Assembly system and assembly device for an engineering machine outrigger assembly

Abstract

The application discloses an assembly system and an assembly device for a support leg assembly of an engineering machine, and the assembly system comprises a chassis assembly placing device, a support leg assembling device, a position adjusting module, a pushing mechanism and a clamping and centering mechanism. The clamping and centering mechanism is used for clamping the support leg and making the central axis of the support leg coincide with the central axis of the clamping space. The pushing mechanism is arranged at the end of the clamping and centering mechanism away from the chassis assembly placing device and is used for pushing the support leg into a support leg mounting cavity. The position adjusting module is movably arranged below the clamping and centering mechanism and the pushing mechanism and is used for adjusting the spatial position of the support leg. An image acquisition device is used for acquiring a placing image set of the chassis assembly. A control system is used for controlling the position adjusting module to perform a position adjusting operation according to the placing image set, so that the central axis of the support leg coincides with the actual mounting axis of the support leg mounting cavity, and the assembly efficiency and the assembly quality of the support leg assembly can be improved.

Description

Technical Field

[0001] This application belongs to the field of assembly equipment technology, and specifically relates to an assembly system and assembly equipment 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 basically 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 system and assembly equipment for outrigger assemblies of construction machinery. The assembly system for outrigger assemblies of construction machinery has the advantages of 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 system for an outrigger assembly of engineering machinery. 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 system includes:

[0005] A base frame assembly placement device for placing base frame assemblies;

[0006] The outrigger assembly device includes a position adjustment module, a pushing mechanism, and a clamping and centering mechanism. The clamping and centering mechanism is used to clamp the outrigger and make the central axis of the outrigger coincide with the central axis of the clamping space. The pushing mechanism is located at the end of the clamping and centering mechanism away from the base frame assembly placement device and is used to push the outrigger into the outrigger mounting cavity. The position adjustment module is movably located below the clamping and centering mechanism and the pushing mechanism and is used to adjust the spatial position of the outrigger.

[0007] Image acquisition device, used to acquire a set of images of the base frame assembly in place;

[0008] The control system is communicatively connected to the image acquisition device and the outrigger assembly device and is used to control the position adjustment module to perform position adjustment operations based on the set of placed images, so that the central axis of the outrigger coincides with the actual installation axis of the outrigger mounting cavity.

[0009] In embodiments of this application, the base frame assembly placement device includes:

[0010] The first connecting frame has a base tray placement area formed on its top surface;

[0011] Base frame pallet mechanism for loading base frame components;

[0012] The first positioning mechanism is installed on the first connecting frame and is used to position the base frame pallet mechanism.

[0013] In embodiments of this application, the chassis assembly placement device further includes a second positioning mechanism disposed on the chassis tray mechanism and used for positioning the chassis assembly.

[0014] In the embodiments of this application, the interior of the first connecting frame has a first connecting area that communicates with the outside on one side. The assembly system also includes a base frame transfer device that is movably disposed in the working area of ​​the assembly system and is used to transfer the base frame pallet mechanism to the base frame pallet placement area.

[0015] In the embodiments of this application, the position adjustment module includes a rotating mechanism that is mounted on the support platform of the outrigger assembly device and can rotate, and the pushing mechanism and the clamping centering mechanism are both mounted on the rotating mechanism.

[0016] In embodiments of this application, the position adjustment module further includes a translation mechanism movably mounted on the load-bearing platform, and a rotation mechanism mounted on the translation mechanism.

[0017] In embodiments of this application, the position adjustment module further includes a lifting mechanism disposed on the translation mechanism and capable of vertical lifting and lowering, and a rotation mechanism disposed on the lifting mechanism.

[0018] In embodiments of this application, the image acquisition device includes:

[0019] The first mounting bracket is set at the top of the first connecting bracket of the base frame assembly placement device;

[0020] A first image acquisition device is movably mounted on a first mounting bracket and is used to acquire images of the rear outrigger mounting holes of the underframe assembly.

[0021] In embodiments of this application, the image acquisition device further includes:

[0022] The second mounting bracket is located at the end of the position adjustment module near the first mounting bracket;

[0023] The second image acquisition device is mounted on the second mounting bracket and is used to acquire images of the mounting end face of the leg mounting cavity of the base frame assembly.

[0024] In embodiments of this application, the assembly system further includes:

[0025] The outrigger coupling assembly is located on one side of the base frame mounting device and at one end of the outrigger assembly device;

[0026] Outrigger tray, used to load outriggers;

[0027] The outrigger transfer device is movably installed in the work area of ​​the assembly system and is used to transfer the outrigger tray to the outrigger coupling assembly.

[0028] In embodiments of this application, the assembly system further includes a guide assembly disposed on top of the outrigger coupling assembly and used for guiding the outrigger tray.

[0029] In embodiments of this application, the assembly system further includes a limiting component disposed on the leg tray and used to limit the position of the leg on the leg tray.

[0030] A second aspect of this application provides an assembly apparatus that includes the aforementioned assembly system for outrigger assemblies of engineering machinery.

[0031] As can be seen from the above technical solution, the assembly system includes a base frame assembly placement device, a leg assembly device, an image acquisition device, and a control system. The leg assembly device includes a position adjustment module, a pushing mechanism, and a clamping and centering mechanism. The clamping and centering mechanism is used to clamp the leg and make the central axis of the leg coincide with the central axis of the clamping space. The pushing mechanism is located at the end of the clamping and centering mechanism away from the base frame assembly placement device and is used to push the leg into the leg mounting cavity of the base frame assembly. The position adjustment module is movably located below the clamping and centering mechanism and the pushing mechanism and is used to adjust the spatial position of the leg. The image acquisition device is used to acquire a set of placement images of the base frame assembly. The control system is communicatively connected to the image acquisition device and the leg assembly device and is used to control the position adjustment module to perform position adjustment operations according to the placement image set, so that the central axis of the leg coincides with the actual mounting axis of the leg mounting cavity. This assembly system for outrigger assemblies of engineering machinery can acquire a set of placement images of the underframe components and perform position adjustment operations based on the placement image set to ensure that the central axis of the outrigger coincides with the actual installation axis of the outrigger mounting cavity. This eliminates the need for manual operation, reducing the labor intensity during outrigger assembly assembly. It also prevents damage to the paint on the outrigger from bumping into the outrigger and / or underframe during installation and avoids the problem of the outrigger getting stuck in the outrigger mounting cavity and being unable to be pulled out, thus improving the assembly efficiency and quality of the outrigger assembly.

[0032] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0033] 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:

[0034] Figure 1 This is a schematic diagram of the assembly system in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the structure of the first connecting frame in the embodiments of this application;

[0036] Figure 3 This is a schematic diagram of the base frame tray in an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the structure of the outrigger connection assembly and the outrigger tray in the embodiments of this application;

[0038] Figure 5 This is a schematic diagram of the outrigger assembly device in the embodiments of this application;

[0039] Figure 6 This is a schematic diagram of the translation mechanism in the embodiments of this application;

[0040] Figure 7 This is a schematic diagram of the lifting mechanism in the embodiments of this application;

[0041] Figure 8 This is a schematic diagram of the rotating mechanism in the embodiments of this application;

[0042] Figure 9 This is a schematic diagram of the structure of the pushing mechanism and the clamping and centering mechanism in the embodiments of this application;

[0043] Figure 10 This is a schematic diagram of the clamping and centering mechanism in the embodiments of this application;

[0044] Figure 11 This is a structural schematic diagram of the support unit in an embodiment of this application (the supporting beam is in a horizontal state);

[0045] Figure 12 This is a structural schematic diagram of the support unit in an embodiment of this application (the supporting beam is in a vertical state);

[0046] Figure 13 This is a schematic diagram of the centering unit in an embodiment of this application;

[0047] Figure 14 This is a first-view structural diagram of the pushing mechanism in an embodiment of this application;

[0048] Figure 15 This is a schematic diagram of the pushing mechanism from a second perspective in an embodiment of this application;

[0049] Figure 16 This is a schematic diagram showing the acquisition of images of the rear outrigger mounting holes in an embodiment of this application;

[0050] Figure 17 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;

[0051] Figure 18 This is a schematic diagram of the structure of the light source and the first image acquisition device in the embodiments of this application;

[0052] Figure 19 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;

[0053] Figure 20 This is a schematic diagram of the preset included angle in the embodiments of this application;

[0054] Figure 21 This is a schematic diagram of the preset included angle and deflection angle in the embodiments of this application;

[0055] Figure 22 This is a schematic diagram of the preset included angle in the embodiments of this application;

[0056] Figure 23 This is a schematic diagram of the mounting end face in an embodiment of this application;

[0057] Figure 24 This is a partially enlarged schematic diagram of the mounting end face in an embodiment of this application;

[0058] Figure 25 This is a schematic diagram of the outrigger assembly in the embodiment of this application when it is not assembled;

[0059] Figure 26 This is a schematic diagram showing the completed assembly state of the outrigger assembly in the embodiments of this application.

[0060] Explanation of reference numerals in the attached figures

[0061] 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

[0062] 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.

[0063] Embodiments of this application provide an assembly system for an outrigger assembly of engineering machinery, the outrigger assembly including a base frame assembly 2 and outriggers 4 (e.g., Figures 25-26 As shown), the base frame assembly 2 has a leg mounting cavity 202 formed inside for mounting the outrigger 4, as shown. Figure 1 As shown, the assembly system includes:

[0064] Base frame assembly placement device 1, used to place base frame assembly 2;

[0065] The outrigger assembly device 3 includes a position adjustment module 301, a pushing mechanism 302, and a clamping and centering mechanism 303. The clamping and centering mechanism 303 is used to clamp the outrigger 4 and make the central axis of the outrigger 4 coincide with the central axis of the clamping space. The pushing mechanism 302 is located at one end of the clamping and centering mechanism 303 away from the base frame assembly placement device 1 and is used to push the outrigger 4 into the outrigger mounting cavity 202. The position adjustment module 301 is movably located below the clamping and centering mechanism 303 and the pushing mechanism 302 and is used to adjust the spatial position of the outrigger 4.

[0066] Image acquisition device 5 is used to acquire a set of images of the base frame assembly 2 in place;

[0067] The control system is communicatively connected to the image acquisition device 5 and the outrigger assembly device 3 and is used to control the position adjustment module 301 to perform position adjustment operations according to the placement image set, so that the central axis of the outrigger 4 coincides with the actual installation axis of the outrigger mounting cavity 202.

[0068] 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 has multiple outriggers 4 and multiple outrigger mounting cavities 202. The multiple outriggers 4 include first outriggers and second outriggers (in this embodiment, the first outrigger and the second outrigger are both front outriggers of the construction machinery). 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. The two outrigger mounting cavities 202 are formed inside the underframe assembly 2. In this embodiment, the base frame assembly 2 has two rear outrigger mounting holes 201. The two rear outrigger mounting holes 201 include a first rear outrigger mounting hole and a second rear outrigger mounting hole, both located at the rear end of the base frame assembly 2 and used to install the two rear outriggers of the construction machinery respectively. The image set includes images of the first rear outrigger mounting hole, the second rear outrigger mounting hole, and the mounting end face image of the outrigger mounting cavity 202 on the base frame assembly 2. In this embodiment, there are two outrigger assembly devices 3. The two outrigger assembly devices 3 include a first outrigger assembly device for installing the first outrigger and a second outrigger assembly device for installing the second outrigger. The first outrigger assembly device and the second outrigger assembly device have the same structure.

[0069] Before the support leg 4 and the base frame assembly 2 are installed together, the base frame assembly 2 is pre-placed on the base frame assembly placement device 1 and is in a preset position; the support leg 4 is clamped in the clamping space of the clamping and centering mechanism 303, and the central axis of the support leg 4 coincides with the central axis of the clamping space. When the base frame assembly 2 is in a preset position, the support leg 4 is clamped in the clamping space of the clamping and centering mechanism 303, and the central axis of the support leg 4 coincides with the central axis of the clamping space, the control system (such as a PLC control system) controls the image acquisition device 5 to acquire a set of placement images of the base frame assembly 2. After the acquisition is completed, the image acquisition device 5 sends the set of placement images to the control system. The control system performs image recognition processing on the rear support leg mounting hole image and the mounting end face image in the placement image set. Then, based on the result of the image recognition processing of the rear support leg mounting hole image, it determines the first coordinate data of the center of the first rear support leg mounting hole and the second coordinate data of the center of the second rear support leg mounting hole on the base frame assembly 2. The deflection angle of the base frame assembly 2 is calculated according to the first coordinate data and the second coordinate data, where the deflection angle is the angle between the actual central axis of the base frame assembly 2 in the width direction and the theoretical central axis of the base frame assembly 2 in the width direction. In this embodiment, the position adjustment operation includes rotation, translation and lifting operations. The control system calls the corresponding preset program according to the product model to perform rotation, translation and lifting operations, and moves the outrigger assembly device 3 to the preset position. After determining the deflection angle, the control position adjustment module 301 first performs the rotation operation so that the central axis of the outrigger 4 is parallel to the central axis of the outrigger mounting cavity 202 of the base frame assembly 2.

[0070] Furthermore, the base frame assembly 2 includes a base frame 203 and a door panel 204 welded to the base frame 203. The outrigger mounting cavity 202 is formed inside the base frame 203. The door panel 204 is disposed 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. 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 support leg mounting cavity 202. That is, multiple irregularly shaped welds will be formed at the edge of the entrance end of the support leg mounting cavity 202. Among them, the multiple welds include a horizontal weld 11 located at the top of the support leg mounting cavity 202 and a vertical weld 12 located on the vertical side of the support leg mounting cavity 202. Both the horizontal weld 11 and the vertical weld 12 may form protrusions protruding in the direction of the support leg mounting cavity 202. The presence of the above-mentioned protrusions will affect the installation of the support leg 4 and the base frame assembly 2, that is, it will reduce the actual installation space of the support leg 4 in the support leg 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. 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.

[0071] The control system determines the horizontal and vertical weld seam areas at the connection point between the base frame 203 and the door panel 204 based on the image recognition processing results of the mounting end face image. Then, based on these areas, it determines the mounting center coordinates of the mounting end face (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, considering the protrusions; the central axis of the outrigger 4 in the actual mounting space of the outrigger mounting cavity 202 passes through these mounting center coordinates of the mounting end face). The actual installation axis is the center axis of the outrigger 4 in the actual installation space of the outrigger mounting cavity 202. Then, the control system controls the position adjustment module to perform translation and lifting operations based on the installation center coordinates of the mounting end face, so that the center axis of the outrigger 4 coincides with the actual installation axis of the outrigger mounting cavity 202. Based on this, the control system then controls the pushing mechanism 302 to apply a pushing force to the outrigger 4 to push it into the outrigger mounting cavity 202. Finally, a fixing pin is used to connect the outrigger 4 to the base frame assembly 2, thus completing the installation and mating of the outrigger 4 and the base frame assembly 2 (e.g., ...). Figure 26 (As shown).

[0072] The assembly system for outrigger assemblies of engineering machinery provided in this embodiment can acquire a set of placement images of the base frame component 2, and can also perform position adjustment operations based on the placement image set to 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 damaging the paint on the outrigger 4 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 getting stuck in the outrigger mounting cavity 202 and being unable to be pulled out, thus improving the assembly efficiency and assembly quality of the outrigger assembly.

[0073] In one embodiment of this application, such as Figure 2 As shown, the base frame assembly placement device 1 includes:

[0074] The first connecting frame 101 has a base tray placement area 102 formed on its top surface;

[0075] The base frame pallet mechanism 103 is used to load the base frame assembly 2;

[0076] The first positioning mechanism 104 is mounted on the first connecting frame 101 and is used to position the base frame pallet mechanism 103.

[0077] Specifically, the first positioning mechanism 104 includes a front guide wheel 1041, a middle guide wheel 1042, and a rear guide wheel 1043, which are distributed sequentially and at intervals along the length of the base tray placement area 102 on the top surface of the first connecting frame 101. The central axes of the front guide wheel 1041 and the rear guide wheel 1043 are parallel to the central axis of the base tray placement area 102, and the central axis of the middle guide wheel 1042 is perpendicular to the central axis of the base tray 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.

[0078] 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.

[0079] In one embodiment of this application, such as Figure 3 As shown, the base frame assembly placement device 1 also includes a second positioning mechanism 106 disposed on the base frame tray mechanism 103 and used for positioning the base frame assembly 2.

[0080] Specifically, 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. A positioning plate 1063 is formed on the top of the first positioning member 1061 and the second positioning member 1062. 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.

[0081] In one embodiment of this application, the base frame assembly placement device 1 further includes multiple sets of 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 support components 107 includes a first moving guide rail 1071 and multiple 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 support members 1072 are movably disposed on the first moving guide rail 1071. The multiple support members 1072 cooperate to support the base frame assembly 2. By changing the position of the 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 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.

[0082] In one embodiment of this application, the interior of the first connecting frame 101 has a first connecting area that communicates with the outside on one side. The assembly system also includes a base frame transfer device that is movably disposed in the working area of ​​the assembly system and is used to transfer the base frame pallet mechanism 103 to the base frame pallet placement area 102.

[0083] Specifically, the chassis transfer device in this embodiment can be an AGV (Automated Guided Vehicle) transfer vehicle. The AGV transfer vehicle includes a first mobile chassis and a first lifting mechanism. The first mobile 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 vertically mounted on the first mobile chassis through the first lifting mechanism.

[0084] Before assembling the outrigger assembly, the operator first places the base frame pallet mechanism 103 on the base frame transfer device. The control system 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.

[0085] In one embodiment of this application, such as Figure 5 , Figure 8 As shown, the position adjustment module 301 includes a rotating mechanism 305 that is mounted on the support platform 304 of the outrigger assembly device 3 and can rotate. The pushing mechanism 302 and the clamping and centering mechanism 303 are both mounted on the rotating mechanism 305.

[0086] Specifically, in this embodiment, the first and second leg assembly devices further include a support platform 304 installed in a pre-dug pit. The rotating mechanism 305 includes a wear-resistant plate 3051, a rotating drive component 3052, a slewing assembly 3053, a rotating table 3054, and ball bearings 3055. The wear-resistant plate 3051 is disposed around the rotating drive component 3052. The rotating drive component 3052 is communicatively connected to the control system and can be selected as a servo motor with a reduction function. The slewing assembly 3053 is... The rotary table 3054 is positioned on one side of the rotary drive 3052 and is driven by the rotary drive 3052. It is positioned above the rotary assembly 3053 and rotates with the rotary assembly 3053. Multiple rolling balls 3055 are optionally rolled bullseye balls, positioned below the rotary table 3054 and rolling in contact with the wear-resistant plate 3051, increasing the smoothness of the rotary table 3054's rotation. The pushing mechanism 302 and the clamping and centering mechanism 303 are both mounted on the rotary table 3054. Under the control of the control system, the rotary drive 3052 drives the rotary assembly 3053 to rotate. 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, thereby adjusting the angle of the central axis of the support leg 4.

[0087] In one embodiment of this application, such as Figure 6 As shown, the position adjustment module 301 also includes a translation mechanism 306 movably mounted on the support platform 304, and a rotation mechanism 305 mounted on the translation mechanism 306.

[0088] Specifically, 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 control system. 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 above the moving stage 3065. Under the control of the control system, the translation drive 3061 drives the gear to rotate, and the gear carries the moving table 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 table 3065. When the moving table 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.

[0089] In one embodiment of this application, such as Figure 7 As shown, the position adjustment module 301 also includes a lifting mechanism 307 that is mounted on the translation mechanism 306 and can be raised and lowered vertically, and a rotation mechanism 305 is mounted on the lifting mechanism 307.

[0090] Specifically, the moving platform 3065 has a recessed lifting installation space 3066 formed from top to bottom. The lifting mechanism 307 includes a lifting platform 3071 and a lifting machine 3072. The lifting machine 3072 is movably mounted in the lifting installation space 3066 and is communicatively connected to the control system. The lifting platform 3071 is mounted on the lifting machine 3072, which may be a T-type screw jack. The rotating mechanism 305 is located above the lifting platform 3071. Under the control of the control system, the lifting machine 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. Furthermore, the lifting mechanism 307 also includes a guide assembly disposed in the lifting installation space 3066 for guiding the lifting platform 3071 to rise and fall.

[0091] Furthermore, in this embodiment, the relative positional relationship between the rotating mechanism 305, the translation mechanism 306, and the lifting mechanism 307 can also be adjusted as follows: the rotating mechanism 305 is mounted on the load-bearing platform 304, the translation mechanism 306 is rotatably mounted on the rotating mechanism 305, the lifting mechanism 307 is liftably mounted on the translation mechanism 306, and the clamping and centering mechanism 303 and the pushing mechanism are mounted on the lifting mechanism 307.

[0092] In one embodiment of this application, such as Figures 9-12 As 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 of which are mounted on a rotary table 3054. The first support unit 3031, the second support unit 3032, and the third support unit 3033 are distributed at intervals 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 control system. The support bracket 3034 is fixed to the rotary table 3054 by bolts. 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. The guide wheel 3037 is rotatably mounted on the lifting beam 3036. Furthermore, 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 aligned with the width direction of the rotary table 3054. In this embodiment, there are two of each of 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 direction of the rotary table 3054, the two second support units 3032 are staggered along the width direction of the rotary table 3054, and the two third support units 3033 are staggered along the width direction of the rotary table 3054. The top surfaces of all the first support units 3031, the second support units 3032, and the third support units 3033 together form the support surface of the support leg 4, and the guide wheel 3037 is used to guide the movement of the support leg 4. The control system controls the extension or retraction of the swing cylinder 3035, which can realize the unfolding or retraction of the lifting beam 3036, that is, realize the switching between the horizontal and vertical postures of the lifting beam 3036, so as to avoid it during the lifting or propulsion of the outrigger 4.

[0093] In one embodiment of this application, such as Figure 10 , Figure 13As 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, 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. The first centering bracket 30311 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 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 control system is communicatively connected to the centering cylinder 30315. The centering cylinder 30315 can pull the first centering bracket 30311 to move to 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 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.

[0094] In one embodiment of this application, such as Figures 14-15The 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, 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 pushing drive, and the third pushing drive 3029 are communicatively connected to the control system. The first pushing guide rail 3022 is arranged along the axial direction of the rotary table 3054 on the rotary table 3054. The first pushing slider 3023 is located at the bottom of the first pushing platform 3021 and can move along the first pushing guide rail 3022. The pushing rack is arranged on the rotary table 3054 and parallel to the first pushing guide rail 3022. The pushing gear is located at the drive output end of the first pushing drive 3024 and parallel to the first pushing guide rail 3022. The push rack engages, and 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 set on the first push platform 3021 and is parallel to the first push platform 3021. The second push slider 3027 is set 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 set on the first push platform 3021 and is driven to connect with the second push platform 3025, and is used to drive the second push platform 3025 to move along the second push guide rail 3026. When the first push platform 3021 and / or the second push platform move, they can drive the support leg 4 to move away from the push rod 30210. The third push drive 3029 is set on the second push platform 3025 and is driven to connect with the push rod 30210, and 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.

[0095] 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.

[0096] 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.

[0097] In one embodiment of this application, such as Figures 16-19 As shown, the image acquisition device 5 includes:

[0098] The first mounting bracket 501 is disposed at the top of the first connecting bracket 101 of the base frame assembly placement device 1;

[0099] The first image acquisition device 502 is movably mounted on the first mounting bracket 501 and is used to acquire images of the rear support leg mounting holes of the base frame assembly 2.

[0100] Specifically, in this embodiment, the first mounting bracket 501 is gate-shaped and located at the end of the first connecting 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 the control system and can be selected as a camera (such as a 2D camera, 3D camera, or laser detection camera). Under the control of the control system, the first image acquisition device 502 can automatically acquire images of the rear support leg mounting hole on the base frame assembly 2.

[0101] Furthermore, the image acquisition device 5 also includes a moving drive assembly for driving the connecting block to move. The moving drive assembly may include a drive motor and a lead screw. The drive motor is communicatively connected to the control system. One end of the lead screw is driven by the drive motor, and the other end of the lead screw passes through the connecting block and is threadedly connected to the connecting block. When the drive motor rotates, it can drive the connecting block and the first image acquisition device 502 to move along the fourth moving guide rail 503, thereby enabling the adjustment of the image acquisition area of ​​the fourth moving guide rail 503.

[0102] In the embodiments of this application, the assembly system further includes an information reader (such as an RFID reader / writer) disposed on the first connecting frame 101 and connected to the control system. The base frame assembly 2 is provided with an information tag (such as an RFID electronic tag). The information tag stores information such as the size of the base frame assembly 2 and the size of the support leg 4 corresponding to the base frame assembly 2. The information reader is used to read the information stored in the information tag and can send the read information to the control system. The control system stores the position information of the first image acquisition device 502 corresponding to the support leg 4. After receiving the information sent by the information reader, the control system adjusts the first image acquisition device 502 to the corresponding position based on the above information so that the image of the rear support leg mounting hole 201 can be acquired more clearly and completely, which is beneficial to expanding the application scope of the assembly system.

[0103] In one embodiment of this application, there are two rear outrigger mounting holes 201 on the base frame assembly 2, namely a first outrigger mounting cavity and a second rear outrigger mounting hole. There are two first image acquisition devices 502, four moving guide rails 503, connecting blocks, and moving drive components. One set of first image acquisition devices 502, fourth moving guide rails 503, connecting blocks, and moving drive components is set on the first side in the width direction of the first mounting bracket 501 for acquiring images of the first outrigger mounting cavity; the other set of first image acquisition devices 502, fourth moving guide rails 503, connecting blocks, and moving drive components is set on the second side in the width direction of the first mounting bracket 501 for acquiring images of the second rear outrigger mounting hole. Both first image acquisition devices 502 send the acquired rear outrigger mounting hole images to the control system. The control system determines the first coordinate data of the center of the first outrigger mounting cavity and the second coordinate data of the center of the second rear outrigger mounting hole on the base frame assembly 2 based on the above two rear outrigger mounting hole images.

[0104] In one embodiment of this application, the image acquisition device 5 further includes a light source 504 disposed on the first mounting bracket 501, for increasing the brightness in the image acquisition area of ​​the first image acquisition device 502, so as to improve the image acquisition quality of the first image acquisition device 502.

[0105] In one embodiment of this application, the image acquisition device 5 further includes:

[0106] The second mounting bracket 505 is located at one end of the position adjustment module 301 near the first mounting bracket 501;

[0107] The second image acquisition device 506 is mounted on the second mounting bracket 505 and is used to acquire the mounting end face image of the outrigger mounting cavity 202.

[0108] Specifically, in this embodiment, the second image acquisition device 506 can be selected as a camera (such as a 2D camera, a 3D camera, or a laser detection camera) and is connected to the control system. The second mounting bracket 505 is located at one end of the rotary table 3054 near the first mounting bracket 501. After the base frame transfer device completes the transfer, the leg mounting cavity 202 is located at one end near the second mounting bracket. Under the control of the control system, the second image acquisition device 506 can automatically acquire the mounting end face image of the leg mounting cavity 202 on the base frame assembly 2.

[0109] Furthermore, 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 control system. The control system 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 above two mounting end face images.

[0110] In one embodiment of this application, such as Figure 4 As shown, the assembly system also includes:

[0111] The outrigger connection assembly 7 is disposed on one side of the base frame assembly placement device 1 and located at one end of the outrigger assembly device 3;

[0112] Outrigger tray 8 is used to load outrigger 4;

[0113] The outrigger transfer device 9 is movably installed in the working area of ​​the assembly system and is used to transfer the outrigger tray 8 to the outrigger coupling assembly 7.

[0114] Specifically, the outrigger connection assembly 7 includes a first connection support 701 and a second connection support 702 distributed laterally at intervals. The tops of the first connection support 701 and the second connection support 702 together form a pallet connection space for connecting the outrigger tray 8. Both the first connection support 701 and the second connection support 702 are 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 connection area 703 is formed between the first connection support 701 and the second connection support 702, and the second connection area 703 is located below the pallet connection 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 connection area 703. The outrigger tray 8 is vertically and vertically mounted on the second movable chassis by the second lifting mechanism.

[0115] Before assembling the outrigger assembly, the operator places the outrigger tray 8 on the outrigger transfer device 9, and the control system controls the second mobile chassis to move the second docking area 703 to transfer the outrigger tray 8 to the tray docking space.

[0116] In one embodiment of this application, the assembly system further includes a guide assembly disposed on top of the outrigger connection assembly 7 and used for guiding the outrigger tray 8.

[0117] Specifically, the guiding assembly includes four guiding members respectively located at the four corners of the top of the outrigger docking assembly 7. Each guiding member includes two adjacent inclined plates, both of which are tilted. In this embodiment, the eight inclined plates work together to guide the outrigger tray 8 when it falls into the tray docking space. During the movement of the second mobile chassis, the second lifting mechanism is in a lifted state, and the bottom surface of the outrigger tray 8 is higher than the highest point of the guiding assembly. After the second mobile chassis has moved, the second lifting mechanism is controlled to perform a lowering operation so that the outrigger tray 8 falls into the tray docking space. During the falling process, the guiding assembly guides and positions the outrigger tray 8 so that the outrigger tray 8 is in an accurate position in the tray docking space.

[0118] In one embodiment of this application, the assembly system further includes a limiting component 10 disposed on the leg tray 8 and used to limit the position of the leg 4 on the leg tray 8.

[0119] Specifically, the limiting component 10 in this embodiment 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.

[0120] 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.

[0121] 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 also connected to various hydraulic accessories of 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 pipelines and the outrigger hydraulic pipelines are then connected together.

[0122] In one embodiment of this application, when the outrigger 4 and the base frame assembly 2 need to be assembled together, the control system is configured to perform the following steps:

[0123] Step S101: Determine that the support leg 4 and the base frame assembly 2 are in their respective preset installation states.

[0124] Before assembling the outrigger assembly, the operator first places the base frame pallet mechanism 103 on the base frame transfer device; the second positioning mechanism 106 positions the base frame assembly 2 and places it on the base frame pallet mechanism 103; then the control system 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. After the base frame transfer device completes the lowering, it sends a signal to the control system 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.

[0125] Before transferring the outrigger 4, the operator first places the outrigger tray 8 on the outrigger transfer device 9. Then, the operator can use a crane to place the outrigger 4 on the outrigger tray 8. After that, the control system controls the outrigger transfer device 9 to move to transfer the outrigger tray 8 and the outrigger 4 on it to the second docking area 703. During the above transfer process, the bottom surface of the outrigger tray 8 is higher than the highest position of the guide assembly. After the outrigger transfer device 9 completes the transfer, the control system controls the outrigger transfer device 9 to perform a lowering operation so that the outrigger tray 8 falls onto the outrigger docking assembly 7.

[0126] In this embodiment, the outrigger assembly system also includes an information reader (such as an RFID reader / writer) disposed on the first connecting frame 101 and connected to the control system. The base frame assembly 2 is provided with an information tag (such as an RFID electronic tag). The information tag stores information such as the size of the base frame assembly 2 and the size of the outrigger 4 corresponding to the base frame assembly 2. The information reader is used to read the information stored in the information tag and can send the read information to the control system. After the outrigger 4 is transferred and the control system receives the information from the information reader, the outrigger 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 outrigger 4 is clamped in the clamping area by the outrigger assembly device 3, and the central axis of the outrigger 4 coincides with the central axis of the clamping area. After the position adjustment operation is completed, the outrigger 4 faces the direction of the outrigger mounting cavity 202. The outrigger assembly device 3 sends a signal indicating that the position adjustment is complete to the control system. At this point, the outrigger 4 is in its corresponding preset installation position with its preset installation posture. In this case, the outrigger 4 is determined to be in its corresponding preset installation state. That is, after receiving the signal indicating that the base frame transfer device has completed its descent and the signal indicating that the position adjustment operation of the outrigger assembly device 3 is complete, the control system can determine that the outrigger 4 and the base frame assembly 2 are respectively in their preset installation states.

[0127] Step S102: Obtain the first coordinate data of the center of the first leg mounting cavity and the second coordinate data of the center of the second rear leg mounting hole on the base frame assembly 2.

[0128] Specifically, such as Figure 20 As shown, after the automatic assembly program of the outrigger assembly system is debugged, the control system 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 outrigger mounting cavity and the center of the second rear outrigger 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 outrigger mounting cavity and the center of the second rear outrigger mounting hole in the three-dimensional model is the theoretical central axis of the chassis assembly 2 in the width direction.

[0129] In this embodiment, after the base frame assembly 2 is transferred to the first connecting frame 101, the first rear support leg mounting hole and the second rear support leg mounting hole are both located at the end of the base frame assembly 2 away from the first mounting bracket 501. The control system 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 control system. After receiving the images of the rear outrigger mounting holes, the control system performs feature recognition (such as arc features) to identify the first and second rear outrigger mounting holes. In addition, the control system also stores the spatial position information of the first image acquisition device 502. After recognizing the images of the rear outrigger mounting holes, the control system can determine the size of the first outrigger mounting cavity, the distance between the first outrigger mounting cavity and the first image acquisition device 502, the size of the second rear outrigger mounting hole and the distance between the first outrigger mounting cavity 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 control system can obtain the first coordinate data of the center of the first outrigger mounting cavity and the second coordinate data of the center of the second rear outrigger mounting hole in the first coordinate system.

[0130] Step S103: Calculate the deflection angle of the base frame assembly 2 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.

[0131] Specifically, the control system determines the first coordinate data (x01, y01) of the center of the first outrigger mounting cavity 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.

[0132] like Figure 21 As shown, after determining the theoretical and actual centerlines of the base frame assembly 2 in the width direction, the control system further determines the two included angles between the two centerlines. The smaller of the two included angles is the deflection angle in this embodiment. The control system can determine the deflection angle based on the following formula:

[0133] b=arcsin((y01-y02) / (x01-x02)) (1)

[0134] 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.

[0135] Step S104: Determine the installation center coordinates of the mounting end face of the outrigger mounting cavity 202.

[0136] 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:

[0137] Step S201: Obtain the mounting end face image of the outrigger mounting cavity 202.

[0138] Specifically, 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. After the second image acquisition device 506 completes the image acquisition of the mounting end face of the outrigger mounting cavity 202, it sends the acquired image to the control system, so that the control system can obtain the image of the mounting end face of the outrigger mounting cavity 202.

[0139] 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.

[0140] Specifically, after obtaining the image of the installation end face, the control system 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.

[0141] Step S203: Determine the installation center coordinates of the installation end face based on the horizontal weld area and the vertical weld area.

[0142] In one embodiment of this application, the step S203, which determines the mounting center coordinates of the mounting end face based on the horizontal weld area and the vertical weld area, further includes steps S301-S303, wherein:

[0143] 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.

[0144] Specifically, such as Figure 22 As shown, in the three-dimensional model of the base frame assembly 2, the control system 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 support leg mounting cavity (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).

[0145] Furthermore, the first direction refers to the vertically downward direction. The horizontal weld seam area is distributed along the horizontal direction. After the control system 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-mentioned 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.

[0146] 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.

[0147] 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 outrigger mounting cavity (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 control system 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.

[0148] Step S303: Determine the installation center coordinates of the installation end face based on the third coordinate data and the fourth coordinate data.

[0149] 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:

[0150] Step S401: Determine the horizontal line 13 passing through the point where the third coordinate data is located based on the third coordinate data;

[0151] Step S402: Determine the vertical line 14 passing through the point where the fourth coordinate data is located based on the fourth coordinate data;

[0152] Step S403: Determine the coordinates of the intersection point of the horizontal line 13 and the vertical line 14.

[0153] Specifically, after determining the third coordinate data, the control system 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 control system can determine the equation of the vertical line 14 passing through the point where the fourth coordinate data is located; then, the control system 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.

[0154] Step S404: Determine the installation center coordinates of the support mounting cavity 202 on the mounting end face based on the intersection coordinates.

[0155] Specifically, such as Figures 22-24 As shown, after the control system calculates the coordinates of the intersection point (X2, Z2) of the horizontal line 13 at the point 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 of the intersection point (X2, Z2) of the horizontal line 13 at the point where the third coordinate data is located and the vertical line 14 passing through the point where the fourth coordinate data is located.

[0156] Furthermore, the control system can obtain the mounting center coordinates of the outrigger mounting cavity 202 on the mounting end face in the following manner:

[0157] X4=X1-(X2-X0) (2)

[0158] 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.

[0159] Z4=Z1-(Z2-Z0) (3)

[0160] 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.

[0161] That is, the coordinates of the mounting center of the outrigger mounting cavity 202 are (X1-(X2-X0), Z1-(Z2-Z0)).

[0162] 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.

[0163] 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:

[0164] 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.

[0165] In one embodiment of this application, step S401, which controls the outrigger 4 to perform a first adjustment operation based on the deflection angle b, further includes steps S501-S504, wherein:

[0166] 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.

[0167] 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 control system 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.

[0168] 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.

[0169] The control system can calculate the difference between the preset included angle α and the deflection angle b based on the following formula:

[0170] x03=ab (4)

[0171] Where x03 is the difference between the preset included angle and the deflection angle, and a is the preset included angle.

[0172] The control system can calculate the sum of the preset included angle α and the deflection angle β based on the following formula:

[0173] x04=a+b (5)

[0174] Where x04 is the sum of the preset included angle and the deflection angle.

[0175] Step S503: Control the first leg to perform the first rotation operation based on the difference;

[0176] Step S504: Control the second leg to perform the second rotation operation according to the sum value.

[0177] Specifically, after calculating the difference between the preset included angle a and the deflection angle b, the control system 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.

[0178] Similarly, after calculating the sum of the preset included angle a and the deflection angle b, the control system 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.

[0179] 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.

[0180] In one embodiment of this application, step S402, which involves controlling 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, further includes steps S601-S602, wherein:

[0181] 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 mechanism is located on the same vertical plane as the actual installation axis of the support leg installation cavity 202.

[0182] Specifically, 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.

[0183] After determining the installation center coordinates of the installation end face, the control system controls the translation mechanism 306 of the first and second support legs assembly devices to perform translation operations, so that the translation mechanism 306 drives the support leg 4 above it to translate. The translation distance of the two support legs 4 is X1-(X2-X0). After the first and second support legs are translated into place, the central axis of the first support leg and the actual installation axis of the first support leg mounting cavity are on the same vertical plane, and the central axis of the second support leg and the actual installation axis of the second support leg mounting cavity are on the same vertical plane.

[0184] 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 held on the clamping mechanism coincides with the actual installation axis of the support leg installation cavity 202.

[0185] Specifically, after determining the installation center coordinates of the installation end face, the control system controls the lifting mechanisms 307 of the first and second support legs assembly devices to perform lifting operations, so that the lifting mechanism 307 drives the support legs 4 above it to rise. The rising distance of the two support legs 4 is Z1-(Z2-Z0). After the first and second support legs have risen to their positions, the central axis of the first support leg coincides with the actual installation axis of the first support leg mounting cavity, and the central axis of the second support leg coincides with the actual installation axis of the second support leg mounting cavity.

[0186] In this embodiment, the order of execution of the parallel operation and the lifting operation can also be interchanged. If the lifting operation is executed first, after the lifting operation is completed, the central axis of the first leg and the actual installation axis of the first leg mounting cavity will be on the same horizontal plane, and the central axis of the second leg and the actual installation axis of the second leg mounting cavity will be on the same horizontal plane. After the translation operation is executed, the central axis of the first leg and the actual installation axis of the first leg mounting cavity can also be made to coincide, and the central axis of the second leg and the actual installation axis of the second leg mounting cavity can also coincide.

[0187] Step S106: Control the pushing mechanism 302 of the outrigger assembly assembly system to perform a pushing operation to insert the outrigger into the outrigger mounting cavity 202.

[0188] In one embodiment of this application, step S106, controlling the pushing mechanism 302 of the outrigger assembly assembly system to perform a pushing operation, includes:

[0189] Step S701: 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;

[0190] Step S702: 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.

[0191] Specifically, in this embodiment, both the first and second outrigger assembly devices include a pushing mechanism 302 that is communicatively connected to the control system. The pushing mechanism 302 is used to push the outrigger 4 into the outrigger mounting cavity 202. In this embodiment, the preset length is 50% of the total length of the outrigger 4. That is, the control system 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 swing cylinder 3035 of the second support unit 3032 is controlled to move to pull down the lifting beam 3036 connected to it to a vertical position in order to complete the first pushing operation.

[0192] After step S502 is completed, the control system controls the pushing mechanism to perform the first pushing operation, inserting 50% of the outrigger 4 into the outrigger mounting cavity 202 to complete the first-stage pushing. After step S601 is completed, the control system 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. The control system controls the swing cylinders 3035 of the first support unit 3031 and the third support unit 3033 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, fully inserting the outrigger 4 into the outrigger mounting cavity 202 to complete the installation of the outrigger 4 in the outrigger mounting cavity 202.

[0193] Another embodiment of this application provides an assembly device that includes the assembly system for outrigger assemblies of engineering machinery described in the above embodiments.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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 system for outrigger assemblies of engineering machinery, characterized in that, The outrigger assembly includes a base frame assembly (2) and outriggers (4). The base frame assembly (2) includes a base frame (203) and a door panel (204) welded to the base frame (203). The base frame assembly (2) has an outrigger mounting cavity (202) for mounting the outriggers (4). The assembly system includes: A base frame assembly placement device (1) is used to place the base frame assembly (2). The outrigger assembly device (3) includes a position adjustment module (301), a pushing mechanism (302), and a clamping and centering mechanism (303) disposed on one side of the base frame assembly placement device (1). The clamping and centering mechanism (303) is used to clamp the outrigger (4) and make the central axis of the outrigger (4) coincide with the central axis of the clamping space. The pushing mechanism (302) is disposed at one end of the clamping and centering mechanism (303) away from the base frame assembly placement device (1) and is used to push the outrigger (4) into the outrigger mounting cavity (202). The position adjustment module (301) is movably disposed below the clamping and centering mechanism (303) and the pushing mechanism (302) and is used to adjust the spatial position of the outrigger (4). Image acquisition device (5) is used to acquire a set of placement images of the base frame assembly (2) and to obtain an image of the mounting end face of the support leg mounting cavity (202). Based on the image of the mounting end face, the horizontal weld area and the vertical weld area at the connection position between the base frame (203) and the door panel (204) are determined. Then, the mounting center coordinates of the mounting end face are determined based on the horizontal weld area and the vertical weld area. The control system is communicatively connected to the image acquisition device (5) and the outrigger assembly device (3) and is used to control the position adjustment module (301) to perform position adjustment operations according to the placement image set, so that the central axis of the outrigger (4) coincides with the actual installation axis of the outrigger mounting cavity (202), and to 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) according to the rear outrigger mounting hole image in the placement image set, calculate the deflection angle of the base frame assembly (2) according to the first coordinate data and the second coordinate data, and rotate the outrigger (4) according to the deflection angle.

2. The assembly system for outrigger assemblies of engineering machinery according to claim 1, characterized in that, The base frame assembly placement device (1) includes: The first connecting frame (101) has a base tray placement area (102) formed on its top surface. A base frame pallet mechanism (103) is used to load the base frame assembly (2). The first positioning mechanism (104) is disposed on the first connecting frame (101) and is used to position the base frame pallet mechanism (103).

3. The assembly system for outrigger assemblies of engineering machinery according to claim 2, characterized in that, The base frame assembly placement device (1) further includes a second positioning mechanism (106) disposed on the base frame pallet mechanism (103) and used for positioning the base frame assembly (2).

4. The assembly system for outrigger assemblies of engineering machinery according to claim 2, characterized in that, The first connecting frame (101) has a first connecting area with one side connected to the outside. The assembly system also includes a base frame (203) transfer device that is movably set in the working area of ​​the assembly system and used to transfer the base frame pallet mechanism (103) to the base frame pallet placement area (102).

5. The assembly system for outrigger assemblies of engineering machinery according to claim 1, characterized in that, The position adjustment module (301) includes a rotating mechanism (305) that is mounted on the support platform (304) of the outrigger assembly device (3) and can rotate. The pushing mechanism (302) and the clamping and centering mechanism (303) are both mounted on the rotating mechanism (305).

6. The assembly system for outrigger assemblies of engineering machinery according to claim 5, characterized in that, The position adjustment module (301) further includes a translation mechanism (306) movably mounted on the support platform (304), and the rotation mechanism (305) is mounted on the translation mechanism (306).

7. The assembly system for outrigger assemblies of engineering machinery according to claim 6, characterized in that, The position adjustment module (301) further includes a lifting mechanism (307) disposed on the translation mechanism (306) and capable of vertical lifting and lowering, and the rotation mechanism (305) is disposed on the lifting mechanism (307).

8. The assembly system for outrigger assemblies of engineering machinery according to claim 1, characterized in that, The image acquisition device (5) includes: The first mounting bracket (501) is disposed at the top of the first connecting bracket (101) of the base frame assembly placement device (1); The first image acquisition device (502) is movably mounted on the first mounting bracket (501) and is used to acquire images of the rear outrigger mounting holes of the underframe assembly (2).

9. The assembly system for outrigger assemblies of engineering machinery according to claim 8, characterized in that, The image acquisition device (5) also includes: The second mounting bracket (505) is disposed at one end of the position adjustment module (301) near the first mounting bracket (501); The second image acquisition device (506) is disposed on the second mounting bracket (505) and is used to acquire the mounting end face image of the outrigger mounting cavity (202).

10. The assembly system for outrigger assemblies of engineering machinery according to claim 1, characterized in that, The assembly system also includes: The outrigger connection assembly (7) is disposed on one side of the base frame assembly placement device (1) and located at one end of the outrigger assembly device (3); Outrigger tray (8) for loading the outrigger (4); 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 coupling assembly (7).

11. The assembly system for outrigger assemblies of engineering machinery according to claim 10, characterized in that, The assembly system also includes a guide assembly disposed on top of the outrigger connector assembly (7) and used to guide the outrigger tray (8).

12. The assembly system for outrigger assemblies of engineering machinery according to claim 10, characterized in that, The assembly system also includes a limiting component (10) disposed on the leg tray (8) and used to limit the position of the leg (4) on the leg tray (8).

13. An assembly device, characterized in that, The assembly equipment includes an assembly system for outrigger assemblies of engineering machinery according to any one of claims 1-12.

Images