Large excavator longitudinal beam accessory assembling production line

Abstract

The utility model discloses a large excavator longitudinal beam accessory assembly line which comprises a longitudinal beam pre-storage unit, a longitudinal beam accessory assembly unit, a longitudinal beam accessory assembly unit and a longitudinal beam accessory assembly unit. The thrust wheel tightening unit is mounted on the first station and used for completing mounting operation of thrust wheels on the longitudinal beams transferred from the fourth station; the truss tightening unit is mounted on the station II and is used for completing the mounting operation of the rail clamping device on the longitudinal beam; the assembly turnover unit is installed on the third station and used for completing the turnover operation of the longitudinal beam; and the AGV scheduling platform is used for receiving incoming material and completion signals of all the stations, sending a distribution instruction to the AGV and controlling the AGV to transfer the longitudinal beams among all the stations according to a set track, and assembly line production of longitudinal beam assembly work is achieved. Aiming at longitudinal beam assembly of a large excavator, unmanned and few-person operation can be realized, human input is reduced, production cost is reduced, production efficiency is improved, and safety risks are reduced.

Description

Technical Field

[0001] The utility model relates to an assembly production line for longitudinal beam accessories of a large excavator, belonging to the technical field of excavator assembly. Background Art

[0002] The longitudinal beam structure of large mining excavators is long (length ≥ 6 meters) and heavy (≥ 4 tons). The weight of its accessories is large (weight of supporting wheels ≥ 200KG); the assembly process is complicated, involving multiple flipping, hoisting, high-torque bolt tightening, transportation, etc. There are many high-torque bolts (M27 bolts ≥ 52 pieces) and the tightening torque is large (≥ 1500Nm). The required assembly site is large, and small assembly sites cannot achieve assembly line production using traditional processes, and the assembly process and logistics and transportation process are poor.

[0003] At present, for the assembly of accessories on the longitudinal beam of large-tonnage excavators, a single-beam crane is often used to lift accessories such as supporting rollers and rail clamps to the inverted longitudinal beam, and a truss tightening machine is manually operated to tighten the large bolts according to the specified torque; after the assembly is completed, a sling or a turning machine is used to turn it over, and it is hoisted to the final assembly line by a crane. The existing patented tightening device and excavator assembly production line (CN215469445U) uses a truss robot to automatically identify, grab and tighten the excavator supporting roller model. This solution is aimed at the assembly of small-tonnage excavators with integral lower frames, and only includes the assembly of supporting rollers, and does not form an assembly line operation.

[0004] Therefore, the current assembly of accessories on the longitudinal beam of large excavators has the following problems: the efficiency of accessory assembly on the longitudinal beam is low, which often serves as a bottleneck process affecting the overall production rhythm; there are a large number of high-torque bolts, and the weight of accessories such as supporting wheels is large, and the labor intensity of operators is high; there are certain safety hazards in the transportation and flipping of longitudinal beam structural parts; there are many operators and it is labor-intensive; there are many lifting operations and the driving time is long. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides an assembly production line for the longitudinal beam accessories of large excavators, which can realize the rapid and efficient assembly line of accessories such as longitudinal beam supporting wheels and track clamps, realize unmanned or less-manned operation, reduce manpower input, and reduce production costs; at the same time, it can improve production efficiency and reduce the labor intensity of operators.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts a large excavator longitudinal beam accessory assembly production line, comprising:

[0007] A longitudinal beam pre-storage unit, which is installed on station four and is used to store multiple longitudinal beams;

[0008] The track roller tightening unit is installed at station one and is used to complete the track roller installation operation on the longitudinal beam transferred from station four. After station one is completed, it sends a signal to the AGV dispatching platform, and the AGV dispatching platform transports the longitudinal beam to station two.

[0009] A truss tightening unit is installed on the second station and is used to complete the installation of the rail clamp on the longitudinal beam. After the second station is completed, a signal is sent to the AGV dispatching platform, and the AGV dispatching platform transports the longitudinal beam to the third station.

[0010] The assembly flip unit is installed on the workstation three and is used to complete the longitudinal beam flipping operation. After the workstation three is completed, a signal is sent to the AGV dispatching platform, and the AGV dispatching platform transports the longitudinal beam to the excavator assembly line workstation;

[0011] The AGV dispatching platform is used to receive incoming materials and completion signals from each workstation, send distribution instructions to the AGV, and control the AGV to transfer the longitudinal beams between the workstations according to the established trajectory, thereby realizing the assembly line production of the longitudinal beam assembly work.

[0012] As an improvement, the longitudinal beam pre-storage unit includes a plurality of longitudinal beam placement platforms;

[0013] A positioning device for realizing the centering placement of the longitudinal beam is provided on the upper part of the longitudinal beam placement platform, and an infrared sensor connected to the AGV dispatching platform is provided on the bottom.

[0014] As an improvement, the track roller tightening unit includes a control cabinet, a track roller rack, a robot workstation, a bolt loading system and a fixture quick change system, and the control cabinet is respectively connected to the track roller rack, the robot workstation, the bolt loading system, the fixture quick change system and the AGV scheduling platform.

[0015] As an improvement, a workstation guardrail is installed on the workstation, and one end of the bolt feeding system is located outside the workstation guardrail.

[0016] As an improvement, the truss tightening unit includes a tightening machine and a tightening machine servo controller, and the tightening machine servo controller is respectively connected to the tightening machine and the AGV scheduling platform;

[0017] The tightening machine servo controller controls the tightening machine to move along the tightening truss and tighten the rail clamp on the longitudinal beam located on the working platform.

[0018] As an improvement, the tightening truss is arranged on the outside of the working platform, a material placement rack for placing the rail clamp is installed at one end of the tightening truss, and the tightening machine servo controller is arranged on the outside of the other end.

[0019] As an improvement, the assembly flip unit includes a flip unit industrial computer and multiple flip machines, and the flip unit industrial computer is connected to the flip machine and the AGV scheduling platform respectively;

[0020] The industrial computer of the flipping unit controls the multiple flipping machines to move along the flipping machine tracks and clamp the longitudinal beams to complete the flipping of the longitudinal beams.

[0021] As an improvement, the turning machine includes a turning machine I and a turning machine II located at both ends of the longitudinal beam, and a guardrail is provided on the outside of each turning machine.

[0022] As an improvement, the AGV scheduling platform includes multiple AGVs and AGV walking routes, the AGV walking routes are continuously arranged along the central axis of each workstation, and the AGV walks along the AGV walking routes.

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] (1) By connecting multiple workstations in series through AGV, automatic or semi-automatic assembly line production of longitudinal beam assembly can be realized, solving the problem of low assembly efficiency of supporting wheels and accessories of large mining excavators.

[0025] (2) Two AGVs work together to realize the assembly of multiple longitudinal beam stations. One AGV is used for ferrying between stations 1, 2, and 4, and the other is used for turning over and transferring the assembly at station 3. This solves the problems of reversing and difficult transportation of large structural parts, inaccurate positioning, and low transportation efficiency.

[0026] (3) The robot workstation can complete the fully automatic tightening operation of the supporting wheels, solving the problems of low tightening efficiency and high labor intensity.

[0027] (4) The utility model is aimed at assembling the longitudinal beam of a large excavator, which can realize unmanned or less-manned operation, reduce manpower input, lower production costs, and at the same time improve production efficiency and reduce safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is a schematic diagram of the production line layout structure of the utility model;

[0030] Figure 2 It is the assembly flow chart of the utility model;

[0031] In the figure: 1. Workstation four, 2. Longitudinal beam placement platform, 3. Workstation one, 3-1. Robot walking track, 3-2. Workstation guardrail, 3-3. Support wheel rack, 3-4. Control cabinet I, 3-5. Control cabinet II, 3-6. Robot workstation, 3-7. Bolt feeding system, 3-8. Fixture quick change system, 4. Workstation two, 4-1. Tightening truss, 4-2. Material placement rack, 4-3. Working platform, 4-4. Tightening machine, 4-5. Tightening machine servo controller, 5. Workstation three, 5-1. Flipping machine track, 5-2. Guardrail, 5-3. Flipping machine I, 5-4. Flipping machine II, 5-5. Flipping unit industrial computer, 6. AGV scheduling platform, 6-1. AGV I, 6-2. AGV II, 6-3. AGV walking route. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present application are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0033] Example 1

[0034] like Figure 1 , Figure 2 As shown, a large excavator longitudinal beam attachment assembly production line includes a longitudinal beam pre-storage unit, a supporting wheel tightening unit, a truss tightening unit, an assembly turning unit and four workstations;

[0035] The longitudinal beam pre-storage unit is installed on the station 4 1 and is used to store multiple longitudinal beams;

[0036] The track roller tightening unit is installed on the workstation 1 3, and is used to complete the installation of the track roller on the longitudinal beam transferred from the workstation 4 1. After the workstation 1 3 is completed, a signal is sent to the AGV dispatching platform 6, and the AGV dispatching platform 6 transports the longitudinal beam to the workstation 2 4;

[0037] The truss tightening unit is installed on the second station 4 and is used to complete the installation of the rail clamp on the longitudinal beam. After the second station 4 is completed, a signal is sent to the AGV scheduling platform 6, and the AGV scheduling platform 6 transports the longitudinal beam to the third station 5;

[0038] The assembly flip unit is installed on the workstation 3 5 to complete the longitudinal beam flipping operation. After the workstation 3 5 is completed, a signal is sent to the AGV dispatching platform 6, and the AGV dispatching platform 6 transports the longitudinal beam to the excavator assembly line workstation;

[0039] The AGV dispatching platform 6 is used to receive incoming materials and completion signals from each workstation, send distribution instructions to the AGV, and control the AGV to transfer the longitudinal beams between the workstations according to the established trajectory, so as to realize the assembly line production of the longitudinal beam assembly work. The utility model realizes automatic or semi-automatic assembly line production of the longitudinal beam assembly work by connecting multiple workstations in series with the AGV, thereby solving the problem of low assembly efficiency of the supporting wheels and accessories of large mining excavators.

[0040] As an improvement of the embodiment, Figure 1 As shown, the longitudinal beam pre-storage unit includes a plurality of longitudinal beam placement platforms 2; a positioning device is provided on the top of each longitudinal beam placement platform 2 for centering the longitudinal beam material, and an infrared sensor is provided at the bottom of the longitudinal beam placement platform 2, which is connected to the AGV dispatching platform 6 for sensing the material state and releasing the material call signal. In this embodiment, there are four longitudinal beam placement platforms 2 for storing the left and right longitudinal beams of two sets of excavators.

[0041] As an improvement of the embodiment, Figure 1 As shown, the supporting roller tightening unit includes a control cabinet, a supporting roller rack 3-3, a robot workstation 3-6, a bolt feeding system 3-7 and a fixture quick change system 3-8, and the control cabinet includes a control cabinet I 3-4 and a control cabinet II 3-5, which are respectively connected to the supporting roller rack 3-3, the robot workstation 3-6, the bolt feeding system 3-7, the fixture quick change system 3-8 and the AGV dispatching platform 6;

[0042] The robot workstation 3-6 can take photos to identify and automatically grab the supporting rollers, and locate the clamping position through the visual system. After positioning, it walks to the upper part of the longitudinal beam, takes photos to locate the longitudinal beam installation holes, correctly places the supporting rollers, and then replaces the tightening fixture, clamps the bolts, and completes the bolt torque setting operation;

[0043] Specifically, the robot workstation 3-6 moves along the robot walking track 3-1, and then the control cabinet controls the robot workstation 3-6 to grab the supporting roller placed on the supporting roller rack 3-3 and place it on the longitudinal beam. The robot workstation 3-6 then replaces the clamp through the clamp quick change system 3-8, clamps the bolt from the bolt feeding system 3-7, and finally fastens the supporting roller to the longitudinal beam through the bolt. The utility model can complete the fully automatic tightening operation of the supporting roller through the robot workstation 3-6, solving the problems of low tightening efficiency and high labor intensity.

[0044] As an improvement of the embodiment, a station guardrail 3-2 is installed on the station 1 3, and one end of the bolt feeding system 3-7 is located outside the station guardrail 3-2, so that workers can put the glued bolts into the material box. After the material box is full, it is transported to the end of the line for precise positioning. After the robot takes out the bolts, the empty tray enters the lifting device of the bolt feeding system 3-7 and then descends, and automatically flows back to the special machine feeding position through the lower roller, completing a feeding cycle operation of the bolt feeding system 3-7.

[0045] As an improvement of the embodiment, Figure 1 As shown, the truss tightening unit includes a tightening machine 4-4 and a tightening machine servo controller 4-5, and the tightening machine servo controller 4-5 is connected to the tightening machine 4-4 and the AGV scheduling platform 6 respectively;

[0046] The tightening machine servo controller 4-5 controls the tightening machine 4-4 to move along the tightening truss 4-1 and tightens the track clamp on the longitudinal beam. During the tightening operation, the longitudinal beam is located on the working platform 4-3, and the incoming material is identified by the working platform 4-3 and the incoming material signal is sent to the AGV scheduling platform 6 through the tightening machine servo controller 4-5; a material placement rack 4-2 for placing the track clamp is installed at one end of the tightening truss 4-1, which is convenient for taking and placing the track clamp, and the tightening machine servo controller 4-5 is provided on the outer side of the other end of the tightening truss 4-1. The tightening machine servo controller 4-5 also has the functions of unlocking the tightening machine and controlling the tightening process parameters.

[0047] As an improvement of the embodiment, Figure 1 As shown, the assembly flip unit includes a flip unit industrial computer 5-5, a flip machine I 5-3, and a flip machine II 5-4. The flip unit industrial computer 5-5 is respectively connected to each flip machine and the AGV scheduling platform 6;

[0048] The turning machine I 5 - 3 and the turning machine II 5 - 4 can move synchronously along the X-axis and Z-axis directions, and the frame-type clamping mechanism on the turning machine can adapt to a variety of longitudinal beam sizes;

[0049] When in use, the flip unit industrial computer 5-5 controls multiple flip machines to move along the flip machine track 5-1 and clamp the longitudinal beam to complete the flipping of the longitudinal beam. After the flipping is completed, the flip unit industrial computer 5-5 releases a call signal to the AGV scheduling platform 6.

[0050] As an improvement of the embodiment, guardrails 5-2 are provided on the outer sides of the turning machine I 5-3 and the turning machine II 5-4 to improve the safety during assembly.

[0051] As an improvement of the embodiment, the AGV dispatching platform 6 includes AGVⅠ6-1, AGVⅡ6-2 and AGV walking route 6-3, the AGV walking route 6-3 is continuously arranged along the central axis of each workstation, and the AGVⅠ6-1 and AGVⅡ6-2 walk along the AGV walking route 6-3;

[0052] The AGV I 6-1 is used to receive the distribution task instruction 1 of the AGV dispatching platform 6, and transport the longitudinal beam from the station 4 1 to the station 1 3; and is used to receive the distribution task instruction 2 of the AGV dispatching platform 6, and transport the longitudinal beam from the station 1 3 to the station 2 4, see Figure 2 ;

[0053] The AGV II 6-2 is used to receive the distribution task instruction 3 of the AGV dispatching platform 6, and transport the longitudinal beam from the second station 4 to the third station 5; and is used to receive the distribution task instruction 4 of the AGV dispatching platform 6, and transport the longitudinal beam from the third station 5 to the excavator assembly line, see Figure 2 The utility model adopts two AGVs to work with each other to realize the assembly of multiple longitudinal beam stations. One AGV is used for ferrying between stations one, two and four, and the other is used for turning over and transporting the assembly at station three, which solves the problems of direction reversal, difficult transportation, inaccurate positioning and low transportation efficiency of large structural parts.

[0054] Example 2

[0055] On the basis of Example 1, Figure 2 As shown, the utility model also provides a method for assembling a longitudinal beam attachment of a large excavator, comprising the following steps:

[0056] S1, after the material arrives, the longitudinal beam is hoisted to the longitudinal beam placement platform 2 located on the workstation 4 1 by the driving crane. The positioning device on the longitudinal beam placement platform 2 enables the longitudinal beam material to be placed in the center. An infrared sensor is provided at the bottom of the longitudinal beam placement platform 2. The infrared sensor is connected to the AGV dispatching platform 6. After sensing the incoming material, the incoming material signal call is sent to the AGV dispatching platform 6;

[0057] S2, AGV dispatching platform 6 receives the incoming signal from station 4-1, and sends the distribution task instruction 1 to AGVⅠ6-1. After receiving the instruction signal, AGVⅠ6-1 transports the longitudinal beam from station 4-1 to the pre-stored tooling at station 1-3. After the workpiece is placed in place, AGVⅠ6-1 withdraws from station 1-3 area to wait, and the distribution of task instruction 1 is completed at this time;

[0058] S3, after the workbench on the workstation 3 recognizes that the longitudinal beam is in place, the robot workstation 3-6 starts, takes photos to identify and automatically grabs the supporting roller, and locates the clamping position through the visual system. After positioning, the robot workstation 3-6 walks along the robot walking track 3-1 to the upper part of the longitudinal beam, takes photos to locate the longitudinal beam installation holes, correctly places the supporting roller, and then replaces the fixture from the fixture quick change system 3-8, clamps the bolts in the bolt feeding system 3-7, completes the bolt torque setting operation of the supporting roller on the longitudinal beam, and completes the tightening completion call;

[0059] S4, AGV dispatching platform 6 receives the tightening completion signal of station 1 3, and sends the distribution task instruction 2 to AGVⅠ6-1. After receiving the instruction signal, AGVⅠ6-1 transports the longitudinal beam from station 1 3 to the pre-stored tooling at station 2 4. After the workpiece is stable, AGVⅠ6-1 withdraws from station 2 4 and completes the distribution of task instruction 2. At this time, AGVⅠ6-1 waits for AGV dispatching platform 6 to send the distribution task instruction 1 again to proceed to the next cycle.

[0060] S5, the truss tightening unit on the workstation 2 4, the worker operates the tightening machine 4-4 to tighten the rail clamp on the longitudinal beam through bolts. After the operation is completed, the worker presses the completion button to send a tightening completion call;

[0061] S6, AGV dispatching platform 6 receives the completion signal of station 2 4, sends the delivery task instruction 3 to AGV II 6-2, and transports the longitudinal beam from station 2 4 to station 3 5 through AGV II 6-2, waits for the longitudinal beam to turn over in situ, and completes the delivery of task instruction 3;

[0062] S7, after the material arrives at station 35, the worker controls the turning machine Ⅰ5-3 and the turning machine Ⅱ5-4 to adjust the gap and height along the X-axis and Z-axis, clamps the longitudinal beam, completes the longitudinal beam turning work, and presses the button to release the turning completion signal;

[0063] S8, AGV scheduling platform 6 receives the completion signal of workstation three 5, sends the distribution task instruction 4 to AGVⅡ6-2, and transports the longitudinal beam from workstation three 5 to the excavator assembly line workstation through AGVⅡ6-2, completing the distribution of task instruction 4; at this time, AGVⅡ6-2 waits for AGV scheduling platform 6 to send the distribution task instruction 3 again to proceed to the next cycle.

[0064] The utility model is aimed at assembling the longitudinal beam of a large excavator, can realize unmanned or less-manned operation, reduce manpower input, reduce production costs, and at the same time improve production efficiency and reduce safety risks.

[0065] In addition, those skilled in the art will understand that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments also means being within the scope of protection of the present utility model and forming different embodiments. For example, in the above embodiments, those skilled in the art can use them in combination according to the known technical solutions and the technical problems to be solved by the present application.

Claims

1. A large excavator longitudinal beam accessory assembly production line, characterized in that: include: A longitudinal beam pre-storage unit, which is installed on the workstation four (1) and is used to store a plurality of longitudinal beams; A roller tightening unit is installed on the first station (3) and is used to complete the installation of the roller on the longitudinal beam transferred from the fourth station (1). After the first station (3) is completed, a signal is sent to the AGV dispatching platform (6), and the AGV dispatching platform (6) transports the longitudinal beam to the second station (4); A truss tightening unit, which is installed on the second workstation (4) and is used to complete the installation of the rail clamp on the longitudinal beam. After the second workstation (4) is completed, a signal is sent to the AGV dispatching platform (6), and the AGV dispatching platform (6) transports the longitudinal beam to the third workstation (5); An assembly turning unit, which is installed on the workstation three (5) and is used to complete the longitudinal beam turning operation. After the workstation three (5) is completed, a signal is sent to the AGV dispatching platform (6), and the AGV dispatching platform (6) transports the longitudinal beam to the excavator assembly line workstation; The AGV dispatching platform (6) is used to receive incoming materials and completion signals from each workstation, send distribution instructions to the AGV, and control the AGV to transfer the longitudinal beams between the workstations according to a predetermined trajectory, thereby realizing the assembly line production of the longitudinal beam assembly work.

2. The large excavator longitudinal beam attachment assembly production line according to claim 1, characterized in that: The longitudinal beam pre-storage unit comprises a plurality of longitudinal beam placement platforms (2); The upper part of the longitudinal beam placement platform (2) is provided with a positioning device for realizing the centering placement of the longitudinal beam, and the bottom part is provided with an infrared sensor connected to the AGV dispatching platform (6).

3. The large excavator longitudinal beam attachment assembly production line according to claim 1, characterized in that: The track wheel tightening unit comprises a control cabinet, a track wheel rack (3-3), a robot workstation (3-6), a bolt loading system (3-7) and a fixture quick change system (3-8); the control cabinet is respectively connected to the track wheel rack (3-3), the robot workstation (3-6), the bolt loading system (3-7), the fixture quick change system (3-8) and the AGV dispatching platform (6).

4. The large excavator longitudinal beam attachment assembly production line according to claim 3, characterized in that: A workstation guardrail (3-2) is installed on the workstation one (3), and one end of the bolt feeding system (3-7) is located outside the workstation guardrail (3-2).

5. The large excavator longitudinal beam attachment assembly production line according to claim 1, characterized in that: The truss tightening unit comprises a tightening machine (4-4) and a tightening machine servo controller (4-5), and the tightening machine servo controller (4-5) is respectively connected to the tightening machine (4-4) and the AGV dispatching platform (6); The tightening machine servo controller (4-5) controls the tightening machine (4-4) to move along the tightening truss (4-1) and tightens the rail clamp on the longitudinal beam located on the working platform (4-3).

6. The large excavator longitudinal beam attachment assembly production line according to claim 5, characterized in that: The tightening truss (4-1) is arranged on the outside of the working platform (4-3), a material placement rack (4-2) for placing the rail clamp is installed at one end of the tightening truss (4-1), and the tightening machine servo controller (4-5) is arranged on the outside of the other end.

7. The large excavator longitudinal beam attachment assembly production line according to claim 1, characterized in that: The assembly turning unit comprises a turning unit industrial computer (5-5) and a plurality of turning machines, and the turning unit industrial computer (5-5) is respectively connected to the turning machine and the AGV dispatching platform (6); The turning unit industrial control computer (5-5) controls the multiple turning machines to move along the turning machine track (5-1) and clamp the longitudinal beam, thereby completing the longitudinal beam turning work.

8. The large excavator longitudinal beam attachment assembly production line according to claim 7, characterized in that: The turning machine comprises a turning machine I (5-3) and a turning machine II (5-4) located at two ends of the longitudinal beam, and a guardrail (5-2) is arranged on the outer side of each turning machine.

9. The large excavator longitudinal beam attachment assembly production line according to claim 1, characterized in that: The AGV dispatching platform (6) comprises a plurality of AGVs and an AGV walking route (6-3), wherein the AGV walking route (6-3) is continuously arranged along the central axis of each workstation, and the AGV walks along the AGV walking route (6-3).

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