Flexible reconfigurable assembly unit

Abstract

The invention provides a flexible reconfigurable assembly unit, and relates to the technical field of automobile assembly processes. The unit comprises a mechanical arm storage bin, a mechanical arm replacement device, a heavy-load AGV, a mechanical arm movement fine adjustment chassis and various mechanical arms. The heavy-load AGV can carry various mechanical arms and move along with an automobile, and the mechanical arm movement fine adjustment chassis is used for compensating AGV following errors. According to the mechanical arm replacement device, automatic replacement of a mechanical arm between an AGV and a storage bin is achieved through a heavy V-shaped linear guide rail, a two-stage linkage telescopic device and a rapid rail alignment mechanism. According to the multi-mechanical-arm flexible assembling system, rapid replacement and accurate positioning of various mechanical arms can be achieved, the multi-variety and small-batch flexible assembling requirements are met, and the assembling efficiency and the system flexibility are improved.

Description

Technical Field

[0001] This invention relates to the field of automotive assembly technology, and more specifically to a flexible and reconfigurable assembly unit. Background Technology

[0002] In the automotive assembly and production sector, as the market moves towards multi-variety, small-batch customization, higher demands are being placed on the flexibility and intelligence of production lines. Traditional assembly lines typically employ fixed-installation dedicated robotic arms or workstations, resulting in a rigid process layout that makes it difficult to quickly adapt to switching between different vehicle models or assembly tasks. This leads to low equipment utilization, long production line reconfiguration cycles, and high costs.

[0003] Currently, introducing automated guided vehicles (AGVs) equipped with robotic arms for mobile assembly is one way to improve flexibility. However, several bottlenecks still exist in existing technologies: First, a single AGV can usually only carry one type or a fixed combination of robotic arms, limiting its functionality and making it difficult to cope with complex and ever-changing assembly processes; second, positioning errors are inevitable during the AGV's movement and following process, directly affecting assembly accuracy; third, the replacement of robotic arms mostly relies on manual labor or simple lifting equipment, which is cumbersome, time-consuming, and makes it difficult to guarantee repeatability and positioning accuracy, hindering rapid and automated tool switching and severely restricting production cycle time and response speed. Summary of the Invention

[0004] To address the above problems, the present invention provides the following technical solution: a flexible reconfigurable assembly unit, comprising:

[0005] Robotic arm storage bin, robotic arm changing device, heavy-duty AGV, robotic arm moving and fine-tuning chassis and various robotic arms;

[0006] The robotic arm moving and fine-tuning chassis is fixedly installed on the upper frame of the heavy-duty AGV. Multiple robotic arms can be detachably installed on the robotic arm moving and fine-tuning chassis, and the heavy-duty AGV can carry six different types of robotic arms at the same time.

[0007] The robotic arm changing device is arranged adjacent to the robotic arm storage compartment. The bottom of the robotic arm changing device is mounted on the guide rail via a heavy-duty linear guide slider, which is used to dock with the heavy-duty AGV in the parked state, so as to realize the replacement of the robotic arm between the heavy-duty AGV and the robotic arm storage compartment.

[0008] The heavy-duty AGV is used to carry the mechanical arm moving and fine-tuning chassis and various mechanical arms, and can accurately follow the movement of the car on the C-type crane. The mechanical arm moving and fine-tuning chassis is used to compensate for the following error of the heavy-duty AGV.

[0009] Preferably, the robotic arm replacement device includes a heavy-duty V-shaped linear guide rail, a clamping cylinder, a clamping cylinder plate, a two-stage linkage telescopic device, and a rapid track alignment mechanism.

[0010] The robotic arm is mounted on a slide that can move along a heavy-duty V-shaped linear guide rail. The clamping cylinder is fixedly mounted on the clamping cylinder plate, and the clamping cylinder is equipped with a clamping module for clamping the positioning post of the slide.

[0011] The two-stage linkage telescopic device consists of a clamping cylinder plate, a linkage plate, a fork fixing plate, linear guide rails, a sprocket mounting plate, a sprocket, a stepper motor, a ball screw, and a movable nut; both linear guide rails are mounted on the linkage plate and are slidably connected to the clamping cylinder plate and the fork fixing plate respectively through sliders; the fork fixing plate is fixedly connected to the base plate of the replacement device.

[0012] The sprocket is mounted on the sprocket mounting plate, the chain is fitted on the sprocket, and the upper and lower sides of the chain are respectively connected to the clamping cylinder plate and the replacement device base plate through chain accessories;

[0013] The stepper motor is connected to the ball screw drive. The moving nut is sleeved on the ball screw and fixedly connected to the linkage plate through the flange. The moving nut can drive the linkage plate to move back and forth. Under the action of chain drive, the clamping cylinder plate moves back and forth synchronously relative to the linkage plate.

[0014] Preferably, the rapid track alignment mechanism includes a positioning V-block, a guide rail cylinder, a V-shaped guide rail mounting plate, a V-shaped guide rail support, a bullseye bearing, a bearing bracket, a linear guide rail, a direction limiting plate, a V-shaped guide rail positioning plate, a conical positioning pin, and a cylinder.

[0015] Both heavy-duty V-shaped linear guides are free-floating guides and are mounted in parallel on the V-shaped guide mounting plate. The V-shaped guide support is vertically located below the V-shaped guide mounting plate and supports it.

[0016] The bullseye bearings are installed in pairs on the bearing bracket, with the upper and lower rows of bullseye bearings forming a rectangular slot. The V-shaped guide rail support plate at the bottom is embedded in the slot.

[0017] One end of the direction limiting plate is fixedly connected to the slider of the linear guide rail, and the other end is fixedly connected to the V-shaped guide rail mounting plate, which is used to restrict the heavy V-shaped linear guide rail to move only along the direction of the linear guide rail.

[0018] The V-shaped guide rail positioning plate is fixed on the V-shaped guide rail mounting plate, the cylinder is vertically mounted on the base plate of the replacement device, the conical positioning pin is fixedly connected to the output end of the cylinder, and the position of the conical positioning pin corresponds to the hole on the V-shaped guide rail positioning plate.

[0019] Preferably, the robotic arm replacement device is fixed to the replacement device base plate via a floating guide rail frame;

[0020] The replacement device base plate is also equipped with a worm gear reducer and a servo motor. The worm gear reducer is connected to the servo motor for transmission, and the output end of the worm gear reducer is provided with a drive gear, which meshes with a rack.

[0021] The replacement device base plate is slidably connected to the heavy-duty linear guide rail via a heavy-duty linear guide rail slider, and the servo motor can drive the entire robotic arm replacement device to move along the rack and the heavy-duty linear guide rail.

[0022] Preferably, the robotic arm moving fine-tuning chassis includes a zero-point positioning device, a compliant medium connector, a robotic arm controller, a robotic arm moving base, a moving fine-tuning plate, a base plate, an X-axis servo cylinder, a Y-axis servo cylinder, a connecting plate, a heavy-duty bullseye bearing, a guide optical axis, a sliding bearing, and a limit pin;

[0023] The base plate is horizontally fixed on the heavy-duty AGV, and four heavy-duty bullseye bearings are installed on the base plate in a rectangular arrangement. The movable fine-tuning plate is horizontally supported on the heavy-duty bullseye bearings.

[0024] The zero-point positioning device, the compliant medium connector, and the robotic arm controller are all installed on the robotic arm moving base. The robotic arm moving base is equipped with four pairs of V-shaped rollers, which are connected to the V-shaped guide rails on the moving fine-tuning plate through the V-shaped rollers.

[0025] The X-axis servo cylinder and the Y-axis servo cylinder are respectively fixedly connected to both sides of the movable fine-tuning plate through a connecting plate. The guide optical axis is set parallel to the X-axis servo cylinder and the Y-axis servo cylinder. The sliding bearing is sleeved on the guide optical axis and fixedly connected to the movable fine-tuning plate.

[0026] The movable fine-tuning plate has two slots, which are used to accommodate the X-axis servo electric cylinder and the Y-axis servo electric cylinder, respectively. The limit pins are installed on the base plate and located around the movable fine-tuning plate.

[0027] Preferably, the heavy-duty AGV includes a two-layer square tube welded frame, a steering wheel mounting plate, a large steering wheel, corner plates, a replaceable battery, a wireless power supply module, an induction plate, and omnidirectional wheels;

[0028] The steering wheel mounting plate is welded to the bottom of the lower square tube frame, and the large steering wheel is mounted on the steering wheel mounting plate.

[0029] Multiple corner plates are evenly welded to the upper surface of the upper square tube frame. Threaded holes are drilled on the corner plates for fixed connection with the base plate of the robotic arm's moving and fine-tuning chassis.

[0030] The replaceable battery is placed horizontally between two layers of square tube welded frame, and the wireless power supply module and the sensor board are installed on the lower square tube frame.

[0031] Four casters are installed at the four corners of the lower square tube frame to support the heavy-duty AGV.

[0032] Preferably, the guide rail cylinder is horizontally mounted on the base plate of the replacement device, the positioning V-block is fixedly connected to the output end of the guide rail cylinder, and the positioning V-block corresponds to the position of the positioning cylinder on the bottom plate of the robotic arm.

[0033] Preferably, the compliant medium connector is electrically connected to the control center of the heavy-duty AGV, the robotic arm controller is electrically connected to the robotic arm, and the compliant medium connector is electrically connected to the robotic arm controller and the replaceable battery, respectively.

[0034] Preferably, the replaceable battery is electrically connected to the wireless power supply module, and the replaceable battery is electrically connected to the large steering wheel, the robotic arm, and each power-consuming mechanism.

[0035] Preferably, the two heavy-duty V-shaped linear guides are arranged in parallel, and the extension direction of the heavy-duty V-shaped linear guides is consistent with the replacement direction of the robotic arm.

[0036] The application employs the above technical solution and has at least the following beneficial effects:

[0037] This flexible reconfigurable assembly unit has a reasonable structure, a high degree of automation, and is easy to operate. It can quickly change and accurately position various robotic arms, adapt to the flexible assembly needs of multiple varieties and small batches, significantly improve assembly efficiency and system flexibility, reduce manual intervention, and is suitable for modern intelligent assembly production lines.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure provided in an embodiment of the present invention;

[0041] Figure 2 This is a top view provided in an embodiment of the present invention;

[0042] Figure 3 This is an overall structural diagram of the robotic arm replacement device provided in an embodiment of the present invention;

[0043] Figure 4This is a top view of the robotic arm changing device provided in an embodiment of the present invention;

[0044] Figure 5 This is provided by the embodiments of the present invention. Figure 3 A magnified view of a section at point A in the middle;

[0045] Figure 6 This is provided by the embodiments of the present invention. Figure 3 A magnified view of a section at point B in the middle;

[0046] Figure 7 This is a front view of the robotic arm changing device provided in an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the structure of the robotic arm moving fine-tuning chassis provided in an embodiment of the present invention;

[0048] Figure 9 This is a diagram of the core structure of the robotic arm moving fine-tuning chassis mechanism provided in this embodiment of the invention, which realizes moving fine-tuning.

[0049] Figure 10 This is a side view of the core structure for realizing movement fine-tuning in the robotic arm movement fine-tuning chassis mechanism provided in this embodiment of the invention;

[0050] Figure 11 This is an overall structural diagram of the heavy-duty AGV provided in the embodiments of the present invention;

[0051] Figure 12 This is a side view of the heavy-duty AGV provided in an embodiment of the present invention.

[0052] In the diagram: 1. Robotic arm storage bin; 2. Robotic arm changing device; 3. Heavy-duty AGV; 4. Robotic arm movement and fine-tuning chassis; 5. Various robotic arms used in automotive painting processes; 6. Positioning V-block; 7. Guide rail cylinder; 8. Heavy-duty V-shaped linear guide; 9. Clamping cylinder; 10. Clamping cylinder plate; 11. Load-bearing plate; 12. Cam follower support; 13. Linkage plate; 14. Fork fixing plate; 15. Linear guide; 16. Sprocket mounting plate; 17. Sprocket; 18. Stepper motor; 19. Heavy-duty linear guide; 20. Floating guide base frame; 21. Rack; 22. Worm gear reducer; 23. Servo motor; 24. Ball screw; 25. Moving nut; 26. Fixing plate; 27. Cylinder; 28. Conical positioning pin; 29. ​​V-shaped guide rail positioning plate; 30. V 31. Linear guide rail; 32. Direction limiting plate; 33. V-shaped guide rail mounting plate; 34. V-shaped guide rail support; 35. Bullseye bearing; 36. Bearing bracket; 37. Replacement device base plate; 38. Heavy-duty linear guide rail slider; 39. Zero-point positioning device; 40. Compliant medium connector; 41. Robotic arm controller; 42. Robotic arm moving base; 43. Moving fine-tuning plate; 44. Base plate; 45. V-shaped guide rail; 46. Y-axis servo cylinder; 47. X-axis servo cylinder; 48. Connecting plate; 49. Guide optical axis; 50. Sliding bearing; 51. Heavy-duty bullseye bearing; 52. Limit pin; 53. Steering wheel mounting plate; 54. Wireless power supply module; 55. Induction plate; 56. Replaceable battery; 57. Corner plate; 58. Universal wheel; 59. Steering wheel. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0054] This embodiment relates to a flexible and reconfigurable assembly unit, primarily used in automotive assembly lines. This unit can quickly replace different types of robotic arms according to varying assembly process requirements, achieving flexible and intelligent assembly operations. The unit utilizes a heavy-duty AGV to carry multiple robotic arms, along with a robotic arm changing device and a mobile fine-tuning chassis, enabling rapid arm replacement and precise positioning, thereby improving assembly efficiency and flexibility.

[0055] like Figure 1 The flexible reconfigurable assembly unit shown includes:

[0056] 1. Robotic arm storage compartment; 2. Robotic arm replacement device; 3. Heavy-duty AGV; 4. Robotic arm moving and fine-tuning chassis; and 5. Various types of robotic arms.

[0057] The robotic arm moving and fine-tuning chassis 4 is fixedly installed on the upper frame of the heavy-duty AGV3. Multiple robotic arms 5 can be detachably installed on the robotic arm moving and fine-tuning chassis 4 through the zero-point positioning device 39, and the heavy-duty AGV3 can carry six different types of robotic arms 5 at the same time.

[0058] like Figure 1-12 As shown, the robotic arm changing device 2 is arranged adjacent to the robotic arm storage compartment 1. The bottom of the robotic arm changing device 2 is mounted on the heavy-duty linear guide rail 19 through the heavy-duty linear guide rail slider 38, which is used to dock with the heavy-duty AGV3 in the docked state, so as to realize the rapid replacement of the robotic arm 5 between the heavy-duty AGV3 and the robotic arm storage compartment 1.

[0059] The heavy-duty AGV3 is used to carry the robotic arm moving and fine-tuning chassis 4 and various robotic arms 5. It can accurately follow the movement of the car on the C-type crane along a preset path. The robotic arm moving and fine-tuning chassis 4 is used to compensate for the following error of the heavy-duty AGV3 during the assembly process and realize the fine-tuning positioning of the robotic arm.

[0060] The robotic arm storage compartment 1 is used to store various types of robotic arms 5. When not in use, the robotic arms 5 are placed in the storage compartment for easy management and replacement. The robotic arm storage compartment 1 can be configured as a multi-layer or compartmentalized structure, with each compartment corresponding to a type of robotic arm and marked for easy identification and retrieval.

[0061] The robotic arm changing device 2 is one of the core components of this assembly unit, used to automate the replacement of the robotic arm 5 between the heavy-duty AGV3 and the robotic arm storage bin 1. The robotic arm changing device 2 includes a heavy-duty V-shaped linear guide rail 8, a clamping cylinder 9, a clamping cylinder plate 10, a two-stage linkage telescopic device, and a rapid track alignment mechanism.

[0062] The robotic arm 5 is mounted on a slide that can move along a heavy-duty V-shaped linear guide rail 8, and a positioning post is provided at the bottom of the slide. The clamping cylinder 9 is fixedly mounted on the clamping cylinder plate 10, and the clamping cylinder 9 is provided with a clamping module for clamping the positioning post of the slide, thereby realizing the fixing and release of the robotic arm.

[0063] The two-stage linkage telescopic device consists of a clamping cylinder plate 10, a linkage plate 13, a fork fixing plate 14, linear guide rails 15, a sprocket mounting plate 16, a sprocket 17, a stepper motor 18, a ball screw 24, and a movable nut 25. Both linear guide rails 15 are mounted on the linkage plate 13 and are slidably connected to the clamping cylinder plate 10 and the fork fixing plate 14 respectively via sliders. The fork fixing plate 14 is fixedly connected to the replacement device base plate 37.

[0064] A sprocket 17 is mounted on a sprocket mounting plate 16, and a chain is fitted onto the sprocket 17. The upper and lower sides of the chain are connected to the clamping cylinder plate 10 and the replacement device base plate 37 respectively via chain accessories. A stepper motor 18 is driven by a ball screw 24, and a movable nut 25 is fitted onto the ball screw 24 and fixedly connected to the linkage plate 13 via a flange. When the stepper motor 18 drives the ball screw 24 to rotate, the movable nut 25 drives the linkage plate 13 to move back and forth. Simultaneously, under the action of the chain drive, the clamping cylinder plate 10 moves synchronously back and forth relative to the linkage plate 13, achieving two-stage linkage extension and retraction, ensuring smooth movement of the robotic arm during the replacement process.

[0065] A rapid track alignment mechanism is used to quickly align the heavy-duty V-shaped linear guide 8 with the V-shaped guide 45 on the robotic arm's moving fine-tuning chassis 4 during replacement. This mechanism includes a positioning V-block 6, a guide cylinder 7, a V-shaped guide mounting plate 33, a V-shaped guide support 34, a bullseye bearing 35, a bearing bracket 36, a linear guide 31, a direction limiting plate 32, a V-shaped guide positioning plate 29, a tapered positioning pin 28, and a cylinder 27.

[0066] Both heavy-duty V-shaped linear guides 8 are free-floating guides and are installed parallel to each other on the V-shaped guide mounting plate 33. The V-shaped guide support 34 is vertically positioned below the V-shaped guide mounting plate 33 and supports it. Bullseye bearings 35 are installed in pairs on the bearing bracket 36. The upper and lower rows of bullseye bearings 35 form a rectangular slot. The V-shaped guide support plate 30 at the bottom of the V-shaped guide support 34 is embedded in the slot, allowing the V-shaped guide mounting plate 33 to float slightly in the horizontal plane for easy alignment.

[0067] One end of the directional limiting plate 32 is fixedly connected to the slider of the linear guide rail 31, and the other end is fixedly connected to the V-shaped guide rail mounting plate 33. This restricts the heavy-duty V-shaped linear guide rail 8 to move only along the direction of the linear guide rail 31, ensuring directional stability during alignment. The V-shaped guide rail positioning plate 29 is fixed on the V-shaped guide rail mounting plate 33. The cylinder 27 is vertically mounted on the replacement device base plate 37. The conical positioning pin 28 is fixedly connected to the output end of the cylinder 27, and the position of the conical positioning pin 28 corresponds to the hole on the V-shaped guide rail positioning plate 29. When alignment is required, the cylinder 27 pushes the conical positioning pin 28 into the hole of the V-shaped guide rail positioning plate 29 to achieve precise positioning.

[0068] The robotic arm changing device 2 is fixed to the changing device base plate 37 via a floating guide rail frame 20. A worm gear reducer 22 and a servo motor 23 are also mounted on the changing device base plate 37. The worm gear reducer 22 is connected to the servo motor 23, and the output end of the worm gear reducer 22 is equipped with a drive gear that meshes with a rack 21. The changing device base plate 37 is slidably connected to a heavy-duty linear guide rail 19 via a heavy-duty linear guide rail slider 38. The servo motor 23 can drive the entire robotic arm changing device 2 to move along the rack 21 and the heavy-duty linear guide rail 19, achieving docking with the heavy-duty AGV 3.

[0069] The robotic arm moving fine-tuning chassis 4 is used to support the robotic arm 5 and to perform fine-tuning during assembly to compensate for the following error of the heavy-duty AGV 3. The robotic arm moving fine-tuning chassis 4 includes a zero-point positioning device 39, a compliant medium connector 40, a robotic arm controller 41, a robotic arm moving base 42, a moving fine-tuning plate 43, a base plate 44, an X-axis servo electric cylinder 47, a Y-axis servo electric cylinder 46, a connecting plate 48, a heavy-duty bullseye bearing 51, a guide optical axis 49, a sliding bearing 50, and a limit pin 52.

[0070] The base plate 44 is horizontally fixed on the heavy-duty AGV3. Four heavy-duty bullseye bearings 51 are rectangularly distributed and installed on the base plate 44. The movable fine-tuning plate 43 is horizontally supported on the heavy-duty bullseye bearings 51 and can make small movements in the horizontal plane.

[0071] The zero-point positioning device 39, the compliant medium connector 40, and the robotic arm controller 41 are all mounted on the robotic arm moving base 42. The robotic arm moving base 42 is equipped with four pairs of V-shaped rollers, which are connected to the V-shaped guide rails 45 on the moving fine-tuning plate 43 through rolling, so as to realize the smooth movement of the robotic arm during the fine-tuning process.

[0072] The X-axis servo cylinder 47 and the Y-axis servo cylinder 46 are fixedly connected to both sides of the movable fine-tuning plate 43 via connecting plates 48, respectively, for driving the movable fine-tuning plate 43 to make fine adjustments in the X and Y directions. The guide optical axis 49 is set parallel to the X-axis servo cylinder 47 and the Y-axis servo cylinder 46, and the sliding bearing 50 is sleeved on the guide optical axis 49 and fixedly connected to the movable fine-tuning plate 43, serving as a guide and support.

[0073] The movable fine-tuning plate 43 has two slots, which are used to accommodate the X-axis servo cylinder 47 and the Y-axis servo cylinder 46, respectively. The limit pins 52 are installed on the base plate 44 and located around the movable fine-tuning plate 43 to limit the movement range of the movable fine-tuning plate 43 and prevent overtravel.

[0074] The heavy-duty AGV3 is used to carry the moving and fine-tuning chassis 4 of the robotic arm 5 and move on the assembly line. The heavy-duty AGV3 includes a two-layer square tube welded frame, a steering wheel mounting plate 53, a large steering wheel 59, corner plates 57, a replaceable battery 56, a wireless power supply module 54, a sensor plate 55, and omnidirectional wheels 58.

[0075] The steering wheel mounting plate 53 is welded to the bottom of the lower square tube frame, and the large steering wheel 59 is mounted on the steering wheel mounting plate 53 to realize the driving and steering of the heavy-duty AGV3. Multiple corner plates 57 are evenly welded to the upper surface of the upper square tube frame. The corner plates 57 are drilled with threaded holes for fixed connection with the base plate 44 of the robotic arm moving fine-tuning chassis 4.

[0076] A replaceable battery 56 is horizontally placed between two layers of welded square tube frames to provide power to the entire system. The wireless power supply module 54, in conjunction with the induction plate 55, is installed on the lower square tube frame, enabling wireless charging in specific areas and extending operating time.

[0077] Four casters 58 are installed at the four corners of the lower square tube frame to support the heavy-duty AGV3 and provide stable support when stationary.

[0078] The compliant media connector 40 is electrically connected to the control center of the heavy-duty AGV3, and the robotic arm controller 41 is electrically connected to the robotic arm 5. The compliant media connector 40 is also electrically connected to the robotic arm controller 41 and the replaceable battery 56, enabling power and signal transmission. The replaceable battery 56 is electrically connected to the wireless power supply module 54, and is also electrically connected to the large steering wheel 59, the robotic arm 5, and various electrical components, providing power to the system.

[0079] The working principle of this embodiment is as follows:

[0080] When a robotic arm needs to be replaced, the heavy-duty AGV3 carries the robotic arm moving and fine-tuning chassis 4 and the current robotic arm to the robotic arm replacement device 2 and stops. The robotic arm replacement device 2 moves along the heavy-duty linear guide rail 19 to the docking position, and the rapid track alignment mechanism is activated. Through the cooperation of the conical positioning pin 28 and the V-shaped guide rail positioning plate 29, the heavy-duty V-shaped linear guide rail 8 and the V-shaped guide rail 45 on the robotic arm moving and fine-tuning chassis 4 are precisely aligned.

[0081] After alignment, the clamping cylinder 9 releases the current robotic arm's slide positioning post, the two-stage linkage telescopic device is activated, the stepper motor 18 drives the ball screw 24 to rotate, causing the clamping cylinder plate 10 to move forward, removing the robotic arm from the moving fine-tuning chassis 4 and moving it along the heavy-duty V-shaped linear guide rail 8 to the corresponding position in the robotic arm storage compartment 1 for storage.

[0082] Subsequently, the robotic arm replacement device 2 retrieves the required robotic arm from the storage compartment according to the instructions, moves it along the heavy-duty V-shaped linear guide rail 8 to the top of the heavy-duty AGV3, and installs the robotic arm onto the robotic arm moving fine-tuning chassis 4 through the two-stage linkage telescopic device. The clamping cylinder 9 clamps the positioning column, completing the robotic arm replacement.

[0083] After the replacement is completed, the heavy-duty AGV3 carries the new robotic arm to the assembly station and follows the truck on the C-type crane. During the assembly process, the robotic arm movement fine-tuning chassis 4, based on sensor feedback, uses the X-axis servo cylinder 47 and Y-axis servo cylinder 46 to fine-tune the robotic arm, compensating for AGV following errors and ensuring assembly accuracy.

[0084] Due to the adoption of the above technical solutions, the flexible reconfigurable assembly unit has a reasonable structure, a high degree of automation, and convenient operation. It can realize the rapid replacement and precise positioning of various robotic arms, adapt to the flexible assembly needs of multiple varieties and small batches, significantly improve assembly efficiency and system flexibility, reduce manual intervention, and is suitable for modern intelligent assembly production lines.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible reconfigurable assembly unit, characterized in that, include: Robotic arm storage compartment (1), robotic arm replacement device (2), heavy-duty AGV (3), robotic arm moving and fine-tuning chassis (4), and various robotic arms (5). The robotic arm moving fine-tuning chassis (4) is fixedly installed on the upper frame of the heavy-duty AGV (3). Various robotic arms (5) can be detachably installed on the robotic arm moving fine-tuning chassis (4), and the heavy-duty AGV (3) can carry six different types of robotic arms (5) at the same time. The robotic arm replacement device (2) is arranged adjacent to the robotic arm storage compartment (1). The bottom of the robotic arm replacement device (2) is mounted on the guide rail via a heavy-duty linear guide slider (38) for docking with the heavy-duty AGV (3) in a parked state, thereby enabling the replacement of the robotic arm (5) between the heavy-duty AGV (3) and the robotic arm storage compartment (1). The heavy-duty AGV (3) is used to carry the mechanical arm moving fine-tuning chassis (4) and various mechanical arms (5), and can accurately follow the movement of the car on the C-type crane. The mechanical arm moving fine-tuning chassis (4) is used to compensate for the following error of the heavy-duty AGV (3).

2. The flexible reconfigurable assembly unit according to claim 1, characterized in that, include: The robotic arm replacement device (2) includes a heavy-duty V-shaped linear guide rail (8), a clamping cylinder (9), a clamping cylinder plate (10), a two-stage linkage telescopic device, and a rapid track alignment mechanism. The robotic arm (5) is mounted on a slide that can move along a heavy-duty V-shaped linear guide rail (8), and a clamping cylinder (9) is fixedly mounted on a clamping cylinder plate (10). The clamping cylinder (9) is provided with a clamping module for clamping the positioning post of the slide. The two-stage linkage telescopic device consists of a clamping cylinder plate (10), a linkage plate (13), a fork fixing plate (14), a linear guide rail (15), a sprocket mounting plate (16), a sprocket (17), a stepper motor (18), a ball screw (24), and a moving nut (25); both linear guide rails (15) are mounted on the linkage plate (13) and are slidably connected to the clamping cylinder plate (10) and the fork fixing plate (14) respectively through sliders; the fork fixing plate (14) is fixedly connected to the base plate (37) of the replacement device. The sprocket (17) is mounted on the sprocket mounting plate (16), the chain is fitted on the sprocket (17), and the upper and lower sides of the chain are connected to the clamping cylinder plate (10) and the replacement device base plate (37) respectively through chain accessories; The stepper motor (18) is connected to the ball screw (24) for transmission. The moving nut (25) is sleeved on the ball screw (24) and fixedly connected to the linkage plate (13) through the flange. The moving nut (25) can drive the linkage plate (13) to move back and forth. Under the action of chain transmission, the clamping cylinder plate (10) moves back and forth synchronously with respect to the linkage plate (13). Two heavy-duty V-shaped linear guides (8) are arranged in parallel, and the extension direction of the heavy-duty V-shaped linear guides (8) is consistent with the replacement direction of the robotic arm (5).

3. The flexible reconfigurable assembly unit according to claim 2, characterized in that, include: The rapid track alignment mechanism includes a positioning V-block (6), a guide rail cylinder (7), a V-shaped guide rail mounting plate (33), a V-shaped guide rail support (34), a bullseye bearing (35), a bearing bracket (36), a linear guide rail (31), a direction limiting plate (32), a V-shaped guide rail positioning plate (29), a conical positioning pin (28), and a cylinder (27). Both heavy-duty V-shaped linear guides (8) are free-floating guides and are installed in parallel on the V-shaped guide mounting plate (33). The V-shaped guide support (34) is vertically located below the V-shaped guide mounting plate (33) and supports it. The bullseye bearings (35) are installed in pairs on the bearing bracket (36). The upper and lower rows of bullseye bearings (35) form a rectangular slot, and the V-shaped guide rail bearing plate (30) at the bottom of the V-shaped guide rail support (34) is embedded in the slot. One end of the direction limiting plate (32) is fixedly connected to the slider of the linear guide rail (31), and the other end is fixedly connected to the V-shaped guide rail mounting plate (33), which is used to restrict the heavy V-shaped linear guide rail (8) from moving only along the direction of the linear guide rail (31); The V-shaped guide rail positioning plate (29) is fixed on the V-shaped guide rail mounting plate (33), the cylinder (27) is vertically mounted on the replacement device base plate (37), the conical positioning pin (28) is fixedly connected to the output end of the cylinder (27), and the conical positioning pin (28) corresponds to the hole position on the V-shaped guide rail positioning plate (29).

4. The flexible reconfigurable assembly unit according to claim 2, characterized in that, include: The robotic arm replacement device (2) is fixed on the replacement device base plate (37) by a floating guide rail base frame (20); The replacement device base plate (37) is also equipped with a worm gear reducer (22) and a servo motor (23). The worm gear reducer (22) is connected to the servo motor (23) in a transmission connection. The output end of the worm gear reducer (22) is provided with a drive gear, which meshes with the rack (21). The replacement device base plate (37) is slidably connected to the heavy-duty linear guide rail (19) via the heavy-duty linear guide rail slider (38), and the servo motor (23) can drive the entire robotic arm replacement device (2) to move along the rack (21) and the heavy-duty linear guide rail (19).

5. The flexible reconfigurable assembly unit according to claim 1, characterized in that, include: The robotic arm moving fine-tuning chassis (4) includes a zero-point positioning device (39), a compliant medium connector (40), a robotic arm controller (41), a robotic arm moving base (42), a moving fine-tuning plate (43), a base plate (44), an X-axis servo cylinder (47), a Y-axis servo cylinder (46), a connecting plate (48), a heavy-duty bullseye bearing (51), a guide optical axis (49), a sliding bearing (50), and a limit pin (52). The base plate (44) is horizontally fixed on the heavy-duty AGV (3), and four heavy-duty bullseye bearings (51) are rectangularly distributed and installed on the base plate (44). The movable fine-tuning plate (43) is horizontally supported on the heavy-duty bullseye bearings (51). The zero-point positioning device (39), the compliant medium connector (40), and the robotic arm controller (41) are all installed on the robotic arm moving base (42). The robotic arm moving base (42) is provided with four pairs of V-shaped rollers, and is connected to the V-shaped guide rail (45) on the moving fine adjustment plate (43) by rolling through the V-shaped rollers. The X-axis servo cylinder (47) and the Y-axis servo cylinder (46) are respectively fixedly connected to both sides of the movable fine-tuning plate (43) through the connecting plate (48). The guide optical axis (49) is set parallel to the X-axis servo cylinder (47) and the Y-axis servo cylinder (46). The sliding bearing (50) is sleeved on the guide optical axis (49) and fixedly connected to the movable fine-tuning plate (43). The movable fine-tuning plate (43) has two slots for accommodating the X-axis servo cylinder (47) and the Y-axis servo cylinder (46), respectively. The limiting pins (52) are installed on the base plate (44) and located around the movable fine-tuning plate (43).

6. The flexible reconfigurable assembly unit according to claim 1, characterized in that, include: The heavy-duty AGV (3) includes a two-layer square tube welded frame, a steering wheel mounting plate (53), a large steering wheel (59), a corner plate (57), a replaceable battery (56), a wireless power supply module (54), an induction plate (55), and a caster wheel (58). The steering wheel mounting plate (53) is welded to the bottom of the lower square tube frame, and the large steering wheel (59) is mounted on the steering wheel mounting plate (53); Multiple corner plates (57) are evenly welded to the upper surface of the upper square tube frame. The corner plates (57) are drilled with threaded holes for fixed connection with the base plate (44) of the mechanical arm moving fine-tuning chassis (4). The replaceable battery (56) is placed horizontally between two layers of square tube welded frames, and the wireless power supply module (54) and the sensor plate (55) are installed on the lower square tube frame. Four casters (58) are installed at the four corners of the lower square tube frame to support the heavy-duty AGV (3).

7. A flexible reconfigurable assembly unit according to claim 3, characterized in that, include: The guide rail cylinder (7) is horizontally mounted on the base plate (37) of the replacement device. The positioning V-block (6) is fixedly connected to the output end of the guide rail cylinder (7), and the positioning V-block (6) corresponds to the position of the positioning cylinder on the bottom plate of the robotic arm.

8. A flexible reconfigurable assembly unit according to claim 5, characterized in that, include: The compliant medium connector (40) is electrically connected to the control center of the heavy-duty AGV (3), the robotic arm controller (41) is electrically connected to the robotic arm (5), and the compliant medium connector (40) is electrically connected to the robotic arm controller (41) and the replaceable battery (56) respectively.

9. A flexible reconfigurable assembly unit according to claim 6, characterized in that, include: The replaceable battery (56) is electrically connected to the wireless power supply module (54), and the replaceable battery (56) is electrically connected to the large steering wheel (59), the robotic arm (5) and each power-consuming mechanism respectively.

10. A method for a flexible reconfigurable assembly unit as described in any one of claims 1-9, characterized in that, The steps of the method include: According to the assembly requirements, select the target robotic arm (5) from a variety of robotic arms (5); Control the robotic arm changing device (2) to move to the docking position with the heavy-duty AGV (3), and use the fast track alignment mechanism to make the heavy-duty V-shaped linear guide (8) precisely aligned with the V-shaped guide (45) on the robotic arm moving fine-tuning chassis (4); Control the robotic arm replacement device (2) to take out the robotic arm (5) from the robotic arm storage compartment (1) and install it onto the robotic arm movement fine-tuning chassis (4) on the heavy-duty AGV (3); Control the heavy-duty AGV (3) to move to the assembly station with the robotic arm (5) and follow the car on the C-type crane; During the assembly process, the mechanical arm (5) is finely adjusted in the X and Y directions by moving the micro-adjustment chassis (4) to compensate for the following error of the heavy-duty AGV (3); Control the robotic arm (5) to perform the assembly operation on the car; When the current assembly task is completed or the robotic arm (5) needs to be replaced, the robotic arm replacement device (2) is controlled to remove the current robotic arm (5) from the heavy-duty AGV (3) and put it back into the robotic arm storage bin (1), and the above steps are repeated to replace it with the next robotic arm (5).

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