Assembling equipment for bolt-sphere net rack structure

Abstract

This invention relates to the field of marine photovoltaic technology and proposes an assembly equipment for a bolt ball grid structure. The equipment includes an assembly component, a handling component, and a fixing component. The assembly component includes a positioning seat and a clamping device. The positioning seat positions the bolt balls, and the clamping device fixes the bolt balls to the positioning seat. The handling component includes a first robotic arm, a bolt ball gripper, and a rod gripper. The bolt ball gripper grips the bolt balls, and the rod gripper grips the rods. The bolt ball gripper and the rod gripper are detachably connected to the first robotic arm. The first robotic arm drives the bolt ball gripper to transport the bolt balls to the positioning seat and drives the rod gripper to transport the rods to the connection position. The fixing component includes a connected second robotic arm and a tightening device. The second robotic arm drives the tightening device to rotate the rods to thread them onto the bolt balls. This equipment not only reduces manual labor intensity but also improves assembly accuracy and efficiency.

Description

Technical Field

[0001] This invention relates to the field of marine photovoltaic technology, specifically to an assembly device for a bolted ball grid structure. Background Technology

[0002] In existing technologies, the assembly of bolted ball space frame structures often involves manually tightening bolts and rods with wrenches. This method not only suffers from high labor intensity but also from low precision and low efficiency.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] This disclosure provides an assembly device for a bolt ball space frame structure. The assembly device includes: an assembly assembly, which includes a positioning seat and a clamping device. The positioning seat is used to position the bolt ball, and the clamping device is used to fix the bolt ball on the positioning seat; a transport assembly, which includes a first robotic arm, a bolt ball gripper, and a rod gripper. The bolt ball gripper is used to grip the bolt ball, and the rod gripper is used to grip a rod. The bolt ball gripper and the rod gripper are detachably connected to the first robotic arm. The first robotic arm is used to drive the bolt ball gripper to transport the bolt ball to the positioning seat and to drive the rod gripper to transport the rod to the connection position; and a fixing assembly, which includes a second robotic arm and a tightening device. The second robotic arm is connected to the tightening device and is used to drive the tightening device to rotate the rod to thread the rod to the bolt ball.

[0005] In one exemplary embodiment of this disclosure, the first robotic arm includes: First base; The first arm body, the first end of the first arm body is rotatably connected to the first base in the horizontal direction; The second arm has a first end that is rotatably connected to the second end of the first arm. The third arm has a first end that is rotatably connected to the second end of the second arm; The fourth arm has a first end that is rotatably connected to the second end of the third arm, wherein the rotation axes of the second arm, the third arm, and the fourth arm are parallel to each other and are all parallel to the horizontal direction. The first connecting part has a first end that is rotatably connected to the second end of the fourth arm body along a plane perpendicular to the extension direction of the fourth arm body, and the bolt ball gripper and the rod gripper are detachably connected to the second end of the first connecting part.

[0006] In one exemplary embodiment of this disclosure, the second robotic arm includes: Second base; The fifth arm, the first end of which is rotatably connected to the second base in a horizontal direction; The sixth arm, the first end of which is rotatably connected to the second end of the fifth arm; The seventh arm has a first end that is rotatably connected to the second end of the sixth arm; The eighth arm has a first end that is rotatably connected to the second end of the seventh arm. The rotation axes of the sixth, seventh, and eighth arms are parallel to each other and are all parallel to the horizontal direction. The second connecting part has its first end rotatably connected to the second end of the eighth arm body along a plane perpendicular to the extension direction of the eighth arm body, and its second end is connected to the tightening device.

[0007] In one exemplary embodiment of this disclosure, the fixing component further includes: A first movable chassis is located on a bearing ground. The first movable chassis includes a top surface facing away from the bearing ground and a side surface connected to the top surface. A fixed bracket, comprising a first bracket, a second bracket, a third bracket, and a support member; The first bracket is fixed to the top surface of the first movable chassis, the second bracket is located on the side of the first movable chassis and is spaced apart from the bearing ground, the second bracket is used to support the second robotic arm, and the third bracket is connected between the first bracket and the second bracket. The support includes a support part and a screw connected to each other. The first end of the screw is fixed to the support part, and the second end is threaded to the side of the second bracket facing the bearing ground. The extension direction of the screw is vertical.

[0008] In one exemplary embodiment of this disclosure, the assembly component further includes one or more lifting mechanisms; The lifting mechanism includes a placement platform and a lifting device. The placement platform is used to support the rods, and the lifting device is used to drive the placement platform to move up and down in the vertical direction.

[0009] In one exemplary embodiment of this disclosure, the assembly equipment for the bolted ball grid structure further includes: A first vision camera is mounted on the first robotic arm and is used to acquire first image information. A second vision camera is mounted on the second robotic arm and is used to acquire second image information. The first control cabinet is connected to the first vision camera, the second vision camera, and the first robotic arm. The first control cabinet is used to control the movement of the first robotic arm according to the first image information and the second image information. The second control cabinet is connected to the first vision camera, the second vision camera, and the second robotic arm. The second control cabinet is used to control the movement of the second robotic arm based on the first image information and the second image information.

[0010] In one exemplary embodiment of this disclosure, the assembly equipment for the bolted ball grid structure further includes: A quick-change bracket, comprising legs and a bracket body, wherein the legs are used to support the bracket body; The main body of the bracket includes a first support part, a plurality of first positioning pins, a second support part, and a plurality of second positioning pins. The first positioning pins are located on the side of the first support part away from the support leg, and the second positioning pins are located on the side of the second support part away from the support leg. The first support portion and the second support portion are arranged opposite each other in the horizontal direction. A first notch is formed on the first support portion and a second notch is formed on the second support portion. The size of the first notch gradually decreases from its opening position to its bottom position, and the size of the second notch gradually decreases from its opening position to its bottom position. The bolt ball gripper has a plurality of first positioning holes, at least a portion of the bolt ball gripper can be accommodated in the first notch, the first positioning pin and the first positioning hole are respectively provided in a one-to-one correspondence, and the first positioning pin can be matched and set in the first positioning hole corresponding to it. The lever gripper has a second positioning hole, at least a portion of which can be accommodated within the second notch. The second positioning pin and the second positioning hole are provided in a one-to-one correspondence, and the second positioning pin can be matched and disposed within its corresponding second positioning hole.

[0011] In one exemplary embodiment of this disclosure, the bolt ball gripper includes: The magnetic suction part includes an adsorption surface and a fixing surface arranged opposite to each other, wherein the adsorption surface is used to adsorb the bolt ball; A limiting plate having multiple limiting holes formed thereon; Multiple limiting rods are provided corresponding to the limiting holes. The first end of each limiting rod is fixed to the fixing surface, and the limiting rod is slidably connected to the corresponding limiting hole. Multiple fixing parts are provided corresponding to the limiting rod. The fixing parts are located on the side of the limiting plate away from the limiting rod, and the fixing parts are fixedly connected to the second end of the limiting rod corresponding to them. The area of ​​the orthographic projection of the fixing parts on the limiting plate is larger than the area of ​​the opening of the limiting hole. A spring is provided corresponding to the limiting rod, the limiting rod is located inside the spring corresponding to it, and the spring abuts between the magnetic part and the limiting plate.

[0012] In one exemplary embodiment of this disclosure, the bolt ball gripper further includes: The third connecting part is connected to the side of the limiting plate away from the limiting rod. The third connecting part includes a connecting section and a connecting head. The connecting section is connected between the limiting plate and the connecting head. The cross-sectional area of ​​the connecting segment perpendicular to its axis is smaller than the cross-sectional area of ​​the connecting head perpendicular to its axis, and the connecting segment can be accommodated within the first notch. The connector includes a connecting body and at least two lugs. The connecting body is used for detachable connection with the first robotic arm. The at least two lugs are fixed to both sides of the connecting body in an axial direction perpendicular to the connecting body. The first positioning hole is located on the lugs.

[0013] In one exemplary embodiment of this disclosure, the assembly equipment for the bolted ball grid structure further includes: A bolt ball transport vehicle includes a bolt ball placement platform, and a plurality of first grooves are formed above the bolt ball placement platform. The first grooves are used to accommodate the bolt balls, and at least some of the first grooves are of different sizes.

[0014] In one exemplary embodiment of this disclosure, the assembly equipment for the bolted ball grid structure further includes: A rod transport vehicle includes a rod placement platform, with multiple rod positioning plates arranged above the rod placement platform. The rod positioning plates are perpendicular to the rod placement platform, and multiple second grooves are formed on the rod positioning plates. The second grooves are used to accommodate the rods, and at least some of the second grooves have different sizes.

[0015] When this assembly equipment is in operation, firstly, the first robotic arm drives the bolt ball gripper to grasp the bolt ball and transport it to the positioning seat, where a clamping device secures the bolt ball to the positioning seat. Secondly, the first robotic arm disassembles the bolt ball gripper and connects to the rod gripper, then drives the rod gripper to grasp the rod. Thirdly, the first robotic arm transports the rod to the position where it is to be connected to the bolt ball. Finally, the second robotic arm drives the tightening device to rotate the rod, causing the rod to be threaded onto the bolt ball, thus completing the assembly of the bolt ball and the rod. This setup can replace manual labor in assembling bolt ball space frame structures, reducing labor intensity and improving the assembly accuracy and construction efficiency of bolt ball space frame structures.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0017] To better understand this disclosure, reference may be made to the embodiments shown in the following figures. Components in the figures are not necessarily to scale, and related elements may be omitted to emphasize and clearly illustrate the technical features of this disclosure. Additionally, related elements or components may have different arrangements as known in the art. Furthermore, in the figures, the same reference numerals denote the same or similar components in various figures. Wherein: Figure 1 A schematic diagram of an exemplary embodiment of the assembly equipment for the bolted ball space frame structure of this disclosure; Figure 2 for Figure 1 A schematic diagram of the assembly components in an exemplary embodiment of the bolted ball grid structure assembly equipment shown; Figure 3 for Figure 1 A schematic diagram of the handling component in an exemplary embodiment of the assembly equipment for the bolted ball grid structure shown; Figure 4 for Figure 1 A schematic diagram of the fixing component in an exemplary embodiment of the assembly equipment for the bolted ball grid structure shown; Figure 5 for Figure 4 An enlarged schematic diagram of region AA shown; Figure 6 for Figure 1 A schematic diagram of the quick-change bracket in an exemplary embodiment of the assembly equipment for the bolted ball grid structure shown; Figure 7 for Figure 6 The diagram shows the assembly of the quick-change bracket and the bolt ball gripper. Figure 8 for Figure 1A schematic diagram of the bolt ball transport vehicle in an exemplary embodiment of the bolt ball grid structure assembly equipment shown; Figure 9 for Figure 1 The diagram shows a structural schematic of a rod transport vehicle in an exemplary embodiment of the assembly equipment for the bolted ball grid structure.

[0018] Explanation of reference numerals in the attached figures: 1. Assembly components; 11. Positioning seat; 12. Clamping device; 13. Lifting mechanism; 131. Placement platform; 132. Lifting device; 14. Second movable chassis; 15. First power unit; 2. Handling components; 201. First positioning hole; 21. First robotic arm; 211. First base; 212. First arm body; 213. Second arm body; 214. Third arm body; 215. Fourth arm body; 216. First connecting part; 22. Bolt ball gripper; 221. Magnetic suction part; 222. Limiting plate 223. Limiting rod; 224. Fixing part; 225. Spring; 226. Third connecting part; 227. Connecting section; 228. Connector; 23. Rod gripper; 24. First vision camera; 25. First control cabinet; 26. Third movable chassis; 27. Second power unit; 281. Connecting body; 282. Lifting lug; 3. Fixing component; 31. Second robotic arm; 311. Second base; 312. Fifth arm; 313. Sixth arm; 314. Seventh arm; 315. Eighth arm; 316. Second connecting part; 32. Tightening device; 33. First movable chassis; 331. Top surface; 332. Side surface; 34. Fixed bracket; 341. First bracket; 3431. First bracket rod; 3432. Second bracket rod; 342. Second bracket; 343. Third bracket; 344. Support member; 3441. Support part; 3442. Screw; 3443. First fixing bolt; 3444. Second fixing bolt; 35. Second vision camera; 36. Second control cabinet; 4. Bolt ball; 5. Rod; 6. Quick-change bracket; 601. First notch; 602. Second notch; 61. Support leg; 62. Bracket body; 621. First support part; 622. First positioning pin; 623. Second support part; 624. Second positioning pin; 63. Bottom position of the first notch; 64. Bottom position of the second notch; 7. Bolt ball transport vehicle; 71. Bolt ball placement platform; 711. First groove; 8. Rod transport vehicle; 81. Rod placement platform; 82. Rod positioning plate; 821. Second groove. Detailed Implementation

[0019] The technical solutions in the exemplary embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. The exemplary embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure. Therefore, it should be understood that various modifications and changes can be made to the exemplary embodiments without departing from the scope of protection of this disclosure.

[0020] In the description of this disclosure, unless otherwise expressly specified and limited, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term “multiple” refers to two or more; and the term “and / or” includes any and all combinations of one or more of the associated listed items. In particular, references to “the / described” object or “an” object are also intended to indicate one of a possible plurality of such objects.

[0021] Unless otherwise specified or stated, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; "connection" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0022] Furthermore, it should be understood that the directional terms such as "upper," "lower," "inner," and "outer" described in the exemplary embodiments of this disclosure are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the exemplary embodiments of this disclosure. It should also be understood that, in the context of an element or feature being connected to one or more "upper," "lower," "inner," or "outer" elements, it can be directly connected to one or more "upper," "lower," "inner," or "outer" elements, or indirectly connected to one or more "upper," "lower," "inner," or "outer" elements through intermediate elements.

[0023] This exemplary embodiment provides an assembly device for a bolted ball grid structure, such as... Figures 1-9 As shown, Figure 1 This is a schematic diagram of an exemplary embodiment of the assembly equipment for the bolted ball grid structure disclosed herein. Figure 2 for Figure 1 The diagram shows a schematic representation of the assembly components in an exemplary embodiment of the bolted ball grid structure assembly equipment. Figure 3 for Figure 1 The diagram shows a schematic representation of the transport component in an exemplary embodiment of an assembly equipment for a bolted ball grid structure. Figure 4 for Figure 1 The diagram shows a fixing component in an exemplary embodiment of the assembly equipment for the bolted ball grid structure. Figure 5 for Figure 4 An enlarged schematic diagram of region AA is shown. Figure 6 for Figure 1 The diagram shows a quick-change bracket in an exemplary embodiment of the assembly equipment for the bolted ball grid structure. Figure 7 for Figure 6 The diagram shows the assembly of the quick-change bracket and the bolt ball gripper. Figure 8 for Figure 1 The diagram shows a schematic representation of the bolt ball transport vehicle in an exemplary embodiment of the assembly equipment for the bolt ball grid structure. Figure 9 for Figure 1 The diagram shows a structural schematic of a rod transport vehicle in an exemplary embodiment of the assembly equipment for the bolted ball grid structure.

[0024] like Figures 1-4 As shown, the assembly equipment for the bolt ball space frame structure includes: an assembly component 1, a handling component 2, and a fixing component 3. The assembly component 1 includes a positioning seat 11 and a clamping device 12. The positioning seat 11 is used to position the bolt ball 4, and the clamping device 12 is used to fix the bolt ball 4 onto the positioning seat 11. The handling component 2 includes a first robotic arm 21, a bolt ball gripper 22, and a rod gripper 23. The bolt ball gripper 22 is used to grip the bolt ball 4, and the rod gripper 23 is used to grip the rod 5. The bolt ball gripper 22 and the rod gripper 23 are detachably connected to the first robotic arm 21. The first robotic arm 21 is used to drive the bolt ball gripper 22 to transport the bolt ball 4 to the positioning seat 11, and to drive the rod gripper 23 to transport the rod 5 to the position to be connected. The fixing component 3 includes a second robotic arm 31 and a tightening device 32. The second robotic arm 31 is connected to the tightening device 32 and is used to drive the tightening device 32 to rotate the rod 5 so as to thread the rod 5 to the bolt ball 4.

[0025] like Figures 1-4 As shown, when this assembly equipment is working, firstly, the first robotic arm 21 drives the bolt ball gripper 22 to grab the bolt ball 4 and transport the bolt ball 4 to the positioning seat 11, where the clamping device 12 fixes the bolt ball 4 to the positioning seat 11. Secondly, the first robotic arm 21 disassembles the bolt ball gripper 22 and connects the rod gripper 23, then drives the rod gripper 23 to grab the rod 5. Thirdly, the first robotic arm 21 transports the rod 5 to the position to be connected. Finally, the second robotic arm 31 drives the tightening device 32 to rotate the rod 5, so that the rod 5 is threadedly connected to the bolt ball 4, thus completing the assembly of the bolt ball 4 and the rod 5. This setup can replace manual labor in assembling bolt ball space frame structures, reducing labor intensity and improving the assembly accuracy and construction efficiency of bolt ball space frame structures.

[0026] The rod 5 has bolts at both ends in its extension direction, and the bolt ball 4 has multiple mounting holes. The bolts are threaded to the mounting holes on the bolt ball 4, and the rod 5 can be threaded to the mounting holes on the bolt ball 4 by the bolts located at both ends.

[0027] like Figures 1-4 As shown, in this assembly equipment, the bolt ball gripper 22 and the rod gripper 23 are detachably connected to the first robotic arm 21. This arrangement reduces the number of robotic arms, thereby lowering costs. In this assembly equipment, the assembly component 1 is equipped with a clamping device 12. This device ensures that the bolt ball 4 remains stable when the tightening device 32 rotates the rod 5, thus preventing the bolt ball 4 from falling out of the positioning seat 11.

[0028] like Figure 1 , Figure 2 As shown, assembly component 1 may also include one or more lifting mechanisms 13. Each lifting mechanism 13 includes a placement platform 131 and a lifting device 132. The placement platform 131 supports the rod 5, and the lifting device 132 drives the placement platform 131 to move vertically upwards and downwards. The rod 5, after being threadedly connected to the bolt ball 4, needs to be laid flat. Since the rods 5 vary in size, the lifting mechanism 13 can adjust the height of the placement platform 131 according to the size of the rod 5 so that the rod 5 can be laid flat.

[0029] In this exemplary embodiment, the lifting device 132 can be a hydraulic cylinder.

[0030] In this exemplary embodiment, as Figure 2 As shown, assembly component 1 may further include a first power unit 15, which can provide power to clamping device 12. The first power unit 15 may be a hydraulic station. In other exemplary embodiments, clamping device 12 may also be connected to a power supply component, which provides a power source for clamping device 12.

[0031] like Figure 1 , Figure 3As shown, the first robotic arm 21 may include: a first base 211, a first arm body 212, a second arm body 213, a third arm body 214, a fourth arm body 215, and a first connecting portion 216. The first end of the first arm body 212 is rotatably connected to the first base 211 in a horizontal direction. The first end of the second arm body 213 is rotatably connected to the second end of the first arm body 212. The first end of the third arm body 214 is rotatably connected to the second end of the second arm body 213. The first end of the fourth arm body 215 is rotatably connected to the second end of the third arm body 214. The rotation axes X of the second arm body 213, the third arm body 214, and the fourth arm body 215 are parallel to each other and all parallel to the horizontal direction. The first end of the first connecting portion 216 is rotatably connected to the second end of the fourth arm body 215 in a plane perpendicular to the extension direction of the fourth arm body 215. The bolt ball gripper 22 and the rod gripper 23 are detachably connected to the second end of the first connecting portion 216.

[0032] In this exemplary embodiment, as Figure 1 , Figure 3 As shown, the first robotic arm 21 has degrees of freedom in six directions: up and down, left and right, and front and back. This configuration allows the first robotic arm 21 to accurately grasp and place the bolt ball 4 and the rod 5 from any position.

[0033] In this exemplary embodiment, the bolt ball gripper 22 can be a magnetic gripper, and the rod gripper 23 can be a magnetic gripper.

[0034] like Figure 1 , Figure 4 As shown, the second robotic arm 31 may include: a second base 311, a fifth arm body 312, a sixth arm body 313, a seventh arm body 314, an eighth arm body 315, and a second connecting portion 316. The first end of the fifth arm body 312 is rotatably connected to the second base 311 in a horizontal direction; the first end of the sixth arm body 313 is rotatably connected to the second end of the fifth arm body 312; the first end of the seventh arm body 314 is rotatably connected to the second end of the sixth arm body 313; and the first end of the eighth arm body 315 is rotatably connected to the second end of the seventh arm body 314. The rotation axes Y of the sixth arm body 313, the seventh arm body 314, and the eighth arm body 315 are parallel to each other and all parallel to the horizontal direction. The first end of the second connecting portion 316 is rotatably connected to the second end of the eighth arm body 315 along a plane perpendicular to the extension direction of the eighth arm body 315. The second end of the second connecting portion 316 is connected to the tightening device 32. The second robotic arm 31 has degrees of freedom in six directions: up and down, left and right, and front and back. This configuration allows the second robotic arm 31 to drive the tightening device 32 to perform flexible operations in multiple angles and postures, thereby improving the accuracy of the tightening operation.

[0035] like Figure 3As shown in this exemplary embodiment, the handling assembly 2 may further include a second power unit 27, which can provide power to the first robotic arm 21. The second power unit 27 may be an air compressor. In other exemplary embodiments, the first robotic arm 21 may also be connected to a power supply assembly, which provides a power source for the first robotic arm 21. Figure 4 As shown, the second robotic arm 31 can be powered by a power supply unit or an air compressor.

[0036] like Figure 1 , Figure 4 , Figure 5 As shown, the fixing component 3 also includes: a first movable chassis 33 and a fixing bracket 34. The first movable chassis 33 is located on the supporting ground and includes a top surface 331 facing away from the supporting ground and a side surface 332 connected to the top surface 331. The fixing bracket 34 includes a first bracket 341, a second bracket 342, a third bracket 343, and a support member 344. The first bracket 341 is fixed to the top surface 331 of the first movable chassis 33, the second bracket 342 is located on the side surface 332 of the first movable chassis 33 and is spaced apart from the supporting ground, the second bracket 342 is used to support the second robotic arm 31, and the third bracket 343 is connected between the first bracket 341 and the second bracket 342. The support member 344 includes a support part 3441 and a screw 3442 connected to each other. The first end of the screw 3442 is fixed to the support member 344, and the second end is threaded to the side of the second bracket 342 facing the bearing ground. The extension direction of the screw 3442 is vertical.

[0037] In this exemplary embodiment, as Figure 1 , Figure 4 As shown, the fixed bracket 34 allows the second robotic arm 31 to be mounted on the side of the first movable chassis 33, thereby reducing the height of the second robotic arm 31 and preventing the height of the first movable chassis 33 from affecting the degree of freedom of the second robotic arm 31.

[0038] In this exemplary embodiment, when the first movable chassis 33 needs to move the second robotic arm 31, the support member 344 can be suspended by rotating the screw 3442; when the first movable chassis 33 is fixed, the support member 344 can be supported on the bearing ground by rotating the screw 3442, thereby making the second bracket 342 have a more stable support effect.

[0039] In this exemplary embodiment, as Figure 4As shown, the third support 343 may include a first support rod 3431 and a second support rod 3432. The first support rod 3431 extends vertically, and the second support rod 3432 connects the first support rod 3431 and the second support 3432 to form a triangular stable structure with the first support rod 3431 and the second support 342. Figure 4 As shown, the third bracket 343 can be fixed to the side 332 of the first movable chassis 33, which can further improve the stability of the fixed bracket 34.

[0040] In this exemplary embodiment, as Figure 5 As shown, the first end of the screw 3442 can also be threaded onto the support member 344. The support member 344 may further include a first fixing bolt 3443 and a second fixing bolt 3444, which are threaded onto the screw 3442 and located between the support member 344 and the second bracket 342. When the first fixing bolt 3443 is adjusted so that it abuts against the support member 344, the screw 3442 and the support member 344 can be tightened to prevent relative rotation between them. When the second fixing bolt 3444 is adjusted so that it abuts against the second bracket 342, the screw 3442 and the second bracket 342 can be tightened to prevent relative rotation between them.

[0041] In this exemplary embodiment, the first movable chassis 33 may be a tracked mobile chassis. The assembly assembly 1 may also include a second movable chassis 14, which may also be a tracked mobile chassis. The transport assembly 2 may also include a third movable chassis 26, which may also be a tracked mobile chassis.

[0042] like Figure 1 , Figure 2 , Figure 4 As shown, the assembly equipment for the bolted ball space frame structure also includes: a first vision camera 24 and a second vision camera 35. The first vision camera 24 is mounted on the first robotic arm 21 and is used to acquire first image information. The second vision camera 35 is mounted on the second robotic arm 31 and is used to acquire second image information. A first control cabinet 25 connects the first vision camera 24, the second vision camera 35, and the first robotic arm 21, and is used to control the movement of the first robotic arm 21 based on the first and second image information. A second control cabinet 36 connects the first vision camera 24, the second vision camera 35, and the second robotic arm 31, and is used to control the movement of the second robotic arm 31 based on the first and second image information.

[0043] In this exemplary embodiment, as Figure 1, Figure 2 , Figure 4 As shown, when the first robotic arm 21 moves the bolt ball 4, the first vision camera 24 acquires image information of the bolt ball 4, and the second vision camera 35 acquires image information of the positioning seat 11. The first control cabinet 25 controls the first robotic arm 21 to drive the bolt ball gripper 22 to grasp the bolt ball 4 and move it onto the positioning seat 11 based on the first and second image information. When the first robotic arm 21 moves the rod 5 to the position to be connected, the first vision camera 24 acquires image information of the rod 5, and the second vision camera 35 acquires image information of the bolt ball 4 on the positioning seat 11. The first control cabinet 25 controls the first robotic arm 21 to drive the rod gripper 23 to align the bolts and mounting holes on the rod 5 based on the first and second image information. When the tightening device 32 is working, the second control cabinet 36 controls the second robotic arm 31 to drive the tightening device 32 to screw part of the rod 5 into the mounting hole of the bolt ball 4 based on the first and second image information.

[0044] like Figure 1 , Figure 6 , Figure 7 As shown, the assembly equipment for the bolted ball grid structure also includes a quick-change bracket 6. The quick-change bracket 6 includes legs 61 and a bracket body 62, with the legs 61 supporting the bracket body 62. The bracket body 62 includes a first support portion 621, multiple first positioning pins 622, a second support portion 623, and multiple second positioning pins 624. The first positioning pins 622 are located on the side of the first support portion 621 opposite to the legs 61, and the second positioning pins 624 are located on the side of the second support portion 623 opposite to the legs 61. The first support portion 621 and the second support portion 623 are arranged opposite each other in a horizontal direction. A first notch 601 is formed on the first support portion 621, and a second notch 602 is formed on the second support portion 623. The size of the first notch 601 gradually decreases from its opening position to its bottom position, and the size of the second notch 602 gradually decreases from its opening position to its bottom position.

[0045] like Figure 1 , Figure 6 , Figure 7 As shown, the bolt ball gripper 22 has a plurality of first positioning holes 201 formed therein, at least a portion of which can be accommodated within a first notch 601. A first positioning pin 622 and a first positioning hole 201 are correspondingly provided, with the first positioning pin 622 being matched and disposed within its corresponding first positioning hole 201. Correspondingly, the rod gripper 23 has a second positioning hole (not shown), at least a portion of which can be accommodated within a second notch 602. A second positioning pin 624 and a second positioning hole are correspondingly provided, with the second positioning pin 624 being matched and disposed within its corresponding second positioning hole.

[0046] In this exemplary embodiment, as Figure 1 , Figure 3 As shown, the quick-change bracket 6 can be mounted on the third movable chassis 26. In other exemplary embodiments, the quick-change bracket 6 can also be mounted on a supporting ground.

[0047] In this exemplary embodiment, as Figure 1 , Figure 6 , Figure 7 As shown, when the bolt ball gripper 22 is disassembled from the first robotic arm 21, the first robotic arm 21 moves the bolt ball gripper 22 to the opening of the first notch 601 on the first support portion 621, and the bolt ball gripper 22 is inserted into the first notch 601 through the opening. The size of the first notch 601 gradually decreases from its opening position to its bottom position 63, which facilitates the insertion of the bolt ball gripper 22 into the first notch. At the same time, the first positioning pin 622 is matched and disposed in the corresponding first positioning hole 201, thereby enhancing the stability of the bolt ball gripper 22 on the first support portion 621.

[0048] Similarly, when the lever gripper 23 is disassembled from the first robotic arm 21, the first robotic arm 21 moves the lever gripper 23 to the opening of the second notch 602 on the second support portion 623, and the lever gripper 23 is inserted into the second notch 602 through the opening. The size of the second notch 602 gradually decreases from its opening position to its bottom position 64, which facilitates the insertion of the lever gripper 23 into the second notch 602. At the same time, the second positioning pin 624 is matched and disposed in the corresponding second positioning hole, thereby enhancing the stability of the lever gripper 23 on the second support portion 623.

[0049] In this exemplary embodiment, as Figure 1 , Figure 6 , Figure 7 As shown, the openings of the first notch 601 and the second notch 602 face opposite directions. This arrangement can prevent the bolt ball gripper 22 and the rod gripper 23 from interfering with each other.

[0050] In this exemplary embodiment, as Figure 7As shown, the bolt ball gripper 22 includes: a magnetic suction part 221, a limiting plate 222, multiple limiting rods 223, multiple fixing parts 224, and a spring 225. The magnetic suction part 221 includes an adsorption surface and a fixing surface arranged opposite to each other, and the adsorption surface is used to adsorb the bolt ball 4. Multiple limiting holes are formed on the limiting plate 222; multiple limiting rods 223 are arranged corresponding to the limiting holes, the first end of the limiting rod 223 is fixed to the limiting plate 222, and the limiting rod 223 is slidably connected in the corresponding limiting hole. Multiple fixing parts 224 are arranged corresponding to the limiting rods 223, the fixing parts 224 are located on the side of the limiting plate 222 away from the limiting rods 223, and the fixing parts 224 are fixedly connected to the second end of the corresponding limiting rod 223, and the area of ​​the orthographic projection of the fixing part 224 on the limiting plate 222 is larger than the area of ​​the opening of the limiting hole. Spring 225 is provided correspondingly to limit rod 223. Limit rod 223 is located inside spring 225, and spring 225 abuts between magnetic part 221 and limit plate 222.

[0051] In this exemplary embodiment, on one hand, the magnetic suction part 221 and the limiting rod 223 can overcome the spring force and move towards the limiting plate 222. When the magnetic suction part 221 attracts the bolt ball 4, there is an interaction force between the magnetic suction part 221 and the bolt ball 4. The spring 225 can provide a buffer between the magnetic suction part 221 and the bolt ball 4 to avoid damage to the magnetic suction part 221 and the bolt ball 4 due to excessive interaction force. On the other hand, the limiting rod 223 restricts the degree of freedom of the magnetic suction part 221 outside the extension direction of the limiting rod 223. This setting can prevent the bolt ball 4 from swinging radially in the spring 225 when the magnetic suction part 221 grasps and places the bolt ball 4, thereby ensuring that the bolt ball 4 is accurately placed on the positioning seat 11.

[0052] In this exemplary embodiment, as Figure 7 As shown, the bolt ball gripper 22 further includes a third connecting portion 226. The third connecting portion 226 is connected to the side of the limiting plate 222 opposite to the limiting rod 223. The third connecting portion 226 includes a connecting section 227 and a connecting head 228. The connecting section 227 is connected between the limiting plate 222 and the connecting head 228. The cross-sectional area of ​​the connecting section 227 perpendicular to its axial direction Z is smaller than the cross-sectional area of ​​the connecting head 228 perpendicular to its axial direction Z, and the connecting section 227 can be accommodated within the first notch 601. The connecting head 228 includes a connecting body 281 and at least two lifting lugs 282. The connecting body 281 is used for detachable connection with the first robotic arm 21, and the at least two lifting lugs 282 are fixed to both sides of the connecting body 281 perpendicular to its axial direction Z. The first positioning hole 201 can be located on the lifting lugs 282.

[0053] In this exemplary embodiment, the adsorption surface of the magnetic part 221 can be a spherical surface that matches the bolt ball 4. This arrangement can increase the contact area between the magnetic part 221 and the bolt ball 4, thereby increasing the adsorption force of the magnetic part 221.

[0054] In this exemplary embodiment, as Figure 1 , Figure 8 As shown, the assembly equipment for the bolt ball space frame structure also includes a bolt ball transport vehicle 7. The bolt ball transport vehicle 7 includes a bolt ball placement platform 71, and a plurality of first grooves 711 are formed above the bolt ball placement platform 71. The first grooves 711 are used to accommodate bolt balls 4. At least some of the first grooves 711 have different sizes, and the first grooves 711 of different sizes are used to accommodate bolt balls of different sizes.

[0055] In this exemplary embodiment, the bolt ball placement platform 71 can be a tracked mobile platform. The bolt ball transport vehicle 7 can move the bolt balls 4 to the vicinity of the handling assembly 2, thereby reducing manual labor intensity and improving work efficiency.

[0056] In this exemplary embodiment, as Figure 1 , Figure 9 As shown, the assembly equipment for the bolted ball grid structure also includes a member transport vehicle 8. The member transport vehicle 8 includes a member placement platform 81, and multiple member positioning plates 82 are provided above the member placement platform 81. The member positioning plates 82 are vertically arranged on the member placement platform 81, and multiple second grooves 821 are provided on the member positioning plates 82. The second grooves 821 are used to accommodate members 5, and at least some of the second grooves 821 have different sizes. The second grooves 821 of different sizes are used to accommodate members 5 of different sizes.

[0057] In this exemplary embodiment, as Figure 1 , Figure 9 As shown, the rod placement platform 81 can be a tracked mobile platform. The rod transport vehicle 8 can move the bolt ball 4 to the vicinity of the handling assembly 2, thereby reducing manual labor intensity and improving work efficiency.

[0058] In this exemplary embodiment, the second groove 821 can be a V-groove.

[0059] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0060] The accompanying drawings in this disclosure only illustrate the structures involved in this disclosure; other structures can be referred to with common design. Unless otherwise specified, the embodiments and features described in these embodiments can be combined to obtain new embodiments. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this disclosure without departing from the spirit and scope of this disclosure, and all such modifications and substitutions should be covered within the scope of the claims of this disclosure.

[0061] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. An assembly device for a bolted ball grid structure, characterized in that, The assembly equipment for the bolted ball grid structure includes: Assembly component (1), the assembly component (1) includes a positioning seat (11) and a clamping device (12), the positioning seat (11) is used to position the bolt ball (4), and the clamping device (12) is used to fix the bolt ball (4) on the positioning seat (11); The transport assembly (2) includes a first robotic arm (21), a bolt ball gripper (22), and a rod gripper (23). The bolt ball gripper (22) is used to grip the bolt ball (4), and the rod gripper (23) is used to grip the rod (5). The bolt ball gripper (22) and the rod gripper (23) are detachably connected to the first robotic arm (21). The first robotic arm (21) is used to drive the bolt ball gripper (22) to transport the bolt ball (4) to the positioning seat (11) and to drive the rod gripper (23) to transport the rod (5) to the position to be connected. The fixing component (3) includes a second robotic arm (31) and a tightening device (32). The second robotic arm (31) is connected to the tightening device (32). The second robotic arm (31) is used to drive the tightening device (32) to rotate the rod (5) so as to thread the rod (5) to the bolt ball (4). The fixing component (3) also includes: A first movable chassis (33) is located on a bearing ground. The first movable chassis (33) includes a top surface (331) facing away from the bearing ground and a side surface (332) connected to the top surface (331). The fixed bracket (34) includes a first bracket (341), a second bracket (342), a third bracket (343), and a support member (344). The first bracket (341) is fixed to the top surface (331) of the first movable chassis (33), the second bracket (342) is located on the side (332) of the first movable chassis (33), and the second bracket (342) is spaced apart from the bearing ground. The second bracket (342) is used to support the second robotic arm (31), and the third bracket (343) is connected between the first bracket (341) and the second bracket (342). The support member (344) includes a support part (3441) and a screw (3442). The first end of the screw (3442) is fixed to the support part (3441), and the second end is threaded to the side of the second bracket (342) facing the bearing ground. The extension direction of the screw (3442) is vertical. The assembly component (1) also includes one or more lifting mechanisms (13); The lifting mechanism (13) includes a placement platform (131) and a lifting device (132). The placement platform (131) is used to support the rod (5), and the lifting device (132) is used to drive the placement platform (131) to move up and down in the vertical direction. The assembly equipment for the bolted ball grid structure also includes: The first vision camera (24) is mounted on the first robotic arm (21) and is used to acquire first image information. The second vision camera (35) is mounted on the second robotic arm (31) and is used to acquire second image information. The first control cabinet (25) is connected to the first vision camera (24), the second vision camera (35), and the first robotic arm (21). The first control cabinet (25) is used to control the action of the first robotic arm (21) according to the first image information and the second image information. The second control cabinet (36) is connected to the first vision camera (24), the second vision camera (35), and the second robotic arm (31). The second control cabinet (36) is used to control the movement of the second robotic arm (31) according to the first image information and the second image information. The assembly equipment for the bolted ball grid structure also includes: The quick-change bracket (6) includes a support leg (61) and a bracket body (62), wherein the support leg (61) is used to support the bracket body (62). The main body (62) of the bracket includes a first support part (621), a plurality of first positioning pins (622), a second support part (623), and a plurality of second positioning pins (624). The first positioning pins (622) are located on the side of the first support part (621) away from the support leg (61), and the second positioning pins (624) are located on the side of the second support part (623) away from the support leg (61). The first support portion (621) and the second support portion (623) are arranged opposite each other in the horizontal direction. A first notch (601) is formed on the first support portion (621), and a second notch (602) is formed on the second support portion (623). The size of the first notch (601) gradually decreases from its opening position to its bottom position, and the size of the second notch (602) gradually decreases from its opening position to its bottom position. The bolt ball gripper (22) has a plurality of first positioning holes (201) formed thereon. At least a portion of the bolt ball gripper (22) can be accommodated in the first notch (601). The first positioning pin (622) and the first positioning hole (201) are provided in a one-to-one correspondence. The first positioning pin (622) can be matched and set in the first positioning hole (201) corresponding to it. The rod gripper (23) has a second positioning hole formed thereon. At least a portion of the rod gripper (23) can be accommodated in the second notch (602). The second positioning pin (624) and the second positioning hole are provided in a one-to-one correspondence, and the second positioning pin (624) can be matched and set in the second positioning hole corresponding to it.

2. The assembly equipment for the bolted ball grid structure according to claim 1, characterized in that, The first robotic arm (21) includes: First base (211); The first arm (212) has its first end rotatably connected to the first base (211) in the horizontal direction; The second arm (213) has a first end that is rotatably connected to the second end of the first arm (212); The third arm (214) has its first end rotatably connected to the second end of the second arm (213); The fourth arm (215) has its first end rotatably connected to the second end of the third arm (214), wherein the rotation axes of the second arm (213), the third arm (214) and the fourth arm (215) are parallel to each other and are all parallel to the horizontal direction. The first connecting part (216) has its first end rotatably connected to the second end of the fourth arm body (215) on a plane perpendicular to the extension direction of the fourth arm body (215). The bolt ball gripper (22) and the rod gripper (23) are detachably connected to the second end of the first connecting part (216).

3. The assembly equipment for the bolted ball grid structure according to claim 1, characterized in that, The second robotic arm (31) includes: Second base (311); The fifth arm (312) has its first end rotatably connected to the second base (311) in the horizontal direction; The sixth arm (313) has its first end rotatably connected to the second end of the fifth arm (312); The seventh arm (314) has its first end rotatably connected to the second end of the sixth arm (313); The eighth arm (315) has its first end rotatably connected to the second end of the seventh arm (314). The rotation axes of the sixth arm (313), the seventh arm (314), and the eighth arm (315) are parallel to each other and are all parallel to the horizontal direction. The second connecting part (316) has its first end rotatably connected to the second end of the eighth arm body (315) on a plane perpendicular to the extension direction of the eighth arm body (315), and the second end of the second connecting part (316) is connected to the tightening device (32).

4. The assembly equipment for the bolted ball grid structure according to claim 1, characterized in that, The bolt ball gripper (22) includes: The magnetic suction part (221) includes an adsorption surface and a fixing surface arranged opposite to each other, wherein the adsorption surface is used to adsorb the bolt ball (4). A limiting plate (222) having multiple limiting holes formed thereon; Multiple limiting rods (223) are provided corresponding to the limiting holes. The first end of the limiting rod (223) is fixed to the fixing surface, and the limiting rod (223) is slidably connected to the corresponding limiting hole. Multiple fixing parts (224) are provided corresponding to the limiting rod (223). The fixing parts (224) are located on the side of the limiting plate (222) away from the limiting rod (223), and the fixing parts (224) are fixedly connected to the second end of the corresponding limiting rod (223). The area of ​​the orthographic projection of the fixing parts (224) on the limiting plate (222) is greater than the area of ​​the opening of the limiting hole. A spring (225) is provided corresponding to the limiting rod (223). The limiting rod (223) is located inside the spring (225) corresponding to it, and the spring (225) abuts between the magnetic suction part (221) and the limiting plate (222).

5. The assembly equipment for the bolted ball grid structure according to claim 4, characterized in that, The bolt ball gripper (22) also includes: The third connecting part (226) is connected to the side of the limiting plate (222) away from the limiting rod (223). The third connecting part (226) includes a connecting section (227) and a connecting head (228). The connecting section (227) is connected between the limiting plate (222) and the connecting head (228). The cross-sectional area of ​​the connecting segment (227) perpendicular to its axis is smaller than the cross-sectional area of ​​the connector (228) perpendicular to its axis, and the connecting segment (227) can be accommodated within the first notch (601); The connector (228) includes a connecting body (281) and at least two lugs (282). The connecting body (281) is used for detachable connection with the first robotic arm (21). At least two lugs (282) are fixed to the connecting body (281) on both sides in an axial direction perpendicular to the connecting body (281). The first positioning hole (201) is located on the lugs (282).

6. The assembly equipment for the bolted ball grid structure according to claim 1, characterized in that, The assembly equipment for the bolted ball grid structure also includes: A bolt ball transport vehicle (7) includes a bolt ball placement platform (71), and a plurality of first grooves (711) are formed above the bolt ball placement platform (71). The first grooves (711) are used to accommodate the bolt ball (4), and at least some of the first grooves (711) have different sizes. The assembly equipment for the bolt ball (4) space frame structure also includes: The rod transport vehicle (8) includes a rod placement platform (81), and a plurality of rod positioning plates (82) are provided above the rod placement platform (81). The rod positioning plates (82) are perpendicular to the rod placement platform (81). A plurality of second grooves (821) are provided on the rod positioning plates (82). The second grooves (821) are used to accommodate the rods (5). At least some of the second grooves have different sizes.

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