Rotary assembly RGV

Abstract

The utility model discloses a rotary assembled RGV which comprises a frame, a walking driving system, a power supply system, a control system and a rotary supporting platform. The rotary supporting platform is provided with an electromagnetic adsorption supporting block, a slewing bearing, a driving motor and a rotary encoder, 360-degree rotation and accurate positioning of the frame can be achieved, and a workpiece is fixed through electromagnetic adsorption force. The walking driving system is provided with a mechanical clutch mechanism, and manual pushing emergency movement is supported. And the power supply system adopts non-contact power supply, so that the flexibility and safety are improved. The safety protection system comprises a laser radar and an electronic safety contact edge, and the protection range can be adjusted according to the workpiece size. The addressing positioning system is combined with RFID, a rotary encoder and a magnetic induction switch, and the positioning precision reaches + / -2mm. The control system supports three modes of single-machine remote control, automatic operation and system linkage. According to the utility model, the problems of difficulty in posture adjustment, low positioning precision and poor collaboration of the traditional RGV are solved, the assembling flexibility, efficiency and safety are improved, and the device is suitable for an engineering machinery general assembly line.

Description

Technical Field

[0001] This utility model belongs to the field of engineering machinery assembly technology, and relates to a rotary assembly RGV. Background Technology

[0002] In the construction machinery manufacturing sector, particularly in the final assembly lines of large construction machinery such as excavators and loaders, assembly efficiency and flexible production capabilities directly determine a manufacturer's core competitiveness. Currently, leading manufacturers generally use RGVs (Rail Guided Vehicles) or AGVs (Automated Guided Vehicles) as the primary automated transportation and assembly platforms in their final assembly line designs. These devices achieve automatic material and workpiece transfer through pre-set tracks or navigation systems, significantly improving the automation level of the production line. With the deepening of Industry 4.0 and the widespread application of intelligent manufacturing technologies, more and more intelligent assembly equipment is being introduced into production lines, such as articulated robots, gantry robots, and vision recognition systems. The introduction of these devices places higher demands on the flexibility and precision of assembly lines. However, traditional RGVs or AGVs have revealed many shortcomings in practical applications, limiting their deep integration with modern automated assembly technologies.

[0003] Traditional RGVs or AGVs typically employ a fixed frame design, resulting in extremely limited posture adjustment capabilities once the frame is mounted. Because the frame is primarily fixed by its own weight without effective limiting or suction mechanisms, relative movement between the frame and the RGV / AGV is prone to occur during assembly, especially under external forces or when automated equipment is operating. This movement not only affects the stability of the assembly posture but can also lead to a decrease in positioning accuracy. This deficiency is particularly pronounced in workstations requiring high positioning accuracy, such as bolt tightening operations that demand precise alignment. Furthermore, the posture adjustment of traditional RGVs or AGVs relies mainly on manual intervention or external mechanical devices, resulting in poor flexibility and an inability to quickly adapt to the needs of different workpieces or assembly stations. This rigid design makes it difficult to meet the diverse and personalized production requirements of modern flexible manufacturing.

[0004] Meanwhile, with the widespread adoption of automated assembly equipment, assembly lines are placing higher demands on the collaborative operation capabilities of RGVs or AGVs. For example, articulated robots need to perform grasping or assembly actions at specific angles and positions, but the frames of traditional RGVs or AGVs cannot achieve 360° rotation or precise positioning, resulting in limited robot operation and hindering further improvements in assembly efficiency. Furthermore, traditional RGV power supply systems often employ contact-based methods, such as sliding contact lines or cable chains. These methods are prone to power instability due to poor contact or wear during long-term operation, and they also incur high maintenance costs, limiting the flexibility of production line layout. On the other hand, traditional RGVs have relatively simple safety protection measures, typically relying only on mechanical limits or simple infrared sensors, which cannot dynamically adjust the protection range according to workpiece size, posing certain safety hazards.

[0005] In terms of drive and positioning, traditional RGVs mostly employ fixed-connection designs for their walking drive systems, lacking flexible clutch mechanisms. When equipment malfunctions or the electronic control system fails, the RGV cannot be moved manually, easily causing production line stagnation or even blockage, further impacting production efficiency. Furthermore, the positioning accuracy of traditional RGVs typically relies on a single encoder or magnetic strip navigation, resulting in significant positioning errors that fail to meet the demands of high-precision assembly. For example, in excavator chassis assembly, millimeter-level positioning accuracy is required to ensure the smooth operation of subsequent processes. These issues limit the application of traditional RGVs or AGVs in modern automated assembly lines, preventing them from fully leveraging their advantages as automated transport tools.

[0006] In summary, traditional RGVs or AGVs have significant shortcomings in terms of flexible adjustment, positioning accuracy, safety, and coordination with intelligent assembly equipment, limiting further improvements in the overall production efficiency of the assembly workshop. Therefore, developing a new type of RGV that combines assembly flexibility, high assembly efficiency, excellent positioning accuracy, and seamless integration with the final assembly line has become a key research focus in the field of engineering machinery manufacturing. This new RGV needs to address the technical bottlenecks of traditional equipment in areas such as attitude adjustment, power control, and safety protection through innovative structural design and control systems, thereby driving the assembly line towards intelligent and flexible development. Utility Model Content

[0007] In view of this, the purpose of this utility model is to solve the above problems and provide a rotary assembly RGV to overcome the limitations of traditional RGVs in terms of assembly flexibility, positioning accuracy and collaborative operation capability.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A rotary assembly RGV includes an RGV frame, a driving system, a power supply system, and a control system; the driving system is mounted on the RGV frame and is used to drive the RGV frame to move; the RGV frame is provided with a rotary support platform, and the rotary support platform, the driving system, and the power supply system are all connected to the control system.

[0010] The rotating support platform includes an electromagnetic adsorption support block, a slewing bearing, a drive motor, and a rotary encoder. The electromagnetic adsorption support block is rotatably connected to the RGV frame via the slewing bearing. The electromagnetic adsorption support block is used to support the workpiece to be assembled, and its electromagnetic adsorption force is controlled by changing the current of the electromagnetic adsorption support block. The drive motor is connected to the slewing bearing for driving its rotation, and the rotation angle is controlled by the rotary encoder.

[0011] Furthermore, the walking drive system includes an active wheel train, a driven wheel train, a drive motor, a mechanical clutch mechanism, and a rotary encoder; the active wheel train is connected to the drive motor via sprockets and chains, and the mechanical clutch mechanism is located at the output end of the drive motor. By manipulating the disengagement or engagement of the mechanical clutch mechanism, the output and cut-off of power are controlled; the rotary encoder is installed on the driven wheel train for calculating and providing feedback on the running distance.

[0012] Furthermore, the mechanical clutch mechanism includes a spring push rod, a meshing follower gear, a clutch power gear, a clutch lever, and a screw fork mechanism; one end of the spring push rod is connected to the drive motor, and the other end is fitted with the clutch power gear, which slides along the axial direction of the spring push rod; one end of the meshing follower gear is connected to the drive gear train, and the other end is separably meshed with the clutch power gear; the screw fork mechanism is arranged parallel to the spring push rod and is connected to the clutch power gear through the clutch lever, driving the clutch power gear to move axially, thereby realizing the meshing and disengagement of the meshing follower gear and the clutch power gear.

[0013] Furthermore, the RGV also includes a safety protection system connected to the control system. This safety protection system is a two-level safety protection system, including lidar and electronic safety touch edges installed at the front and rear of the RGV. The lidar constitutes the first-level protection system, which automatically adjusts the protection range according to different frame sizes to detect obstacles in the direction of travel and avoid collisions. The electronic safety touch edges constitute the second-level protection system for collision protection of the RGV after the lidar fails.

[0014] Furthermore, the RGV also includes an addressing and positioning system, which includes an RFID system, a rotary encoder, and a magnetic induction switch. The RFID system records, identifies, and stores information on stopping points and workstation operations. The rotary encoder is used to calculate the travel path and stopping points, and to control and correct the travel distance in real time. The magnetic induction switch is used for precise positioning of the workstation by identifying the signal transmitter at the stopping point.

[0015] Furthermore, the positioning accuracy of the RGV is ±2mm through the addressing and positioning system.

[0016] Furthermore, the control system includes a PLC, a frequency converter, a wireless network module, a remote control module, a power conversion system, and a low-voltage system, realizing three modes: single-unit remote control, automatic operation control, and system linkage control.

[0017] Furthermore, the power supply system is a contactless power supply system. An induction cable is laid along the operating path of the RGV, a power take-up board is installed at the bottom of the RGV, and a power converter is installed in the power conversion system. Through contactless induction between the power take-up board and the induction cable, the 50KHz intermediate frequency electricity on the induction cable is transmitted to the control system for use.

[0018] The beneficial effects of this utility model are as follows:

[0019] 1. The RGV rotary support platform is equipped with electromagnetic adsorption support blocks. Through the magnetic effect of the current, it can prevent the frame from moving when subjected to external forces, ensuring the consistency of the assembly posture. At the same time, it can automatically adjust the current and adjust the electromagnetic adsorption force according to the weight of different workpieces.

[0020] This invention's rotating support platform significantly improves the stability of the chassis on the RGV through the design of electromagnetic adsorption support blocks. Traditional RGVs typically rely solely on the weight of the chassis for support, lacking effective fixing measures. During assembly, especially under external forces (such as robotic arm operation or workpiece adjustment), the chassis is prone to slippage or displacement, leading to decreased assembly accuracy. This invention utilizes the principle of electromagnetic adsorption, generating adjustable adsorption force by controlling the current. This not only firmly fixes the chassis and prevents relative movement but also dynamically adjusts the adsorption force according to the weight and size of different workpieces. This adaptive adjustment capability ensures the consistency of the chassis posture in different assembly scenarios, making it particularly suitable for workstations requiring high positioning accuracy in the assembly of large construction machinery such as excavators. For example, when the chassis and upper frame are docked, the electromagnetic adsorption support blocks ensure that the chassis remains in a preset position, avoiding assembly failures or rework due to posture deviations, thereby improving production efficiency and product quality.

[0021] 2. The RGV rotary support platform, through the configuration of slewing bearing, rotary encoder and drive motor, can realize 360° free rotation and precise positioning of the frame, meeting the assembly requirements of different angles in the subsequent assembly process.

[0022] This invention's rotary support platform, through the cooperation of a slewing bearing and a drive motor, endows the RGV frame with the ability to rotate freely 360°, and achieves high-precision angle control by combining a rotary encoder. Traditional RGV frame attitude adjustment typically relies on manual operation or external mechanical devices, resulting in low efficiency and poor flexibility. This invention, however, can adjust the frame angle in real time during assembly according to the needs of different workstations (such as welding, bolt tightening, or component installation). For example, at the excavator support wheel installation station, the robot may need to grasp and position from multiple angles. This invention's rotary support platform can quickly adjust the frame to the optimal angle, reducing auxiliary adjustment time and improving the operational efficiency of automated equipment. Furthermore, the application of the rotary encoder ensures the accuracy of angle control, avoiding assembly errors caused by angle deviations, thereby significantly improving flexible production capabilities and the overall synergy of the assembly line.

[0023] 3. The RGV drive system is equipped with a mechanical clutch. The engagement and disengagement of the mechanical clutch control the output and cut-off of power. When the RGV cannot be driven by the electronic control system due to a malfunction, the RGV can be manually pushed to avoid blocking the assembly line.

[0024] This invention introduces a mechanical clutch mechanism into the walking drive system, a design that greatly enhances the emergency handling capability and production continuity of the RGV. Traditional RGV drive systems are typically fixed connections; if the electrical control system or motor fails, the RGV can only remain on the track, unable to move, easily leading to assembly line shutdowns or even complete production stoppages. However, the mechanical clutch in this invention, through the coordinated action of a spring push rod, engaging follower teeth, and a screw fork mechanism, can quickly cut off power output when needed, allowing the RGV to enter a free state. At this point, workers can manually push the faulty RGV off the production line, avoiding production congestion. For example, in a high-load excavator assembly line, if an RGV stops due to a power supply or control system failure, the application of the mechanical clutch ensures that the production line can quickly resume normal operation, reducing downtime losses and improving equipment reliability and production line stability.

[0025] 4. The RGV power supply system adopts a non-contact power supply system, which makes the production line layout more flexible, the power supply efficiency higher, and the maintenance cost lower. It also reduces the risk of maintenance personnel working near live equipment and improves safety.

[0026] This invention employs a non-contact power supply system, which offers significant advantages over traditional RGV (Remotely Resistant Power Supply) systems using sliding contact lines or cable drag chains. Non-contact power supply eliminates the need for physical electrical connections, preventing power outages caused by poor contact, wear, or aging, and resulting in more stable power supply efficiency. Simultaneously, this design allows for more flexible production line layouts, eliminating the need for complex power supply lines along tracks, making it more adaptable and particularly suitable for multi-station, complex assembly workshops. Furthermore, the non-contact power supply system reduces the maintenance requirements of electrical contact components found in traditional power supply methods, such as periodic inspections of sliding contact line wear or cable replacement, lowering subsequent maintenance costs. More importantly, maintenance personnel do not need to frequently contact live equipment, significantly reducing the time and risk of working in high-risk areas and improving the overall safety of the production line. For example, in humid or dusty assembly environments, the non-contact power supply system effectively avoids electrical faults caused by environmental factors, further ensuring the reliability of equipment operation.

[0027] 5. The lidar configured in the RGV safety protection system can automatically adjust the protection distance according to the different shapes and sizes of the workpieces, thus enhancing safety.

[0028] This utility model's safety protection system adopts a two-tier protection design. The first-tier protection consists of a lidar system that can dynamically adjust the protection range according to the dimensions of the vehicle frame or workpiece. Traditional RGV safety protection often relies on fixed-distance infrared sensors or mechanical limits, which cannot adapt to the protection needs of workpieces of different sizes, posing a collision risk. In contrast, the lidar system in this utility model, through real-time scanning and intelligent algorithms, can identify obstacles in the direction of travel and automatically optimize the protection distance based on the workpiece size. For example, when transporting a large excavator chassis, the lidar automatically expands the protection range to ensure a safe distance from equipment or personnel ahead; when transporting smaller parts, it appropriately reduces the protection range to improve operational efficiency. This adaptive protection capability significantly reduces the probability of collision accidents, ensuring the safety of personnel and equipment, and is particularly suitable for high-density, high-dynamic automated assembly environments.

[0029] 6. The RGV addressing and positioning system adopts RFID addressing, rotary encoder correction and correction, and magnetic induction switch precise stopping control method, which makes the station identification more accurate and the positioning accuracy can reach ±2mm.

[0030] This invention's addressing and positioning system achieves high-precision station identification and positioning through the coordinated operation of RFID, rotary encoders, and magnetic induction switches. Traditional RGV positioning systems often rely on a single magnetic strip or encoder, with positioning errors typically on the centimeter level, making it difficult to meet the demands of high-precision assembly. This invention, however, uses an RFID system to record and identify workstation information, a rotary encoder to calculate and correct the travel path in real time, and a magnetic induction switch to achieve precise positioning by identifying the workstation transmitter, ultimately improving the positioning accuracy to ±2mm. For example, in critical workstations on an excavator assembly line (such as slewing bearing installation), a positioning accuracy of ±2mm ensures precise docking of the chassis with automated equipment, preventing assembly failures due to positioning deviations. This high-precision positioning capability not only improves assembly quality but also enhances the synergy between the RGV and intelligent assembly equipment, promoting the level of intelligence in the production line.

[0031] 7. The RGV control system is more flexible. Under system linkage, multiple RGVs can achieve three operating modes: forced assembly line mode, multi-unit synchronous operation mode, and single-station assembly line mode.

[0032] This invention's control system integrates a PLC, frequency converter, and wireless network module, achieving highly flexible operation mode switching. Traditional RGV control systems are typically relatively simple and difficult to adapt to diverse production needs. This invention, however, supports three modes: single-unit remote control, automatic operation control, and system-linked control, allowing for flexible adjustments based on production plans. For example, during peak production periods, multiple RGVs can enter a forced assembly line mode through system linkage to ensure rapid workpiece turnover; during debugging or small-batch production, they can switch to a single-station assembly line mode to focus on optimizing a specific process; and when collaborative work is required, multiple RGVs can operate synchronously to ensure consistent assembly rhythm. This multi-mode operation capability significantly improves the adaptability and efficiency of the production line, making it particularly suitable for the flexible production needs of multi-variety, small-batch manufacturing in engineering machinery.

[0033] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0035] Figure 1 This is the front view of the rotary assembly RGV in this utility model.

[0036] Figure 2 This is a top view of the rotary assembly RGV in this utility model.

[0037] Figure 3 This is a schematic diagram of the mechanical clutch mechanism in this utility model.

[0038] Attached icons: 1-RGV frame; 2-Swivel support platform; 3-Power supply system; 4-Electromagnetic adsorption support block; 5-Driven wheel system; 6-Safety system; 7-Drive motor; 8-Slewing bearing; 9-Control system; 11-Drive wheel system; 12-Screw shift fork mechanism; 13-Meshing follower gear; 14-Clutch power gear; 15-Spring push rod. Detailed Implementation

[0039] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and descriptions in the drawings may be omitted.

[0041] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0042] Please see Figures 1-3This embodiment provides a rotary assembly RGV for excavator chassis assembly. The RGV includes an RGV frame 1, a rotary support platform 2, a power supply system 3, a travel drive system 9, a control system 9, and a safety protection system 6. Taking an excavator assembly workshop undercarriage assembly production line as an example:

[0043] The functions and roles of each structural and functional module are as follows:

[0044] RGV Frame 1: It adopts a high-strength steel frame, which serves as the main structure of the RGV, bearing the lower frame and various functional modules, and ensuring stability under heavy loads.

[0045] Rotary support platform 2: Installed on the top of RGV frame 1, including electromagnetic adsorption support block 4, slewing bearing 8, drive motor 7 and rotary encoder.

[0046] Electromagnetic adsorption support block 4: It uses electromagnetic force to adsorb the lower frame, and its function is to fix the workpiece and prevent it from sliding during assembly due to external forces such as the operation of a robotic arm, thus ensuring consistent posture.

[0047] Slewing bearing 8: Connects the electromagnetic adsorption support block 4 to the frame, and its function is to support the rotating parts and achieve 360° free rotation.

[0048] Drive motor 7: Drives slewing bearing 8 through gears. Its function is to provide rotational power and adjust the angle of the lower frame to adapt to the needs of different work positions.

[0049] Rotary encoder: It monitors the rotation angle in real time and provides feedback angle data to ensure rotation accuracy and meet precise positioning requirements.

[0050] Power supply system 3: This is a non-contact power supply system. An induction cable is laid along the operating path of the RGV, and a power take-up board is installed at the bottom of the RGV. A power converter is installed in the power conversion system. Through non-contact induction between the power take-up board and the induction cable, the 50KHz intermediate frequency electricity on the induction cable is transmitted to the control system for use. Its function is to provide stable and efficient power support for the RGV and avoid the wear and maintenance problems of contact power supply.

[0051] Walking drive system: including driving wheel train 11, driven wheel train 5, drive motor 7, mechanical clutch mechanism and rotary encoder.

[0052] Drive wheel system 11: Connected to drive motor 7 via chain, its function is to transmit power and drive RGV to move along the track.

[0053] Driven wheel system 5: Assists in support and movement, its function is to enhance vehicle stability and work in conjunction with the drive wheel.

[0054] Drive motor 7: Drives the active wheel system 11, and its function is to provide walking power and ensure that the RGV runs along the predetermined path.

[0055] Mechanical clutch mechanism such as Figure 3 As shown: It includes a spring push rod 15, a meshing follower tooth 13, a clutch power tooth 14, a clutch lever and a screw fork mechanism 12. Its function is to control power output and cut off, support manual movement of the RGV in case of failure, and avoid production line blockage.

[0056] Rotary encoder: Installed on driven gear train 5, its function is to measure the running distance and feed back the data to assist in positioning control.

[0057] Control System 9: Integrates PLC, frequency converter, wireless network module and remote control module. Its function is to coordinate the operation of each module and support three modes: stand-alone remote control, automatic operation and system linkage.

[0058] Safety protection system 6: includes lidar and electronic safety touches installed at the front and rear of the vehicle.

[0059] LiDAR: Detects obstacles in the direction of travel and automatically adjusts the protection range according to the size of the underframe to prevent collisions.

[0060] Electronic safety edge: As a secondary protection, its function is to trigger an emergency stop in the event of lidar failure, ensuring safety.

[0061] Addressing and positioning system: includes RFID module, rotary encoder and magnetic induction switch.

[0062] RFID module: Records workstation and operation information. Its function is to identify the station and store data to facilitate workstation management.

[0063] Rotary encoder: calculates the travel path and corrects deviations in real time to ensure accurate travel distance.

[0064] Magnetic induction switch: Identification station transmitter, its function is to achieve precise positioning with an accuracy of ±2mm.

[0065] Features:

[0066] The rotary assembly RGV of this embodiment is specifically designed for assembling the underframe of an excavator and has the following functional features:

[0067] High stability fixing: The electromagnetic adsorption support block 4 firmly fixes the lower frame with adjustable electromagnetic force, adapting to its large weight and complex structure.

[0068] Flexible posture adjustment: The rotating support platform 2 enables the underframe to rotate 360°, meeting the multi-angle requirements of workstations such as track installation and walking motor assembly.

[0069] High-precision positioning: The addressing and positioning system ensures that the RGV stops at each workstation with an accuracy of ±2mm, facilitating integration with automated equipment.

[0070] Emergency response capability: The mechanical clutch mechanism supports manual operation, ensuring production line continuity.

[0071] Safe and efficient: Non-contact power supply and a two-level safety protection system enhance operational safety and efficiency.

[0072] Work process:

[0073] Undercarriage loading: The undercarriage is hoisted and placed on the electromagnetic adsorption support block 4. The control system 9 adjusts the current according to the weight of the undercarriage, which is about 5 tons, so that the electromagnetic adsorption support block 4 generates sufficient adsorption force to fix the workpiece.

[0074] Transfer to workstation: The walking drive system starts, and the drive motor 7 drives the RGV to move along the track to the track installation workstation via the active wheel train 11. The rotary encoder on the driven wheel train 5 provides real-time distance feedback, the RFID module identifies the workstation information, the magnetic induction switch detects the transmitter, and the RGV stops precisely with a positioning error ≤ ±2mm.

[0075] Attitude adjustment: After reaching the work station, the drive motor 7 drives the slewing bearing 8 to rotate the lower frame 90° to align with the track installation position, and the rotary encoder ensures accurate angle.

[0076] Safety monitoring: The lidar in the safety protection system 6 adjusts the protection range to 5 meters according to the size of the underframe, which is about 3 meters long. It detects robots or people in front and slows down if there is an obstacle. The electronic safety touch edge serves as a backup protection.

[0077] Assembly and Emergency Handling: After the robot completes the track installation, the RGV continues to the next workstation. If the power supply system 3 fails, the operator uses the screw fork mechanism 12 to separate the clutch power gear 14 from the meshing follower gear 13, and manually pushes the RGV to the maintenance area, where the wireless charging module automatically charges.

[0078] Application effect:

[0079] This embodiment, in the excavator underframe assembly production line, significantly improves assembly efficiency and quality through electromagnetic adsorption fixing, high-precision positioning, and flexible rotation. Mechanical clutch and safety protection designs ensure production continuity and safety, and the positioning accuracy of ±2mm meets the requirements for collaborative operation with robots, making it suitable for modern assembly workshops.

[0080] This embodiment achieves efficient chassis transfer and precise assembly through the coordinated operation of various modules, with a positioning accuracy of ±2mm.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A rotary assembly RGV, characterized in that: It includes an RGV frame, a driving system, a power supply system, and a control system; the driving system is mounted on the RGV frame and is used to drive the RGV frame to move; the RGV frame is equipped with a rotating support platform, and the rotating support platform, the driving system, and the power supply system are all connected to the control system; The rotating support platform includes an electromagnetic adsorption support block, a slewing bearing, a drive motor, and a rotary encoder. The electromagnetic adsorption support block is rotatably connected to the RGV frame via the slewing bearing. The electromagnetic adsorption support block is used to support the workpiece to be assembled, and its electromagnetic adsorption force is controlled by changing the current of the electromagnetic adsorption support block. The drive motor is connected to the slewing bearing for driving its rotation, and the rotation angle is controlled by the rotary encoder.

2. The rotary assembly RGV according to claim 1, characterized in that: The walking drive system includes a driving wheel train, a driven wheel train, a drive motor, a mechanical clutch mechanism, and a rotary encoder. The driving wheel train is connected to the drive motor via sprockets and chains. The mechanical clutch mechanism is located at the output end of the drive motor. By manipulating the disengagement or engagement of the mechanical clutch mechanism, the output and cut-off of power are controlled. The rotary encoder is installed on the driven wheel train for calculating and providing feedback on the running distance.

3. The rotary assembly RGV according to claim 2, characterized in that: The mechanical clutch mechanism includes a spring push rod, a following gear, a clutch power gear, a clutch lever, and a screw fork mechanism. One end of the spring push rod is connected to a drive motor, and the other end is fitted with the clutch power gear, which slides along the axial direction of the spring push rod. One end of the following gear is connected to the drive gear train, and the other end is separably engaged with the clutch power gear. The screw fork mechanism is arranged parallel to the spring push rod and is connected to the clutch power gear through the clutch lever, driving the clutch power gear to move axially, thereby realizing the engagement and disengagement of the following gear and the clutch power gear.

4. The rotary assembly RGV according to claim 1, characterized in that: The RGV also includes a safety protection system connected to the control system. The safety protection system is a two-level safety protection system, which includes lidar and electronic safety touch edges installed at the front and rear of the RGV. The lidar constitutes the first-level protection system, which automatically adjusts the protection range according to different frame sizes to detect obstacles in the running direction and avoid collisions. The electronic safety touch edges constitute the second-level protection system for collision protection of the RGV after the lidar fails.

5. The rotary assembly RGV according to claim 1, characterized in that: The RGV also includes an addressing and positioning system, which includes an RFID system, a rotary encoder, and a magnetic induction switch. The RFID system records, identifies, and stores information on stopping points and workstations. The rotary encoder is used to calculate the travel path and stopping points, and to control and correct the travel distance in real time. The magnetic induction switch is used for precise positioning of the workstation by identifying the transmitter at the stopping point.

6. The rotary assembly RGV according to claim 5, characterized in that: The positioning accuracy of the RGV is ±2mm using the addressing and positioning system.

7. The rotary assembly RGV according to claim 1, characterized in that: The control system includes a PLC, frequency converter, wireless network module, remote control module, power conversion system, and low-voltage system, realizing three modes: single-unit remote control, automatic operation control, and system linkage control.

8. The rotary assembly RGV according to claim 7, characterized in that: The power supply system is a contactless power supply system. An induction cable is laid along the running path of the RGV, and a power take-up board is set at the bottom of the RGV. A power converter is set in the power conversion system. Through contactless induction between the power take-up board and the induction cable, the 50KHz medium frequency electricity on the induction cable is transmitted to the control system for use.

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