Automatic transferring and assembling system for working device
By combining flexible lifting devices, intelligent transfer trolleys, and intelligent hoists, along with sensors and control systems, the problems of low efficiency, insufficient precision, and poor safety in traditional transfer and assembly methods have been solved, achieving efficient and safe automated transfer and assembly of the working device.
Patent Information
- Application Number
- CN202520525801.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-24
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-03-24
AI Technical Summary
Traditional workpiece transfer and assembly methods are inefficient, inaccurate, and unsafe, especially when dealing with large workpieces with irregular shapes, making it difficult to achieve efficient, safe, and precise transfer and assembly.
By combining flexible lifting devices, intelligent transfer trolleys, intelligent hoists, and control systems, along with torque and displacement sensors, the system enables automated transfer and precise assembly of the working device. Through dual-axis fine-tuning and adaptive force balancing, the system ensures the stability and safety of the transfer process.
It has achieved efficient and automated transfer of working devices, improved assembly accuracy and safety, reduced manual labor intensity and production costs, and improved production efficiency and safety.
Smart Images
Figure CN223879338U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to engineering machinery assembly technical field relates to a working device automatic transfer assembly system. BACKGROUND
[0002] In the assembly workshop of engineering machinery, the transfer and assembly of working device is one of the key links in the production process. The working device usually includes large and heavy components such as boom and stick, and its weight often reaches several tons, and the shape is irregular, which puts forward higher requirements on the precision, safety and efficiency of transfer and assembly. However, the traditional transfer and assembly method has many defects, which is difficult to meet the needs of modern industrial production for high efficiency, safety and precision.
[0003] The traditional assembly method mainly relies on manual operation of the overhead crane to complete the transfer and hoisting of the working device. Specifically, the operator transfers the working device from the storage area to the assembly area by the overhead crane, and then carries out manual positioning and assembly. Because of the limited positioning accuracy of the overhead crane, and the large weight and volume of the working device, slight deviation in manual operation of the overhead crane will lead to inaccurate alignment of the docking hole, and even repeated adjustment of the position is needed. This inefficient operation not only consumes time and effort, but also increases the labor intensity of the operator. In addition, during the movement of the overhead crane, the operator usually determines the posture and position of the working device by visual judgment and personal experience, which lacks scientific basis and is difficult to ensure the assembly accuracy, especially when facing complex working conditions or large workpieces, the error is particularly obvious.
[0004] The design of the lifting appliance used in the traditional transfer method also has significant defects. Because the shape of the working device is usually irregular, the fixing method of the traditional lifting appliance is relatively simple, often only by simple clamping or hooking to fix the components. This fixing method is easy to cause the components to shake or even fall during the transfer process, which poses a potential threat to the safety of personnel and equipment in the workshop. For example, when the working device moves in the air, if the lifting appliance is unevenly stressed or the fixing point is designed unreasonably, it may cause the components to deviate or fall, and in severe cases it may even cause production accidents. In addition, the traditional lifting appliance has poor universality and cannot adapt to working devices of various specifications and models. In order to cope with components of different sizes, the workshop often needs to be equipped with multiple sets of lifting appliances, which not only increases the cost of equipment procurement and maintenance, but also occupies a large storage space, further increasing the complexity of operation.
[0005] On the other hand, the rail car is usually used for horizontal movement of parts in the traditional transfer system, but due to the limitation of the fixed track, the position adjustment capability of the working device is very limited after reaching the assembly station. In the actual assembly process, the accurate alignment of the pin shaft and the hole is the key to the assembly quality, but due to the limited movement range of the rail car and the limited movement ability of the engineering machinery itself, the operator often needs to repeatedly adjust the position of the machinery to realize the alignment. This adjustment process is not only inefficient, but also may cause damage to the parts or assembly failure due to improper operation. In addition, the traditional way has high safety risk when lifting large workpieces. For example, when the operator is working at a high altitude or adjusting heavy parts at a close distance, if the lifting appliance or the overhead crane fails, it may cause serious safety accidents. The existence of these problems leads to the current situation of low transfer efficiency, insufficient assembly precision and difficult to guarantee the safety of operation.
[0006] In recent years, with the wide application of automation technology in the industrial field, some enterprises try to introduce automated transfer equipment to improve the assembly process. For example, simple mechanical arms or automated trolleys are introduced to realize the transportation of parts, but these devices are often single-functioned and can only complete the basic transportation task, and it is difficult to realize the posture adjustment or accurate alignment of the working device during the transfer process. In addition, the existing automated equipment lacks sufficient flexibility and adaptability when facing irregularly shaped large workpieces, and cannot effectively solve the core problems in the traditional way. Therefore, it is urgent to develop a system that can realize efficient transfer and accurate assembly of working devices with high safety and versatility, in order to overcome the shortcomings of the existing technology and promote the further development of engineering machinery assembly technology. Practical new type content
[0007] Therefore, the purpose of the present application is to solve the above problems and provide a working device automatic transfer and assembly system to realize the efficiency, accuracy and safety of the working device during the transfer process.
[0008] To achieve the above purpose, the present application provides the following technical solutions:
[0009] A working device automatic transfer and assembly system, comprising a flexible lifting appliance, an intelligent transfer trolley, a track, an intelligent hoist and a control system.
[0010] The intelligent transfer trolley is arranged on the track and moves on the track driven by a motor; the upper part of the flexible lifting appliance is connected to the intelligent transfer trolley through two intelligent hoists, and the lower part of the flexible lifting appliance hangs the working device to be assembled; the intelligent hoist and the intelligent transfer trolley are connected with the control system; the control system changes the hanging posture of the working device by controlling the lifting height of each intelligent hoist, realizes the balance adjustment or assembly alignment adjustment of the working device.
[0011] Further, a torque sensor is arranged at the connection between the intelligent sling and the flexible lifting tool; the torque sensor is connected with the control system, the control system compares and analyzes the signal of the torque sensor with the preset target value or balance range, controls the intelligent sling to automatically adjust the lifting height, and ensures the balance and stability of the working device during the transfer process.
[0012] Further, a displacement sensor for monitoring the lifting height of the intelligent sling is arranged on the intelligent sling; the displacement sensor is connected with the control system, the control system compares and analyzes the lifting heights of the two intelligent slings according to the signal of the displacement sensor, and controls the intelligent slings to automatically adjust the lifting height respectively, so as to ensure the stability of the posture of the working device during the lifting process.
[0013] Further, the track comprises a fixed track and a movable track, and the intelligent transfer trolley is arranged on the movable track in a sliding mode; the movable track is connected with the fixed track through a track changing mechanism, and moves along the fixed track under the driving of the track changing mechanism.
[0014] Further, the track changing mechanism adopts an electric push rod to drive the movable track to move.
[0015] Further, the fixed track forms the Y-axis direction of the movement of the intelligent transfer trolley, and the movable track forms the X-axis direction of the movement of the intelligent transfer trolley; a driven wheel set is arranged in front of the walking driving wheel of the intelligent transfer trolley, an encoder is arranged on the driven wheel set, the encoder is used for accurately calculating the moving distance of the intelligent transfer trolley in the X-axis movement and for position correction, and a photoelectric sensor is arranged on the fixed track and used for obtaining the parking position of the intelligent transfer trolley in the Y-axis direction.
[0016] Further, the positioning accuracy of the intelligent transfer trolley in the Y-axis direction is ±2mm.
[0017] Further, the flexible lifting tool adopts a porous structure, and various sizes of working devices are hung through the holes.
[0018] The working device automatic transfer assembly system has the advantages that:
[0019] The working device automatic transfer assembly system has the advantages that:
[0020] 1. Efficient automatic transfer and flexible assembly are realized, and the production efficiency is improved.
[0021] The utility model discloses a through the synergic working of intelligent transfer trolley, flexible sling and intelligent gourd, realizes the full automation transfer of work device from storage area to assembly area.Compared with the secondary hoisting mode of traditional crane that relies on manual operation, the system can complete the carrying and positioning of parts without manual frequent intervention, and the waiting time and adjustment time in the transfer process are reduced significantly.Meanwhile, at the assembly station, the system supports flexible floating assembly, that is, through the dynamic height adjustment of intelligent gourd, the work device can flexibly adapt to different posture requirements in the assembly process.This automatic transfer and assembly mode not only shortens the production cycle, but also reduces the labor intensity, and provides strong support for the large-scale and efficient production of engineering machinery assembly workshop.
[0022] 2, self-adaptive force balance function, ensure the stability and safety of the transfer process
[0023] The utility model discloses the introduction high accuracy torque sensor and displacement sensor at the connection of intelligent gourd and flexible sling, and combines control system, and gives the unique function of self-adaptive force balance of system.In the lifting process, displacement sensor can monitor the lifting height of each intelligent gourd in real time, and will data transmission to control system, and control system compares and analyzes the height of each gourd, and dynamically adjusts the lifting height of each intelligent gourd, realizes the synchronous lifting of both sides gourd, guarantees the stability of workpiece posture in the lifting process.In the transfer process, torque sensor can monitor the stress state of each intelligent gourd in real time, and will data transmission to control system, and control system compares and analyzes the preset target value or balance range, and dynamically adjusts the lifting height of each intelligent gourd.For example, when the work device causes the stress of one side to be too large because of gravity center deviation, control system automatically reduces the height of this side, and improves the height of the side that is less stressed, to realize the dynamic balance of load.This self-adaptive adjustment mechanism effectively avoids the shaking or falling problem of traditional sling in the transfer process because of uneven stress, significantly reduces the risk of part falling, and guarantees the safety of workshop personnel and equipment.In addition, the intelligent algorithm model based on a large number of actual working conditions can continuously optimize control parameters according to real-time data, further improves the stability and reliability of the system, and provides technical support for the safe transfer of heavy work device.
[0024] 3, double shaft fine adjustment function, significantly improve the assembly alignment precision and operation convenience
[0025] The track system of the utility model has unique innovation design, including fixed track (Y axis direction) and moving track (X axis direction), and moving track is driven to move along fixed track through electric push rod, and realizes two-way fine adjustment of working device in X-Y plane by cooperating with intelligent transfer trolley.
[0026] 2mm), can carry out small range, high accuracy position adjustment to working device in assembly area. This double shaft fine adjustment function makes the alignment of root pin and hole more convenient and efficient, avoids the tedious operation of repeatedly adjusting the position of vehicle by operator, and greatly improves the assembly accuracy and operation convenience. Meanwhile, the encoder on the driven wheel set and the photoelectric sensor on the fixed track further enhance the accuracy of position detection, ensure the seamless connection of transfer and assembly process.
[0027] 4. The universal design of flexible lifting appliance reduces production cost and improves adaptability
[0028] The flexible lifting appliance in the utility model adopts multi-hole structure design, which can adapt to working devices of different sizes and models through multiple lifting holes, such as different specifications of boom or bucket rod. The traditional lifting appliance is usually designed for single model parts, when multiple working devices need to be assembled in the workshop, the lifting appliance must be frequently replaced, which not only increases the equipment procurement and maintenance cost, but also occupies additional storage space. The flexible lifting appliance of the utility model eliminates the need to frequently replace the lifting appliance through its universal design, and a set of lifting appliance can meet the assembly requirements of multiple types. This design not only reduces the production cost, but also simplifies the operation process, improves the application range and economic benefit of the system. In addition, the multi-hole structure ensures the stability of the lifting while having a certain flexibility, which can better adapt to irregularly shaped working devices, further improving the safety in the transfer process.
[0029] 5. Comprehensive improvement of assembly quality and production safety, promote the progress of industry technology
[0030] The utility model discloses a comprehensive application of automatic transfer, self-adaptive balance, double-shaft fine adjustment and general lifting appliance, which significantly improves the overall quality of work device assembly. In the traditional mode, the assembly precision depends on the experience of the operator, and the docking failure or component damage is easily caused by human error, and the intelligent control and accurate adjustment function of the utility model ensures the high-precision alignment of the pin shaft and the hole, and reduces the assembly failure rate. In addition, the system reduces manual intervention in the whole process of transfer and assembly, reduces the safety risk caused by high-altitude operation or heavy lifting, for example, the accident hidden danger caused by lifting appliance failure or operation error in the traditional mode. Through these improvements, the utility model not only optimizes the production process of the engineering machinery assembly workshop, but also provides a popular technical solution for the industry, and promotes the automation and intelligent development of assembly technology.
[0031] Other advantages, objects and features of the utility model will be described in the subsequent specification to some extent, and to some extent, it will be obvious to those skilled in the art based on the study of the following text or can be taught from the practice of the utility model. The objects and other advantages of the utility model can be realized and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS
[0032] In order to make the purpose, technical scheme and advantages of the utility model more clear, the preferred detailed description of the utility model will be combined with the drawings as follows, wherein:
[0033] Fig. 1 It is the front view of the automatic transfer assembly system of the working device in the utility model.
[0034] Fig. 2 It is the side view of the automatic transfer assembly system of the working device in the utility model.
[0035] Fig. 3 It is the plan view of the automatic transfer assembly system of the working device in the utility model.
[0036] The drawing mark: 1-intelligent transfer trolley;2-flexible lifting appliance;3-traveling motor;4-intelligent hoist;5-rail changing mechanism;6-moving rail;7-fixed rail. DETAILED DESCRIPTION
[0037] The embodiments of the present application will be described in detail below with specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present application. The present application can also be implemented or applied in other different specific embodiments, and various modifications or changes can be made to the details in the specification based on different views and applications without departing from the spirit of the present application. It should be noted that the drawings provided in the following examples only schematically illustrate the basic concept of the present application, and the following examples and features in the examples can be combined with each other without conflict.
[0038] The drawings are only used for exemplary illustration, and the representation is only a schematic diagram, not a physical diagram, and should not be understood as a limitation of the present application; in order to better illustrate the embodiments of the present application, some components in the drawings can be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some known structures and descriptions in the drawings can be omitted.
[0039] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and should not be understood as a limitation of the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.
[0040] Please refer to Figs. 1-3 It is an automatic transfer assembly system for a working device, comprising a flexible sling 2, an intelligent transfer trolley 1, a track, an intelligent sling 4, a control system; the intelligent transfer trolley 1 is installed on the track and moves on the track by a motor drive; the upper part of the flexible sling 2 is connected to the intelligent transfer trolley 1 by two intelligent slings 4 on the left and right, and the lower part of the flexible sling 2 hangs the working device to be assembled; the intelligent sling 4 and the intelligent transfer trolley 1 are connected with the control system; the control system changes the hanging posture of the working device by controlling the lifting height of each intelligent sling 4, realizes the balance adjustment or assembly alignment adjustment of the working device. The displacement sensor for monitoring the lifting height of the intelligent sling 4 is installed on the intelligent sling 4, which is used to realize the synchronous lifting of multiple intelligent slings 4.
[0041] The connection between the intelligent hoist 4 and the flexible lifting tool 2 is provided with a torque sensor; the torque sensor is connected with a control system, the control system compares and analyzes the signal of the torque sensor with a preset target value or balance range, controls the intelligent hoist 4 to automatically adjust the lifting height, and ensures the balance and stability of the working device in the transfer process.
[0042] The track includes a fixed track 7 and a moving track 6, and the intelligent transfer trolley 1 is slidingly arranged on the moving track 6; the moving track 6 is connected to the fixed track 7 through a track changing mechanism 5 and moves along the fixed track 7 under the driving of the track changing mechanism 5. The track changing mechanism 5 adopts an electric push rod to drive the moving track 6 to move.
[0043] The fixed track 7 forms the Y-axis direction of the movement of the intelligent transfer trolley 1, and the moving track 6 forms the X-axis direction of the movement of the intelligent transfer trolley 1; a driven wheel set is arranged in front of the walking driving wheel of the intelligent transfer trolley 1, and an encoder is arranged on the driven wheel set, which is used to accurately calculate the travel distance of the intelligent transfer in the X-axis movement process and is used for position correction. An optical sensor is arranged on the fixed track 7 to obtain the parking position of the intelligent transfer trolley 1 in the Y-axis direction.
[0044] The positioning accuracy of the intelligent transfer trolley 1 in the Y-axis direction is ±2mm.
[0045] The flexible lifting tool 2 adopts a porous structure and hangs various sizes of working devices through the holes.
[0046] In this embodiment, a high-precision torque sensor is arranged at the lifting point of the intelligent hoist 4, which can monitor the load in the lifting process in real time and feed back to the control system. After receiving the signal of the torque sensor, the control system compares and analyzes the preset target value or balance range. The control system calculates the corresponding adjustment strategy of the intelligent hoist 4 according to the deviation. For the side with large stress, the height of the object is reduced, and for the side with small stress, the height is correspondingly increased, so as to gradually realize the balance of lifting.
[0047] Specifically, the displacement sensor measures the lifting height of the two intelligent hoists 4 in real time and feeds back the signal to the control system. The control system compares the height difference between the two intelligent hoists 4, calculates the control amount by using the PID algorithm, and outputs the control amount to the frequency converter to adjust the rotating speed of the motor of the intelligent hoist 4, so as to control the lifting speed, and finally realize synchronous lifting.
[0048] The torque sensor detects the force state of the two intelligent hoists 4 in real time and compares the loads of the two intelligent hoists 4. When the load difference exceeds the set value, the system will issue an alarm and automatically adjust the height of the intelligent hoist 4 to eliminate the unbalanced load. During operation, the system controls the running speed by monitoring the torque change to ensure smooth running of the workpiece. If an abnormal load (such as workpiece falling or collision) is detected, the system will immediately stop running to ensure safety.
[0049] Based on a large number of actual working condition analysis, an intelligent algorithm model for force balance of the intelligent hoist 4 is established, which continuously corrects and optimizes the control parameters in real time according to the actual force sensor data and position sensor data, to ensure that the working device remains stable during transfer and improves the transfer efficiency and safety.
[0050] Through this design, the system not only realizes high-precision synchronous lifting control, but also effectively deals with unbalanced load and abnormal situations, improving the safety and stability of operation.
[0051] The specific use process is as follows:
[0052] 1. Preparation
[0053] Check the equipment status: confirm that the intelligent transfer trolley 1, track, intelligent hoist 4 and flexible hoist 2 are undamaged and firmly connected. Check that the control system power supply and signal connection are normal.
[0054] Install the working device: according to the size of the boom arm, select the appropriate hanging hole position on the multi-hole structure of the flexible hoist 2. Use the lifting tool to smoothly hang the boom arm under the flexible hoist 2, ensuring uniform distribution of the lifting points.
[0055] 2. System initialization
[0056] Start the control system: turn on the control system power supply and enter the operation interface. Select the "boom arm transfer" mode and input the target transfer position (X, Y coordinates).
[0057] Self-check and calibration: the system automatically runs the self-check program to check the status of the intelligent hoist 4, torque sensor and encoder. Confirm that the optical sensor on the track and the driven wheel group encoder are working normally for position correction.
[0058] 3. Transfer operation
[0059] Balance adjustment: after the system starts, the intelligent hoist 4 monitors the load of each lifting point in real time through the torque sensor. The control system automatically adjusts the lifting height of each intelligent hoist 4 according to the preset target value or balance range: the side with greater force is lowered in height; the side with less force is raised in height. After adjustment, the boom arm attitude reaches a balanced state, and the display screen prompts "balance ready".
[0060] Horizontal movement: input the transfer instruction, the intelligent transfer trolley 1 slides along the moving track 6 (X axis), and the moving track 6 moves along the fixed track 7 (Y axis) through the electric push rod. The encoder calculates the X axis travel distance, and the photoelectric sensor detects the Y axis parking position to ensure the positioning accuracy of ±2 mm.
[0061] Arriving at the target position: the intelligent transfer trolley 1 automatically stops after reaching the designated assembly position, and the control system prompts "arriving at the target point".
[0062] 4. Assembly alignment
[0063] If it is necessary to adjust the assembly angle of the boom arm, the height of each intelligent hoist 4 can be manually fine-tuned through the control system to realize alignment adjustment.
[0064] After confirming that the alignment is completed, the boom arm is unloaded, and the transfer assembly task is completed.
[0065] 5. System shutdown
[0066] After the transfer is completed, the power of the control system is turned off, the equipment state is checked, and the site is cleaned up.
[0067] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all should be covered in the scope of the claims of the present application.
Claims
1. An automated transfer assembly system for a work device, the system comprising: The device comprises a flexible sling, an intelligent transfer trolley, a track, an intelligent hoist, and a control system. The intelligent transfer trolley is arranged on the track and is driven by a motor to move on the track. The upper part of the flexible sling is connected to the intelligent transfer trolley through two intelligent hoists, and the lower part of the flexible sling is hung with a work device to be assembled. The intelligent hoist and the intelligent transfer trolley are connected to the control system. The control system controls the lifting height of each intelligent hoist to change the hanging posture of the work device, thereby achieving the balance adjustment or assembly alignment adjustment of the work device.
2. The work device automatic transfer assembly system of claim 1, wherein: A torque sensor is arranged at the connection between the intelligent hoist and the flexible sling. The torque sensor is connected to the control system. The control system compares and analyzes the signal of the torque sensor with a preset target value or balance range, controls the intelligent hoist to automatically adjust the lifting height, and ensures the balance and stability of the work device during the transfer process.
3. The work device automatic transport and assembly system of claim 1, wherein: A displacement sensor is arranged on the intelligent hoist to monitor the lifting height of the intelligent hoist. The displacement sensor is connected to the control system. The control system compares and analyzes the lifting height of the two intelligent hoists according to the signal of the displacement sensor, controls the intelligent hoist to automatically adjust the lifting height, and ensures the stability of the posture of the work device during the lifting process.
4. The work device automatic transport and assembly system of claim 1, wherein: The track comprises a fixed track and a movable track. The intelligent transfer trolley is arranged on the movable track. The movable track is connected to the fixed track through a track changing mechanism and moves along the fixed track under the drive of the track changing mechanism.
5. The work device automatic transfer assembly system of claim 4, wherein: The track changing mechanism adopts an electric push rod to drive the movable track to move.
6. The work device automatic transport and assembly system of claim 1, wherein: The fixed track forms the Y-axis direction of the movement of the intelligent transfer trolley, and the movable track forms the X-axis direction of the movement of the intelligent transfer trolley. A driven wheel set is arranged in front of the walking drive wheel of the intelligent transfer trolley. An encoder is arranged on the driven wheel set to accurately calculate the moving distance of the intelligent transfer trolley in the X-axis direction and to be used for position correction. A photoelectric sensor is arranged on the fixed track to obtain the parking position of the intelligent transfer trolley in the Y-axis direction.
7. The work device automatic transfer assembly system of claim 6, wherein: The positioning accuracy of the intelligent transfer trolley in the Y-axis direction is ±2 mm.
8. The work device automatic transfer assembly system of claim 1, wherein: The flexible sling adopts a multi-hole structure to hang work devices of various sizes through the holes.