centering mechanism in the embodiments of this application;

[0054] Figure 12 This is a structural schematic diagram of the support unit in an embodiment of this application (the supporting beam is in a horizontal state);

[0055] Figure 13 This is a structural schematic diagram of the support unit in an embodiment of this application (the supporting beam is in a vertical state);

[0056] Figure 14 This is a schematic diagram of the centering unit in an embodiment of this application;

[0057] Figure 15 This is a first-view structural diagram of the pushing mechanism in an embodiment of this application;

[0058] Figure 16 This is a schematic diagram of the pushing mechanism from a second perspective in an embodiment of this application;

[0059] Figure 17This is a schematic diagram showing the acquisition of images of the rear outrigger mounting holes in an embodiment of this application;

[0060] Figure 18 This is a schematic diagram of the structure of the first mounting bracket and the first image acquisition device in the embodiments of this application;

[0061] Figure 19 This is a schematic diagram of the structure of the light source and the first image acquisition device in the embodiments of this application;

[0062] Figure 20 This is a schematic diagram of the structure of the second mounting bracket and the second image acquisition device in the embodiments of this application;

[0063] Figure 21 This is a schematic diagram of the preset included angle in the embodiments of this application;

[0064] Figure 22 This is a schematic diagram of the preset included angle and deflection angle in the embodiments of this application;

[0065] Figure 23 This is a schematic diagram of the preset included angle in the embodiments of this application;

[0066] Figure 24 This is a schematic diagram of the mounting end face in an embodiment of this application;

[0067] Figure 25 This is a partially enlarged schematic diagram of the mounting end face in an embodiment of this application;

[0068] Figure 26 This is a schematic diagram of the outrigger assembly in the embodiment of this application when it is not assembled;

[0069] Figure 27 This is a schematic diagram showing the completed assembly state of the outrigger assembly in the embodiments of this application.

[0070] Explanation of reference numerals in the attached figures

[0071] 1-Base frame assembly placement device; 101-First connecting frame; 102-Base frame pallet placement area; 103-Base frame pallet mechanism; 1031-Base frame pallet; 1032-Front guide block; 1033-Intermediate guide block; 1034-Rear guide block; 104-First positioning mechanism; 1041-Front guide wheel; 1042-Intermediate guide wheel; 1043-Rear guide wheel; 105-Manual operation standing area; 106-Second positioning mechanism; 1061-First positioning component; 1062-Second positioning component; 1063-Positioning plate; 107-Support assembly; 1071-First moving guide rail; 1072-Support component; 2-Base frame assembly; 201-Rear outrigger mounting hole; 202-Outrigger mounting cavity; 203-Base frame ; 204-Door panel; 3-Outrigger assembly device; 301-Position adjustment module; 302-Pushing mechanism; 3021-First pushing platform; 3022-First pushing guide rail; 3023-First pushing slider; 3024-First pushing drive component; 3025-Second pushing platform; 3026-Second pushing guide rail; 3027-Second pushing slider; 3028-Second pushing drive component; 3029-Third pushing drive component; 30210-Push rod; 30211-Push rod guide assembly; 303-Clamping and centering mechanism; 3031-First support unit; 3032-Second support unit; 3033-Third support unit; 3034-Support bracket; 3035-Swing cylinder; 3036-Lifting beam; 3 037-Guide wheel; 3038-First centering unit; 3039-Second centering unit; 30310-Third moving track; 30311-First centering bracket; 30312-Second centering bracket; 30313-Centering gear; 30314-First centering rack; 30315-Centering cylinder; 30316-Centering slider; 304-Supporting platform; 305-Rotating mechanism; 3051-Wear-resistant plate; 3052-Rotating drive component; 3053-Rotation assembly; 3054-Rotating table; 3055-Ball bearing; 306-Translation mechanism; 3061-Translation drive component; 3062-Rack; 3063-Slider; 3064-Second moving guide rail; 3065-Moving table; 3066-Lifting device 307-Lifting mechanism; 3071-Lifting platform; 3072-Lifting machine; 4-Outrigger; 5-Image acquisition device; 501-First mounting bracket; 502-First image acquisition device; 503-Fourth moving guide rail; 504-Light source; 505-Second mounting bracket; 506-Second image acquisition device; 6-Fence; 7-Outrigger connection assembly; 701-First connection support; 702-Second connection support; 703-Second connection area; 8-Outrigger tray; 9-Outrigger transfer device; 10-Limiting assembly; 1001-First limiting component; 1002-Second limiting component; 11-Horizontal weld; 12-Vertical weld; 13-Horizontal line; 14-Vertical line; a-Preset included angle; b-Deflection angle. Detailed Implementation

[0072] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0073] Embodiments of this application provide an assembly method for an outrigger assembly of engineering machinery. This assembly method is applicable to assembly systems. The outrigger assembly includes a base frame assembly 2 and outriggers 4 (e.g., Figures 26-27 As shown), the base frame assembly 2 has a leg mounting cavity 202 formed inside for mounting the outriggers, as shown. Figure 1 As shown, the assembly method includes the following steps:

[0074] Step S101: Determine that the support leg 4 and the base frame assembly 2 are in their respective preset installation states.

[0075] Specifically, the outrigger assembly in this embodiment is applicable to construction machinery, including but not limited to concrete pump trucks, truck cranes, and truck-mounted cranes. In this embodiment, the outrigger assembly contains multiple outriggers 4 and multiple outrigger mounting cavities 202. The multiple outriggers 4 include first outriggers and second outriggers (in this embodiment, both the first and second outriggers are front outriggers). The multiple outrigger mounting cavities 202 include a first outrigger mounting cavity for mounting the first outrigger and a second outrigger mounting cavity for mounting the second outrigger. These two outrigger mounting cavities 202 are formed inside the underframe assembly 2. Figures 2-10As shown, the assembly system includes a controller, a chassis component placement device 1, a chassis transfer device, a leg assembly device 3, and a leg transfer device 9. The controller is communicatively connected to the chassis transfer device, the leg assembly device 3, and the leg transfer device 9. The chassis component placement device 1 includes a first connecting frame 101, a first positioning mechanism 104, and a chassis pallet mechanism 103. The interior of the first connecting frame 101 has a first connecting area that communicates with the outside on one side. The top surface of the first connecting frame 101 also has a chassis pallet placement area 102. The chassis pallet mechanism 103 is used to load the chassis component 2. The chassis pallet mechanism 103 is provided with a second positioning mechanism 106 for positioning the chassis component 2. The first positioning mechanism 104 is provided on the first connecting frame 101 and is used to position the chassis pallet mechanism 103. The chassis transfer device is used to transfer the chassis pallet mechanism 103 and can be an AGV (Automated Guided Vehicle) transfer vehicle. Two outrigger assembly devices 3 are used for clamping, centering, rotating, translating, and pushing outriggers 4. The two outrigger assembly devices 3 are located on both sides of the base frame assembly placement device 1. The assembly system also includes an outrigger connecting assembly 7, an outrigger tray 8, an outrigger transfer device 9, and a guide assembly. The outrigger connecting assembly 7 is located on one side of the base frame assembly placement device 1 and at the front end of the outrigger assembly device 3. The outrigger connecting assembly 7 is fixed to the ground and forms a second connecting area 703 with one side connected to the outside. The guide assembly is located on the top of the outrigger connecting assembly 7 and is used to guide the outrigger tray 8. The outrigger tray 8 is used to load the outriggers 4. The outrigger tray 8 is provided with a limiting assembly 10, which is used to limit the position of the outriggers 4 on the outrigger tray 8. The outrigger transfer device 9 is used to transfer the outrigger tray 8 and can be an AGV (Automated Guided Vehicle) transfer vehicle.

[0076] Before assembling the outrigger assembly, the operator first places the base frame pallet mechanism 103 on the base frame transfer device; then, the base frame assembly 2 is placed on the base frame pallet mechanism 103, and the second positioning mechanism 106 positions the base frame assembly 2; then, the controller controls the base frame transfer device to move to transfer the base frame pallet mechanism 103 and the base frame assembly 2 on it to the first docking area. During the transfer process, the bottom surface of the base frame pallet mechanism 103 is higher than the highest position of the first positioning mechanism 104. After the base frame transfer device completes the transfer, it controls the base frame transfer device to perform a lowering operation so that the base frame pallet mechanism 103 falls to the base frame pallet placement area 102. During the falling process, the first positioning mechanism 104 guides and positions the base frame pallet mechanism 103. After the base frame transfer device completes the lowering, it sends a signal to the controller indicating that the lowering is complete. At this time, the base frame assembly 2 is in its corresponding preset installation position with its corresponding preset installation posture. In this case, it is determined that the base frame assembly 2 is in its corresponding preset installation state.

[0077] Before transferring the outrigger 4, the operator first places the outrigger tray 8 on the outrigger transfer device 9. Then, the operator can also place the outrigger 4 on the outrigger tray 8 using a crane. The limiting component 10 limits the placement of the outrigger 4 on the outrigger tray 8 so that the outrigger 4 is in a preset placement area on the outrigger tray 8. Then, the controller controls the outrigger transfer device 9 to move to transfer the outrigger tray 8 and the outrigger 4 on it to the second connecting area 703. During the above transfer process, the bottom surface of the outrigger tray 8 is higher than the highest position of the guide component. After the outrigger transfer device 9 completes the transfer, the controller controls the outrigger transfer device 9 to perform a lowering operation so that the outrigger tray 8 falls onto the second connecting frame. During the falling process, the guide component guides and positions the outrigger tray 8.

[0078] In this embodiment, the assembly system also includes an information reader (such as an RFID reader / writer) mounted on the first connecting frame 101 and connected to the controller. The base frame assembly 2 is equipped with an information tag (such as an RFID electronic tag), which stores information such as the dimensions of the base frame assembly 2 and the dimensions of the corresponding support leg 4. The information reader reads the information stored in the information tag and sends the read information to the controller. After the support leg 4 is transferred and the controller receives the information from the information reader, the support leg assembly device 3 executes a clamping and centering operation and a position adjustment operation based on the aforementioned information. After the clamping and centering operation is completed, the support leg 4 is clamped in the clamping area by the support leg assembly device 3, and the central axis of the support leg 4 coincides with the central axis of the clamping area. After the position adjustment operation is completed, the support leg 4 faces the direction of the support leg mounting cavity 202. The support leg assembly device 3 sends a signal indicating that the position adjustment is complete to the controller after the position adjustment operation is completed. At this time, the support leg 4 is in its corresponding preset installation position with its corresponding preset installation posture. In this case, the support leg 4 is determined to be in its corresponding preset installation state. That is, after receiving the signal that the descent of the base frame transfer device is complete and the signal that the position adjustment operation of the outrigger assembly device 3 is complete, the controller can determine that the outrigger 4 and the base frame assembly 2 are in their respective preset installation states.

[0079] Step S102: Obtain the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole on the base frame assembly 2.

[0080] Specifically, such as Figure 21As shown, after the automatic assembly program of the assembly system is debugged, the controller constructs a three-dimensional model of the chassis assembly 2, and constructs a first coordinate system with the midpoint between the center of the first rear support leg mounting hole and the center of the second rear support leg mounting hole in the three-dimensional model as the origin (x0, y0). The straight line passing through the origin (x0, y0) and perpendicular to the line connecting the center of the first rear support leg mounting hole and the center of the second rear support leg mounting hole in the three-dimensional model is the theoretical central axis of the chassis assembly 2 in the width direction.

[0081] The assembly system also includes an image acquisition device 5, such as Figures 17-19 As shown, the image acquisition device 5 includes a first mounting bracket 501 and a first image acquisition device 502. The first mounting bracket 501 is disposed on the front side of the base frame assembly placement device 1, and the first image acquisition device 502 is disposed on the top of the first mounting bracket 501 and is used to acquire images of the rear outrigger mounting holes of the base frame assembly 2. The first rear outrigger mounting holes and the second rear outrigger mounting holes are both located at the rear end of the base frame assembly 2 and are used to install the two rear outriggers of the construction machinery, respectively. In this embodiment, after the base frame assembly 2 is transferred to the first connecting frame 101, the first rear outrigger mounting holes and the second rear outrigger mounting holes are both located at the end of the base frame assembly 2 away from the first mounting bracket 501. The controller controls the first image acquisition device 502 to acquire images of the rear outrigger mounting holes of the base frame assembly 2 from above. The first image acquisition device 502 then sends the images of the rear outrigger mounting holes to the controller. After receiving the images of the rear outrigger mounting holes, the controller performs feature recognition (such as arc features) to identify the first and second rear outrigger mounting holes. In addition, the controller also stores the spatial position information of the first image acquisition device 502. After recognizing the images of the rear outrigger mounting holes, the controller can determine the size of the first rear outrigger mounting hole, the distance between the first rear outrigger mounting hole and the first image acquisition device 502, the size of the second rear outrigger mounting hole and the distance between the first rear outrigger mounting hole and the first image acquisition device 502. Based on the above data and the spatial position information of the first image acquisition device 502, the controller can obtain the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole in the first coordinate system.

[0082] Step S103: Calculate the deflection angle b of the base frame assembly 2 based on the first coordinate data and the second coordinate data, where the deflection angle b is the angle between the actual centerline of the base frame assembly 2 in the width direction and the theoretical centerline of the base frame assembly 2 in the width direction.

[0083] Specifically, the controller determines the first coordinate data (x01, y01) of the center of the first rear outrigger mounting hole and the second coordinate data (x02, y02) of the center of the second rear outrigger mounting hole based on the image acquired by the first image acquisition device 502. Then, it connects the two centers with a first straight line and further determines the midpoint between the two centers. The straight line that passes through the midpoint and is perpendicular to the first straight line is determined as the second straight line. The second straight line is the actual centerline of the base frame assembly 2 in the width direction.

[0084] like Figure 22 As shown, after determining the theoretical and actual centerlines of the base frame assembly 2 in the width direction, the controller further determines the two included angles between these two centerlines. The smaller of the two included angles is the deflection angle b in this embodiment. The controller can determine the deflection angle b based on the following formula:

[0085] b=arcsin((y01-y02) / (x01-x02)) (1)

[0086] Where b is the deflection angle, y01 is the ordinate in the first coordinate data, y02 is the ordinate in the second coordinate data, x01 is the abscissa in the first coordinate data, and x02 is the abscissa in the second coordinate data.

[0087] Step S104: Determine the installation center coordinates of the mounting end face of the outrigger mounting cavity 202.

[0088] In one embodiment of this application, the base frame assembly 2 includes a base frame 203 and a door panel 204 welded to the base frame 203. The step S104, determining the mounting center coordinates of the mounting end face of the support leg mounting cavity 202, further includes steps S201-S203, wherein:

[0089] Step S201: Obtain the mounting end face image of the outrigger mounting cavity 202.

[0090] Specifically, the outrigger mounting cavity 202 is formed inside the base frame 203, and the door panel 204 is mounted on the base frame 203 and located at the entrance end of the outrigger mounting cavity 202 (the notch formed on the door panel 204 is the entrance of the outrigger mounting cavity 202). The door panel 204 and the base frame 203 are fixed together by welding. Furthermore, after the base frame 203 and the door panel 204 are welded, the connection point between the two is located at the edge of the entrance end of the outrigger mounting cavity 202. That is, multiple irregularly shaped welds will be formed at the edge of the entrance end of the outrigger mounting cavity 202. The welds include a horizontal weld 11 at the top of the outrigger mounting cavity 202 and a vertical weld 12 on the vertical side of the outrigger mounting cavity 202. Both the horizontal weld 11 and the vertical weld 12 may form protrusions that protrude in the direction of the outrigger mounting cavity 202. The presence of the protrusions will affect the installation of the outrigger 4 and the base frame assembly 2, that is, it will reduce the actual installation space of the outrigger 4 in the outrigger mounting cavity 202. The area covered by the horizontal weld 11 is the horizontal weld area, and the area covered by the vertical weld 12 is the vertical weld area.

[0091] In this embodiment, the mounting end face of the outrigger mounting cavity 202 refers to the vertical plane where the entrance of the outrigger mounting cavity 202 is located. Both the horizontal weld area and the vertical weld area are located on the mounting end face of the outrigger mounting cavity 202. Figure 20 As shown, the image acquisition device 5 also includes a second mounting bracket and a second image acquisition device 506 (such as a 2D camera, a 3D camera, or a laser detection camera). The second mounting bracket is located at the end of the first connecting frame 101 away from the first mounting bracket 501. The second image acquisition device 506 is mounted on the second mounting bracket and is communicatively connected to the controller. It is used to acquire images of the mounting end face of the outrigger mounting cavity 202. After the image acquisition is completed, the second image acquisition device 506 sends the acquired image to the controller, and the controller can obtain the image of the mounting end face of the outrigger mounting cavity 202.

[0092] Step S202: Determine the horizontal and vertical weld seam areas at the connection position between the base frame 203 and the door panel 204 based on the installation end face image.

[0093] Specifically, after obtaining the image of the installation end face, the controller performs feature recognition based on image recognition algorithms, such as first identifying the weld seam, and then further identifying the horizontal weld seam area and the vertical weld seam area based on the position and coverage area of ​​the weld seam.

[0094] Step S203: Determine the installation center coordinates of the installation end face based on the horizontal weld area and the vertical weld area.

[0095] Specifically, the mounting center coordinates of the mounting end face refer to the center coordinates on the mounting end face of the outrigger mounting cavity 202 that match the actual mounting space of the outrigger 4, taking into account the protrusion. The central axis of the outrigger 4 in the actual mounting space of the outrigger mounting cavity 202 passes through the mounting center coordinates of the mounting end face.

[0096] In one embodiment of this application, determining the mounting center coordinates of the mounting end face based on the horizontal weld area and the vertical weld area in step S203 further includes steps S301-S303, wherein:

[0097] Step S301: Obtain the third coordinate data of the point in the horizontal weld area that is closest to the support mounting cavity 202 in the first direction.

[0098] Specifically, such as Figure 23 As shown, in the three-dimensional model of the base frame assembly 2, the controller establishes a second coordinate system with the corner point on the side of the upper end of the door panel 204 away from the first rear support leg mounting hole (or the second rear support leg mounting hole) as the origin (X0, Z0), the horizontal line 13 passing through the origin as the X-axis, and the vertical line 14 passing through the origin as the Z-axis. In the second coordinate system, the coordinates of the intersection point of the central axis of the support leg mounting cavity 202 and the mounting end face are (X1, Z1).

[0099] Furthermore, the first direction refers to the vertically downward direction. The horizontal weld seam area is distributed along the horizontal direction. After the controller identifies the horizontal weld seam area on the mounting end face image, it can further identify the outer contour of the horizontal weld seam area and obtain the coordinate data of each point constituting the outer contour. By comparing the Z-axis coordinates of the coordinate data of the above points, the point of the horizontal weld seam area closest to the support mounting cavity 202 in the first direction and the third coordinate data of that point can be determined.

[0100] Step S302: Obtain the fourth coordinate data of the point in the vertical weld area that is closest to the support mounting cavity 202 in the second direction.

[0101] Specifically, in this embodiment, the vertical weld seam area is located on the vertical side of the outrigger mounting cavity 202 away from the first rear outrigger mounting hole (or the second rear outrigger mounting hole). The second direction refers to the direction horizontally toward the outrigger mounting cavity 202. The vertical weld seam area is distributed along the vertical direction. After the controller identifies the vertical weld seam area on the mounting end face image, it can further identify the outer contour of the vertical weld seam area and obtain the coordinate data of each point constituting the outer contour. By comparing the X-axis coordinates of the coordinate data of the above-mentioned points, the point of the vertical weld seam area closest to the outrigger mounting cavity 202 in the second direction and the fourth coordinate data of that point can be determined.

[0102] Step S303: Determine the installation center coordinates of the installation end face based on the third coordinate data and the fourth coordinate data.

[0103] In one embodiment of this application, determining the mounting center coordinates of the mounting end face of the outrigger mounting cavity 202 based on the third coordinate data and the fourth coordinate data in step S303 further includes steps S401-S404, wherein:

[0104] Step S401: Determine the horizontal line 13 passing through the point where the third coordinate data is located based on the third coordinate data;

[0105] Step S402: Determine the vertical line 14 passing through the point where the fourth coordinate data is located based on the fourth coordinate data;

[0106] Step S403: Determine the coordinates of the intersection point of the horizontal line 13 and the vertical line 14.

[0107] Specifically, after determining the third coordinate data, the controller can determine the equation of the horizontal line 13 passing through the point where the third coordinate data is located; similarly, after determining the fourth coordinate data, the controller can determine the equation of the vertical line 14 passing through the point where the fourth coordinate data is located; then, the controller can solve the above two line equations to calculate the coordinates of the intersection point of the horizontal line 13 at the point where the third coordinate data is located and the vertical line 14 at the point where the fourth coordinate data is located.

[0108] Step S404: Determine the installation center coordinates of the support mounting cavity 202 on the mounting end face based on the intersection coordinates.

[0109] Specifically, after the controller calculates the coordinates of the intersection of the horizontal line 13 where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located, it can obtain the coordinates (X2, Z2) of the intersection of the horizontal line 13 where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located.

[0110] Furthermore, such as Figures 24-25 As shown, the controller can obtain the mounting center coordinates of the leg mounting cavity 202 on the mounting end face in the following way:

[0111] X4=X1-(X2-X0) (2)

[0112] Wherein, X4 is the X-axis coordinate of the mounting center of the outrigger mounting cavity 202 on the mounting end face; X1 is the X-axis coordinate of the intersection of the central axis of the outrigger mounting cavity 202 and the mounting end face; X2 is the X-axis coordinate of the intersection of the horizontal line 13 where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located; and X0 is the X-axis coordinate of the origin.

[0113] Z4=Z1-(Z2-Z0) (3)

[0114] Wherein, Z4 is the Z-axis coordinate of the mounting center of the outrigger mounting cavity 202 on the mounting end face; Z1 is the Z-axis coordinate of the intersection of the central axis of the outrigger mounting cavity 202 and the mounting end face; Z2 is the Z-axis coordinate of the intersection of the horizontal line 13 where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located; and Z0 is the Z-axis coordinate of the origin.

[0115] That is, the coordinates of the mounting center of the outrigger mounting cavity 202 are (X1-(X2-X0), Z1-(Z2-Z0)).

[0116] Step S105: Control the outrigger to perform position adjustment operation according to the deflection angle b and the installation center coordinates of the mounting end face, so that the central axis of the outrigger coincides with the actual installation axis of the outrigger mounting cavity 202.

[0117] Specifically, the actual mounting axis of the outrigger mounting cavity 202 is the central axis of the actual mounting space of the outrigger 4 in the outrigger mounting cavity 202.

[0118] In one embodiment of this application, step S105, which controls the outrigger to perform a position adjustment operation based on the deflection angle b and the mounting center coordinates of the mounting end face, so that the central axis of the outrigger coincides with the actual mounting axis of the outrigger mounting cavity 202, further includes steps S401-S402, wherein:

[0119] Step S401: Control the outrigger to perform the first adjustment operation according to the deflection angle b, so that the central axis of the outrigger is parallel to the actual installation axis of the outrigger mounting cavity 202 of the base frame assembly 2.

[0120] In one embodiment of this application, the number of outriggers 4 and the number of outrigger mounting cavities 202 are both multiple. The multiple outriggers 4 include first outriggers and second outriggers relatively distributed on the base frame assembly 2. The multiple outrigger mounting cavities 202 include a first outrigger mounting cavity for mounting the first outrigger and a second outrigger mounting cavity for mounting the second outrigger. Step S401, which controls the outriggers 4 to perform a first adjustment operation according to the deflection angle b, further includes steps S501-S504, wherein:

[0121] Step S501: Obtain the preset angle α between the central axis of the base frame assembly 2 in the width direction and the central axis of the leg mounting cavity 202.

[0122] Specifically, in this embodiment, the preset included angle α refers to the angle between the central axis of the base frame assembly 2 in the width direction and the central axis of the outrigger mounting cavity 202 in the three-dimensional model. This preset included angle α is pre-stored in the controller and can be retrieved when needed. Further, the angle between the central axis of the first outrigger mounting cavity and the central axis of the base frame assembly 2 in the width direction is the first included angle, and the angles between the central axis of each of the second outrigger mounting cavities and the central axis of the base frame assembly 2 in the width direction are the second included angles. The first included angle and the second included angle are equal.

[0123] Step S502: Calculate the difference between the preset included angle a and the deflection angle b, and the sum of the preset included angle a and the deflection angle b.

[0124] The controller can calculate the difference between the preset included angle α and the deflection angle β based on the following formula:

[0125] x03=ab (4)

[0126] Where x03 is the difference between the preset included angle a and the deflection angle b, and a is the preset included angle a.

[0127] The controller can calculate the sum of the preset included angle 'a' and the deflection angle 'b' based on the following formula:

[0128] x04=a+b (5)

[0129] Where x04 is the sum of the preset included angle a and the deflection angle b.

[0130] Step S503: Control the first leg to perform the first rotation operation based on the difference;

[0131] Step S504: Control the second leg to perform the second rotation operation according to the sum value.

[0132] Specifically, in this embodiment, the two outrigger assembly devices 3 are a first outrigger assembly device and a second outrigger assembly device, and their structures are identical. Both the first outrigger assembly device and the second outrigger assembly device include a support platform 304, a rotating mechanism 305, and a clamping and centering mechanism 303. The rotating mechanism 305 and the clamping and centering mechanism 303 are communicatively connected to the controller. The support platform 304 is installed inside the pre-dug pit. The rotating mechanism 305 is mounted on the support platform 304 and can rotate. The clamping and centering mechanism 303 is located above the rotating mechanism 305. A clamping space for accommodating the outrigger 4 is formed on the clamping and centering mechanism 303. The clamping and centering mechanism 303 can clamp the outrigger 4 in the clamping space and perform a centering operation so that the central axis of the outrigger 4 and the central axis of the clamping space coincide.

[0133] After calculating the difference between the preset included angle a and the deflection angle b, the controller controls the rotation mechanism 305 of the first leg assembly device to perform a rotation operation, so that the rotation mechanism 305 drives the first leg above it to rotate (at this time, the rotation operation of the first leg is the first rotation operation). The rotation angle of the first leg is x03. After the first leg rotates to the position, the central axis of the first leg is parallel to the actual installation axis of the first leg mounting cavity.

[0134] Similarly, after calculating the sum of the preset included angle a and the deflection angle b, the controller controls the rotating mechanism 305 of the second leg assembly device to perform a rotation operation, so that the rotating mechanism 305 drives the second leg above it to rotate (at this time, the rotation operation of the second leg is the second rotation operation). The rotation angle of the second leg is x04. After the second leg rotates to the position, the central axis of the second leg is parallel to the actual installation axis of the second leg mounting cavity.

[0135] Step S402: Control the outrigger to perform a second adjustment operation according to the installation center coordinates, so that the central axis of the outrigger 4 coincides with the actual installation axis of the outrigger mounting cavity 202.

[0136] In one embodiment of this application, the assembly system includes a base frame assembly placement device 1 and a support leg assembly device 3 disposed on one side of the base frame assembly placement device 1. The support leg assembly device 3 includes a translation mechanism 306, a lifting mechanism 307, and a clamping and centering mechanism 303 for clamping and centering the support leg 4. The lifting mechanism 307 is movably disposed on the translation mechanism 306, and the clamping and centering mechanism 303 is vertically disposed on the lifting mechanism 307. Step S402 controls the support leg to perform a second adjustment operation according to the installation center coordinates so that the central axis of the support leg 4 coincides with the actual installation axis of the support leg mounting cavity 202. This also includes steps S601-S602, wherein:

[0137] Step S601: Control the translation mechanism 306 to perform translation operation according to the horizontal coordinate value of the installation center coordinate of the installation end face, so that the central axis of the support leg 4 held on the clamping and centering mechanism 303 is located on the same vertical plane as the actual installation axis of the support leg installation cavity 202.

[0138] Specifically, both the first and second leg assembly devices include a translation mechanism 306 and a lifting mechanism 307, which are communicatively connected to the controller. The translation mechanism 306 is movably mounted above the support platform 304, the lifting mechanism 307 is mounted on the translation mechanism 306 and can be raised and lowered, and a rotation mechanism 305 is mounted on the lifting mechanism 307. In this embodiment, the horizontal coordinate value of the mounting center coordinate of the mounting end face is the X-axis coordinate value of the mounting center coordinate of the mounting end face.

[0139] After determining the installation center coordinates of the installation end face, the controller controls the translation mechanism 306 of the first and second leg assembly devices to perform translation operations, so that the translation mechanism 306 drives the leg 4 above it to translate. The translation distance of the two legs 4 is X1-(X2-X0). After the first and second legs are translated into place, the central axis of the first leg and the actual installation axis of the first leg mounting cavity are on the same vertical plane, and the central axis of the second leg and the actual installation axis of the second leg mounting cavity are on the same vertical plane.

[0140] Step S602: Control the lifting mechanism 307 to perform lifting operation according to the vertical coordinate value of the installation center coordinate of the installation end face, so that the central axis of the support leg 4 held on the clamping and centering mechanism 303 coincides with the actual installation axis of the support leg installation cavity 202.

[0141] Specifically, after determining the installation center coordinates of the installation end face, the controller controls the lifting mechanisms 307 of the first and second leg assembly devices to perform lifting operations, so that the lifting mechanism 307 drives the upper leg 4 to rise. The rising distance of the two legs 4 is Z1-(Z2-Z0). After the first and second legs have risen to their positions, the central axis of the first leg coincides with the actual installation axis of the first leg mounting cavity, and the central axis of the second leg coincides with the actual installation axis of the second leg mounting cavity.

[0142] In another embodiment of this application, step S402, which controls the outrigger to perform a second adjustment operation based on the mounting center coordinates so that the central axis of the outrigger 4 coincides with the actual mounting axis of the outrigger mounting cavity 202, may further include steps S701-S702, wherein:

[0143] Step S701: Control the lifting mechanism 307 to perform lifting operation according to the vertical coordinate value of the center coordinate of the mounting end face, so that the center axis of the support leg held on the clamping and centering mechanism 303 is on the same horizontal plane as the actual mounting axis of the support leg mounting cavity 202.

[0144] Step S702: Control the translation mechanism 306 to perform translation operation according to the horizontal coordinate value of the center coordinate of the mounting end face, so that the central axis of the leg 4 on the clamping and centering mechanism 303 coincides with the actual mounting axis of the leg mounting cavity 202.

[0145] Specifically, after step S504 is completed, a lifting operation can be performed first. After the lifting operation is completed, the central axis of the first leg and the actual mounting axis of the first leg mounting cavity are on the same horizontal plane, and the central axis of the second leg and the actual mounting axis of the second leg mounting cavity are on the same horizontal plane. Then, a translation operation is performed, which can also make the central axis of the first leg coincide with the actual mounting axis of the first leg mounting cavity, and the central axis of the second leg coincide with the actual mounting axis of the second leg mounting cavity.

[0146] Step S106: Control the pushing mechanism 302 of the assembly system to perform a pushing operation to insert the outrigger 4 into the outrigger mounting cavity 202.

[0147] In one embodiment of this application, step S106, controlling the pushing mechanism 302 of the assembly system to perform a pushing operation, includes:

[0148] Step S801: Control the pushing mechanism 302 to perform the first pushing operation so that the support leg 4 of the preset length is inserted into the support leg mounting cavity 202;

[0149] Step S802: Control the pushing mechanism 302 to perform the second pushing operation so that the outrigger 4 is fully inserted into the outrigger mounting cavity 202.

[0150] Specifically, in this embodiment, both the first and second leg assembly devices further include a pushing mechanism 302 that is communicatively connected to the controller. The pushing mechanism 302 is used to push the leg 4 into the leg mounting cavity 202. In this embodiment, the preset length is 50% of the total length of the leg 4. After step S502 is completed, the controller controls the pushing mechanism to perform the first pushing operation, inserting 50% of the leg 4 into the leg mounting cavity 202 to complete the first-level pushing. After step S601 is completed, the controller controls the pushing mechanism to perform the second pushing operation, fully inserting the leg 4 into the leg mounting cavity 202 to complete the installation of the leg 4 in the leg mounting cavity 202.

[0151] The assembly method in this embodiment is simple and easy to implement, which can make the central axis of the outrigger 4 coincide with the actual installation axis of the outrigger mounting cavity 202. No manual operation is required, which reduces the labor intensity during the assembly of the outrigger assembly. It can avoid the paint on the outrigger 4 from being damaged by bumping the outrigger 4 and / or the base frame 203 during the installation process, and can also avoid the problem of the outrigger 4 being stuck in the outrigger mounting cavity 202 and unable to be pulled out, thus improving the assembly efficiency and assembly quality of the outrigger assembly.

[0152] In one embodiment of this application, the first positioning mechanism 104 includes a front guide wheel 1041, a middle guide wheel 1042, and a rear guide wheel 1043, which are sequentially spaced apart on the top surface of the first connecting frame 101 and along the length direction of the base frame pallet placement area 102. The central axes of the front guide wheel 1041 and the rear guide wheel 1043 are parallel to the central axis of the base frame pallet placement area 102, and the central axis of the middle guide wheel 1042 is perpendicular to the central axis of the base frame pallet placement area 102. The base frame pallet mechanism 103 includes a base frame pallet 1031, a front guide block 1032, a middle guide block 1033, and a rear guide block 1034. The base frame pallet 1031 can load the base frame assembly 2. The front guide block 1032 is located on one side of the width direction of the base frame pallet 1031 and is used to cooperate with the front guide wheel 1041. The middle guide block 1033 is located on one side of the width direction of the base frame pallet 1031 and is used to cooperate with the middle guide wheel 1042. The rear guide block 1034 is located on one side of the width direction of the base frame pallet 1031 and is used to cooperate with the rear guide wheel 1043. In this embodiment, the front guide block 1032 and the rear guide block 1034 are both inverted triangular structures, and the middle guide block 1033 is a dovetail groove structure. When the base frame pallet mechanism 103, which carries the base frame assembly 2, is placed on the first connecting frame 101, the first positioning mechanism 104 and the base frame pallet mechanism 103 cooperate with each other to guide and limit the base frame pallet 1031 from the axial direction (i.e., the front-to-back direction) and the width direction (i.e., the left-to-right-to-rear direction), automatically guiding the base frame pallet 1031 to be aligned. This can effectively improve the installation and positioning accuracy of the base frame pallet mechanism 103 and the base frame assembly 2, thereby helping to ensure the accuracy of the base frame assembly 2 when it is subsequently installed and fitted with the support leg 4.

[0153] In one embodiment of this application, a manned work standing area 105 is also formed on the first connecting frame 101. The manned work standing area 105 is located on the periphery of the base frame pallet placement area 102, which makes it convenient for operators to stand in the manned work standing area 105 to inspect or operate the base frame assembly 2 according to actual needs.

[0154] In one embodiment of this application, the second positioning mechanism 106 includes a first positioning member 1061 and a second positioning member 1062, both L-shaped, disposed at the same axial end of the base frame tray 1031. The first positioning member 1061 and the second positioning member 1062 are respectively located on both sides of the width direction of the base frame tray 1031 and are both the hoisting reference lines for the base frame assembly 2. The top of the first positioning member 1061 and the second positioning member 1062 is formed with a positioning plate 1063. A limiting area is formed on the positioning plate 1063. The limiting area is used to limit the position of the door panel 204 of the base frame assembly 2 away from the rear support leg mounting hole 201. Through the above structural design, the initial position of the base frame assembly 2 can be positioned when the base frame assembly 2 is installed on the base frame tray 1031.

[0155] In one embodiment of this application, the base frame assembly placement device 1 further includes multiple sets of first support components 107 (e.g., two sets) spaced apart on the top of the base frame tray 1031 along the width direction of the base frame tray 1031. Each set of first support components 107 includes a first moving guide rail 1071 and multiple first support members 1072 (e.g., two). The first moving guide rail 1071 is distributed along the axial direction of the base frame tray 1031. The first support members 1072 are movably disposed on the first moving guide rail 1071. The multiple first support members 1072 cooperate to support the base frame assembly 2. By changing the position of the first support members 1072 on the first moving guide rail 1071, the base frame tray mechanism 103 can be compatible with base frame assemblies 2 of different models and sizes, thus expanding the applicability of the base frame assembly placement device 1. Furthermore, the first support member 1072 is provided with a first pin hole, and the bottom of the base frame assembly 2 is formed with a downwardly extending connecting part. The connecting part is provided with a second pin hole corresponding to the first pin hole. The base frame assembly placement device 1 also includes a first connecting pin. The first connecting pin passes through the first pin hole and the second pin hole in sequence to reliably connect the base frame assembly 2 and the base frame tray mechanism 103 together.

[0156] In one embodiment of this application, a chassis transfer device is movably disposed in the working area of ​​the assembly system and is used to transfer the chassis pallet mechanism 103 to the chassis pallet placement area 102. The chassis transfer device includes a first movable chassis and a first lifting mechanism. The first movable chassis can move within the working area of ​​the assembly system and can enter the first docking area through the opening position connecting the first docking area to the outside. The chassis pallet mechanism 103 is movably disposed on the first movable chassis by the first lifting mechanism.

[0157] Before assembling the outrigger assembly, the operator first places the base frame pallet mechanism 103 on the base frame transfer device. The controller controls the first mobile chassis to move to transfer the base frame pallet mechanism 103 and the base frame assembly 2 on it to the first docking area. During the movement, the first lifting mechanism is in a raised state, and the bottom surface of the base frame pallet mechanism 103 is higher than the highest position of the first positioning mechanism 104. After the first mobile chassis has moved, the first lifting mechanism is controlled to perform a lowering operation so that the base frame pallet mechanism 103 falls to the base frame pallet placement area 102. During the falling process, the first positioning mechanism 104 guides and positions the base frame pallet mechanism 103 so that the base frame pallet mechanism 103 is in an accurate position on the base frame pallet placement area 102.

[0158] In one embodiment of this application, the outrigger transfer device 9 is movably disposed in the working area of ​​the assembly system and is used to transfer the outrigger tray 8 to the outrigger connecting assembly 7. The outrigger connecting assembly 7 includes a first connecting support member 701 and a second connecting support member 702 distributed laterally. The tops of the first connecting support member 701 and the second connecting support member 702 together form a tray connecting space for connecting the outrigger tray 8. The first connecting support member 701 and the second connecting support member 702 are both fixed to the ground of the working area of ​​the assembly system by anchor bolts and are located at one longitudinal end of the outrigger assembly device 3. A second connecting area 703 is formed between the first connecting support member 701 and the second connecting support member 702, and the second connecting area 703 is located below the tray connecting space. The outrigger transfer device 9 includes a second movable chassis and a second lifting mechanism. The second movable chassis can move within the working area of ​​the assembly system and can enter the second connecting area 703. The outrigger tray 8 is movably disposed on the second movable chassis by means of the second lifting mechanism.

[0159] Before assembling the outrigger assembly, the operator places the outrigger tray 8 on the outrigger transfer device 9, and the controller controls the second mobile chassis to move the second docking area 703 to transfer the outrigger tray 8 to the tray docking space.

[0160] In one embodiment of this application, the rotating mechanism 305 includes a wear-resistant plate 3051, a rotating drive component 3052, a rotary assembly 3053, a rotating table 3054, and ball bearings 3055. The rotating drive component 3052 is communicatively connected to the controller and can be a servo motor with a speed reduction function. The wear-resistant plate 3051 is disposed around the rotating drive component 3052. The rotary assembly 3053 is disposed on one side of the rotating drive component 3052 and is drivenly connected to the rotating drive component 3052. The rotating table 3054 is disposed above the rotary assembly 3053 and rotates with the rotary assembly 3053. The ball bearings 3055 can be rolling bullseye bearings and there are multiple of them. Multiple ball bearings 3055 are disposed below the rotating table 3054 and roll in contact with the wear-resistant plate 3051, which increases the smoothness of the rotation of the rotating table 3054. The pushing mechanism 302 and the clamping and centering mechanism 303 are both disposed on the rotating table 3054. Under the control of the controller, the rotary drive 3052 drives the rotary assembly 3053 to rotate, and the rotary assembly 3053 then sequentially drives the rotary table 3054, the pushing mechanism 302, the clamping and centering mechanism 303 and the clamped support leg 4 to rotate, so as to adjust the angle of the central axis of the support leg 4. In one embodiment of this application, the translation mechanism 306 includes a translation drive 3061, a gear, a rack 3062, a slider 3063, a second moving guide rail 3064, and a moving stage 3065. The rack 3062 is mounted on the support platform 304. The translation drive 3061 (such as a servo motor) is mounted on the moving stage 3065 and is communicatively connected to the controller. The gear is mounted on the drive output end of the translation drive 3061 and meshes with the rack 3062. The second moving guide rail 3064 is mounted on the support platform 304 and is distributed parallel to and spaced apart from the rack 3062. The slider 3063 is mounted on the bottom of the moving stage 3065 and can move along the second moving guide rail 3064. The rotation mechanism 305 is mounted on the moving stage 3065. Under the control of the controller, the translation drive 3061 drives the gear to rotate, and the gear carries the moving stage 3065 to move along the rack 3062. The slider 3063 and the second moving guide rail 3064 increase the smoothness of the movement of the moving stage 3065. When the moving stage 3065 moves, it carries the rotating mechanism 305, the pushing mechanism 302, the clamping and centering mechanism 303 and the clamped support leg 4 to adjust the distance between the central axis of the support leg 4 and the actual mounting axis of the support leg mounting cavity 202 on the horizontal plane.

[0161] In one embodiment of this application, a downward-recessed lifting installation space 3066 is formed on the movable stage 3065. The lifting mechanism 307 includes a lifting platform 3071 and a lifting mechanism 3072. The lifting mechanism 3072 is movably disposed in the lifting installation space 3066 and is communicatively connected to the controller. The lifting platform 3071 is disposed on the lifting mechanism 3072. The lifting mechanism 3072 may be a T-type screw jack 3072. A rotating mechanism 305 is disposed above the lifting platform 3071. Under the control of the controller, the lifting mechanism 3072 performs the lifting function, driving the rotating mechanism 305, the pushing mechanism 302, the clamping and centering mechanism 303, and the clamped support leg 4 to rise and fall, so as to adjust the spatial height of the central axis of the support leg 4. Further, the lifting mechanism 307 also includes a guide component disposed in the lifting installation space 3066 for guiding the lifting platform 3071 to rise and fall.

[0162] Furthermore, in this embodiment, the rotating mechanism 305, the translation mechanism 306, and the lifting mechanism 307 together form the position adjustment module 301. The relative positional relationship between the three can also be adjusted as follows: the rotating mechanism 305 is set on the support platform 304, the translation mechanism 306 is rotatably set on the rotating mechanism 305, the lifting mechanism 307 is vertically set on the translation mechanism 306, and the clamping and centering mechanism 303 and the pushing mechanism are set on the lifting mechanism 307.

[0163] In one embodiment of this application, such as Figures 10-13As shown, the clamping and centering mechanism 303 includes a first support unit 3031, a second support unit 3032, and a third support unit 3033, all mounted on a rotary table 3054. The first support unit 3031, the second support unit 3032, and the third support unit 3033 are spaced apart along the axial direction of the rotary table 3054 and each includes a support bracket 3034, a swing cylinder 3035, a lifting beam 3036, and a guide wheel 3037. The swing cylinder 3035 is communicatively connected to the controller, and the support bracket 3034 is fixed by bolts. On the rotary table 3054, the lifting beam 3036 is rotatably mounted on the top of the support bracket 3034, the swing cylinder 3035 is mounted on the support bracket 3034 and drivenly connected to the lifting beam 3036, and the guide wheel 3037 is rotatably mounted on the lifting beam 3036. In the first support unit 3031 and the second support unit 3032, the central axis of the guide wheel 3037 is perpendicular to the width direction of the rotary table 3054; in the third support unit 3033, the central axis of the guide wheel 3037 is consistent with the width direction of the rotary table 3054. In this embodiment, there are two of each of the following support units: the first support unit 3031, the second support unit 3032, and the third support unit 3033. The two first support units 3031 are staggered along the width of the rotary table 3054, the two second support units 3032 are staggered along the width of the rotary table 3054, and the two third support units 3033 are staggered along the width of the rotary table 3054. The top surfaces of all the first support units 3031, second support units 3032, and third support units 3033 together form the support surface of the outrigger 4. The guide wheel 3037 guides the movement of the outrigger 4. The controller controls the extension or retraction of the swing cylinder 3035, enabling the deployment or retraction of the lifting beam 3036, thus allowing the lifting beam 3036 to switch between horizontal and vertical positions to avoid obstacles during the lifting or advancement of the outrigger 4.

[0164] In one embodiment of this application, such as Figure 14As shown, the clamping and centering mechanism 303 also includes a first centering unit 3038 and a second centering unit 3039, both disposed on the rotary table 3054. The first centering unit 3038 and the second centering unit 3039 are spaced apart along the axial direction of the rotary table 3054 and each includes two third moving tracks 30310, two centering sliders 30316, a first centering bracket 30311, a second centering bracket 30312, a centering gear 30313, a first centering rack 30314, a second centering rack 3062, and a centering cylinder 30315. The two third moving tracks 30310 are spaced apart along the length of the rotary table 3054, and each third moving track 30310 is disposed along the width of the rotary table 3054. The first centering bracket 30311 and the second centering bracket 30312 are relatively distributed. 0311 is movably mounted on a third moving track 30310 via a centering slider 30316. The second centering bracket 30312 is movably mounted on another third moving track 30310 via another centering slider 30316. The centering gear 30313 is rotatably mounted on a gear mounting plate and located between the first centering bracket 30311 and the second centering bracket 30312. The first centering rack 30314 is mounted on the first centering bracket 30311 and meshes with the centering gear 30313. The second centering rack 3062 is mounted on the second centering bracket 30312 and meshes with the centering gear 30313. The centering cylinder 30315 is located between the first centering bracket 30311 and the second centering bracket 30312 and is drivenly connected to the first centering bracket 30311. The controller is communicatively connected to the centering cylinder 30315. The centering cylinder 30315 can pull the first centering bracket 30311 to move towards the center position of the third moving track 30310. The first centering rack 30314 on the first centering bracket 30311 pushes the centering gear 30313 to rotate, thereby driving the second centering rack 3062 and the second centering bracket 30312 to move along the center position of the third moving track 30310, thereby clamping the support leg 4 and ensuring that the central axis of the support leg 4 coincides with the clamping central axis between the first centering bracket 30311 and the second centering bracket 30312. In this embodiment, the clamping space is formed by the support surface, the first centering bracket 30311, and the second centering bracket 30312. The central axis of the clamping space is the clamping central axis between the first centering bracket 30311 and the second centering bracket 30312.

[0165] In one embodiment of this application, such as Figures 15-16As shown, the pushing mechanism 302 includes a first pushing platform 3021, a first pushing guide rail 3022, a first pushing slider 3023, a first pushing drive 3024 (such as a servo motor), a pushing gear, a pushing rack 3062, a second pushing platform 3025, a second pushing guide rail 3026, a second pushing slider 3027, a second pushing drive 3028 (such as a hydraulic cylinder), a third pushing drive 3029 (such as a hydraulic cylinder), and a push rod 30210. The first pushing drive... 3024, the second push drive, and the third push drive 3029 are communicatively connected to the controller. The first push guide rail 3022 is arranged on the rotary table 3054 along the axial direction. The first push slider 3023 is arranged at the bottom of the first push platform 3021 and can move along the first push guide rail 3022. The push rack 3062 is arranged on the rotary table 3054 and parallel to the first push guide rail 3022. The push gear is arranged at the drive output end of the first push drive 3024 and meshes with the push rack 3062. Under the drive of the first push drive 3024, the push gear rotates and drives the first push platform 3021 to move along the first push guide rail 3022. The second push guide rail 3026 is arranged on the first push platform 3021 and parallel to the first push platform 3021. The second push slider 3027 is arranged at the bottom of the second push platform 3025 and can move along the second push guide rail 3026. The second push drive 3028 is arranged on the first push platform 3021 and parallel to the first push platform 3021. The second pusher 3025 is driven and connected to drive the second pusher 3025 to move along the second pusher guide 3026. When the first pusher 3021 and / or the second pusher 3025 move, they can drive the support leg 4 to move away from the push rod 30210. The third pusher drive 3029 is disposed on the second pusher 3025 and driven and connected to the push rod 30210. It is used to drive the push rod 30210 to apply a pushing force to the support leg 4 so as to push the support leg 4 into the support leg mounting cavity 202.

[0166] Furthermore, the pushing mechanism 302 also includes a push rod guide assembly 30211 disposed on the first pushing platform 3021 and used to guide the push rod 30210.

[0167] In one embodiment of this application, the assembly system further includes a fence 6 disposed on the outside of the outrigger assembly device 3 to prevent operators from accidentally entering the area where the outrigger assembly device 3 is located during the corresponding operation of the outrigger assembly device 3 and causing a safety accident.

[0168] In one embodiment of this application, a first image acquisition device 502 is movably mounted on a first mounting bracket 501. The first mounting bracket 501 is gate-shaped and located at the end of the first connection area closer to the outside. A fourth moving guide rail 503 is also provided on the top of the first mounting bracket 501. The fourth moving guide rail 503 is arranged longitudinally (i.e., along the axial direction of the base frame tray placement area 102). A connecting block that can move along the axial direction is also provided on the fourth moving guide rail 503. The first image acquisition device 502 is connected to the connecting block. After the base frame transfer device completes the transfer, the base frame assembly 2 is located below the first image acquisition device 502, and the end of the base frame assembly 2 containing the rear support leg mounting hole 201 is close to the first mounting bracket 501. The first image acquisition device 502 is communicatively connected to a controller and can be selected as a camera (such as a 2D camera, 3D camera, or laser detection camera). Under the control of the controller, the first image acquisition device 502 can automatically acquire images of the rear support leg mounting hole on the base frame assembly 2.

[0169] The image acquisition device 5 also includes a moving drive assembly for moving the connecting block. The moving drive assembly may include a drive motor and a lead screw. The drive motor is communicatively connected to the controller. One end of the lead screw is driven by the drive motor, and the other end passes through the connecting block and is threadedly connected to it. When the drive motor rotates, it can move the connecting block and the first image acquisition device 502 along the fourth moving guide rail 503, thereby adjusting the image acquisition area of ​​the fourth moving guide rail 503. Furthermore, after receiving information from the information reader, the controller can adjust the first image acquisition device 502 to the corresponding position based on the aforementioned information, so as to acquire the image of the rear support leg mounting hole 201 more clearly and completely, which is beneficial to expanding the applicability of the assembly system.

[0170] In one embodiment of this application, there are two first image acquisition units 502, four moving guide rails 503, connecting blocks, and moving drive components. One set of first image acquisition units 502, four moving guide rails 503, connecting blocks, and moving drive components is disposed on the first side of the width direction of the first mounting bracket 501 for acquiring images of the first rear outrigger mounting holes. The other set of first image acquisition units 502, four moving guide rails 503, connecting blocks, and moving drive components is disposed on the second side of the width direction of the first mounting bracket 501 for acquiring images of the second rear outrigger mounting holes. Both first image acquisition units 502 send the acquired rear outrigger mounting hole images to the controller. The controller determines the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole on the base frame assembly 2 based on the two rear outrigger mounting hole images.

[0171] In one embodiment of this application, the image acquisition device 5 further includes a first light source 504 disposed on the first mounting bracket, for supplementing the first image acquisition device 502 with the light source 504, so as to improve the image acquisition quality of the first image acquisition device 502.

[0172] In one embodiment of this application, the base frame assembly 2 has two outrigger mounting cavities 202, namely a first outrigger mounting cavity and a second outrigger mounting cavity. There are also two second image acquisition devices 506 and two mounting brackets 505. One set of second image acquisition devices 506 and second mounting brackets 505 is located on the first side of the width direction of the first connecting frame 101 and is used to acquire images of the first outrigger mounting cavity. The other set of second image acquisition devices 506 and second mounting brackets 505 is located on the second side of the width direction of the first connecting frame 101 and is used to acquire images of the second outrigger mounting cavity. Both second image acquisition devices 506 send the acquired mounting end face images to the controller. The controller can determine the mounting center coordinates of the corresponding mounting end faces of the first outrigger mounting cavity and the second outrigger mounting cavity based on the two mounting end face images.

[0173] In one embodiment of this application, the limiting component 10 includes a first limiting member 1001 and a second limiting member 1002, both disposed on the top surface of the support leg tray 8 and spaced apart along the width direction of the support leg tray 8. A receiving space for accommodating the support leg 4 is formed between the first limiting member 1001 and the second limiting member 1002. The first limiting member 1001 and the second limiting member 1002 work together to prevent the support leg 4 from moving along the width direction of the support leg tray 8 during the transfer process, laying the foundation for accurate transfer to the support leg assembly device 3.

[0174] Furthermore, the bottom of the outrigger tray 8 is provided with a third pin hole, and the top of the outrigger transfer device 9 is provided with a pin connection part. The pin connection part is provided with a fourth pin hole corresponding to the third pin hole. The assembly system also includes a second connecting pin. The second connecting pin passes through the third pin hole and the fourth pin hole in sequence to reliably connect the outrigger tray 8 and the outrigger transfer device 9 together.

[0175] In one embodiment of this application, the assembly system further includes a hydraulic station and hydraulic pipelines connected to the hydraulic station. The hydraulic pipelines are connected to various hydraulic accessories on the second push drive 3028 and the third push drive 3029 in the push mechanism 302. When the outrigger 4 is pushed into the outrigger mounting cavity 202, the hydraulic station provides a hydraulic power source for the second push drive 3028 and the third push drive 3029. When 50% of the total length of the outrigger 4 is pushed into the outrigger mounting cavity 202, the base frame hydraulic pipeline and the outrigger hydraulic pipeline are connected together.

[0176] Furthermore, when the pushing mechanism 302 performs the pushing operation, the controller first controls the first pushing drive 3024 to move. Under the drive of the first pushing drive 3024, the pushing gear rotates and drives the first pushing platform 3021 to move along the first pushing guide rail 3022. During the above process, the controller controls the swing cylinders 3035 of the second support unit 3032 and the third support unit 3033 to move, so as to pull down the lifting beam 3036 connected to it to a vertical position, so as to complete the first pushing operation.

[0177] After 50% of the outrigger 4 is inserted into the outrigger mounting cavity 202, the controller controls the pushing mechanism to perform the second pushing operation. The hydraulic station drives the second pushing drive 3028 to move, and the second pushing platform 3025 moves along the second pushing guide rail 3026 on the first pushing platform 3021. When the outrigger 4 moves to the third support unit 3033, the second pushing drive 3028 stops moving, and the controller controls the swing cylinder 3035 of the first support unit 3031 to move, so as to pull down the connected lifting beam 3036 to a vertical position. Then the hydraulic station drives the third pushing drive 3029 to push the push rod 30210 to move, so as to fully insert the outrigger 4 into the outrigger mounting cavity 202 to complete the installation of the outrigger 4 in the outrigger mounting cavity 202.

[0178] Another embodiment of this application provides a controller that includes the assembly method for outrigger assemblies of engineering machinery described in the above embodiments.

[0179] Another embodiment of this application provides an assembly system that includes the controller described in the above embodiments.

[0180] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0181] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0182] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0183] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An assembly method for an outrigger assembly of engineering machinery, the assembly method being applicable to an assembly system, the outrigger assembly comprising a base frame assembly (2) and outriggers (4), the base frame assembly (2) comprising a base frame (203) and a door panel (204) welded to the base frame (203), the base frame assembly (2) having an outrigger mounting cavity (202) formed inside for mounting the outriggers, characterized in that, The assembly method includes: Determine that the outrigger (4) and the base frame assembly (2) are respectively in their respective preset installation states; Obtain the first coordinate data of the center of the first rear outrigger mounting hole and the second coordinate data of the center of the second rear outrigger mounting hole on the base frame assembly (2); The deflection angle of the base frame assembly (2) is calculated based on the first coordinate data and the second coordinate data, wherein the deflection angle is the angle between the actual centerline of the base frame assembly (2) in the width direction and the theoretical centerline of the base frame assembly (2) in the width direction; Obtain an image of the mounting end face of the outrigger mounting cavity (202); The horizontal and vertical weld areas at the connection points of the base frame (203) and the door panel (204) are determined based on the installation end face image. The installation center coordinates of the mounting end face are determined based on the horizontal weld area and the vertical weld area. The position adjustment operation of the outrigger is controlled according to the deflection angle and the mounting center coordinate of the mounting end face so that the central axis of the outrigger (4) coincides with the actual central axis of the outrigger mounting cavity (202); The push mechanism (302) of the assembly system is controlled to perform a push operation to insert the support leg (4) into the support leg mounting cavity (202).

2. The assembly method for outrigger assembly of engineering machinery according to claim 1, characterized in that, Determining the installation center coordinates of the mounting end face based on the horizontal weld area and the vertical weld area includes: Obtain the third coordinate data of the point in the horizontal weld area that is closest to the outrigger mounting cavity (202) in the first direction; Obtain the fourth coordinate data of the point in the vertical weld area that is closest to the leg mounting cavity (202) in the second direction; The installation center coordinates of the installation end face are determined based on the third coordinate data and the fourth coordinate data.

3. The assembly method for outrigger assembly of engineering machinery according to claim 2, characterized in that, Determining the mounting center coordinates of the mounting end face of the outrigger mounting cavity (202) based on the third coordinate data and the fourth coordinate data includes: Based on the third coordinate data, determine the horizontal line (13) passing through the point where the third coordinate data is located. Determine the vertical line (14) passing through the point where the fourth coordinate data is located based on the fourth coordinate data. Determine the coordinates of the intersection point of the horizontal line (13) and the vertical line (14); The installation center coordinates of the leg mounting cavity (202) on the mounting end face are determined based on the intersection coordinates.

4. The assembly method for outrigger assembly of engineering machinery according to claim 1, characterized in that, The step of controlling the outrigger to perform a position adjustment operation based on the deflection angle and the mounting center coordinates of the mounting end face, so that the central axis of the outrigger (4) coincides with the actual central axis of the outrigger mounting cavity (202), includes: The outrigger is controlled to perform a first adjustment operation according to the deflection angle, so that the central axis of the outrigger (4) is parallel to the actual mounting axis of the outrigger mounting cavity (202) of the base frame assembly (2); The second adjustment operation is performed on the outrigger according to the installation center coordinates, so that the central axis of the outrigger (4) coincides with the actual installation axis of the outrigger mounting cavity (202).

5. The assembly method for outrigger assembly of engineering machinery according to claim 4, characterized in that, The number of the outriggers (4) is multiple, and the multiple outriggers (4) include a first outrigger and a second outrigger that are relatively distributed on the base frame assembly (2). The step of controlling the outriggers to perform a first adjustment operation according to the deflection angle includes: Obtain the preset angle between the central axis of the base frame assembly (2) in the width direction and the central axis of the leg mounting cavity (202); Calculate the difference between the preset angle and the deflection angle, and the sum of the preset angle and the deflection angle; Based on the difference, the first support leg is controlled to perform a first rotation operation; The second leg is controlled to perform a second rotation operation based on the sum value.

6. The assembly method for outrigger assembly of engineering machinery according to claim 5, characterized in that, The assembly system includes a base frame assembly placement device (1) and a leg assembly device (3) disposed on one side of the base frame assembly placement device (1). The leg assembly device (3) includes a translation mechanism (306), a lifting mechanism (307), and a clamping and centering mechanism (303) for clamping and centering the leg (4). The lifting mechanism (307) is movably disposed on the translation mechanism (306), and the clamping and centering mechanism (303) is vertically disposed on the lifting mechanism (307). The step of controlling the leg (4) to perform a second adjustment operation according to the installation center coordinates to make the central axis of the leg (4) coincide with the actual installation axis of the leg mounting cavity (202) includes: The translation mechanism (306) is controlled to perform translation operation according to the horizontal coordinate value of the installation center coordinate of the installation end face, so that the central axis of the support leg (4) on the clamping and centering mechanism (303) and the actual installation axis of the support leg installation cavity (202) are located in the same vertical plane; The lifting mechanism (307) is controlled to perform lifting operation according to the vertical coordinate value of the installation center coordinate of the installation end face, so that the central axis of the support leg (4) on the clamping and centering mechanism (303) coincides with the actual installation axis of the support leg installation cavity (202).

7. The assembly method for outrigger assembly of engineering machinery according to claim 5, characterized in that, The assembly system includes a base frame assembly placement device (1) and a leg assembly device (3) disposed on one side of the base frame assembly placement device (1). The leg assembly device (3) includes a translation mechanism (306), a lifting mechanism (307), and a clamping and centering mechanism (303) for clamping and centering the leg (4). The lifting mechanism (307) is movably disposed on the translation mechanism (306), and the clamping and centering mechanism (303) is vertically disposed on the lifting mechanism (307). The step of controlling the leg to perform a second adjustment operation according to the center coordinate to make the central axis of the leg (4) coincide with the actual installation axis of the leg mounting cavity (202) includes: The lifting mechanism (307) is controlled to perform lifting operation according to the vertical coordinate value of the center coordinate of the mounting end face, so that the central axis of the leg held on the clamping and centering mechanism (303) is located on the same horizontal plane as the actual mounting axis of the leg mounting cavity (202); The translation mechanism (306) is controlled to perform a translation operation based on the horizontal coordinate value of the center coordinate of the mounting end face, so that the central axis of the leg (4) on the clamping and centering mechanism (303) coincides with the actual mounting axis of the leg mounting cavity (202).

8. A controller, characterized in that, The controller is configured to perform the assembly method for outrigger assemblies of engineering machinery according to any one of claims 1-7.

9. An assembly system, characterized in that, The assembly system includes the controller according to claim 8.

Images