Automatic assembling device for container top cover

Abstract

The utility model provides an automatic container top cover assembling device, a cache conveying mechanism comprises a conveying rack and a conveying chain line, the conveying chain line is assembled on the conveying rack and is configured to be used for conveying a top cover assembly, and a visual positioning mechanism is configured to be used for obtaining space positioning data of the top cover assembly; the hoisting grabbing mechanism comprises a hoisting rack, a hoisting displacement assembly and a hoisting device, the hoisting displacement assembly is movably assembled on the hoisting rack, the hoisting device is arranged on the hoisting displacement assembly, and the hoisting displacement assembly is configured to be used for moving the hoisting device relative to the hoisting rack according to the spatial positioning data; the hoisting device is configured to be used for hoisting the top cover assembly. Therefore, the stability of hoisting, moving and assembling of the top cover assembly can be ensured, and manual adjustment and positioning by additional personnel are not needed. Based on the visual positioning mechanism and the hoisting grabbing mechanism, automatic positioning and stable grabbing can be achieved, automatic assembling is achieved, therefore, the assembling efficiency is improved, and the manual operation time and the number of operators are reduced.

Description

Technical Field

[0001] This application relates to the field of energy storage technology, and in particular to an automated container top cover assembly device. Background Technology

[0002] The top cover assembly is the steel structure assembly of the five sides of the energy storage flow battery product container, excluding the steel chassis, as well as the pre-installed wiring ducts, cables, components, etc. When assembling the top cover assembly of the flow battery power module container manually, a crane is typically used. Personnel must first climb onto the top of the top cover assembly to connect to the lifting points before lifting. Simultaneously, tow ropes are used to stabilize the four corners of the bottom of the top cover assembly, preventing collisions with components already installed on the container chassis during placement. Alignment is then gradually adjusted manually before assembly. Therefore, the above assembly process is cumbersome, time-consuming, requires a large number of personnel, is inefficient, and poses safety risks associated with working at height. Utility Model Content

[0003] Therefore, it is necessary to provide an automatic container top cover assembly device to address the aforementioned technical problems.

[0004] This application provides an automatic container top cover assembly device, the automatic container top cover assembly device comprising:

[0005] A buffer conveying mechanism, comprising a conveyor frame and a conveyor chain, the conveyor chain being assembled to the conveyor frame and configured to convey the top cover assembly;

[0006] A visual positioning mechanism, configured to acquire spatial positioning data of the top cover assembly;

[0007] A hoisting and gripping mechanism includes a hoisting frame, a hoisting displacement assembly, and a hoisting device. The hoisting displacement assembly is movably mounted on the hoisting frame, and the hoisting device is disposed on the hoisting displacement assembly. The hoisting displacement assembly is configured to move the hoisting device relative to the hoisting frame according to the spatial positioning data. The hoisting device is configured to hoist the top cover assembly.

[0008] In one embodiment, the container top cover automatic assembly device includes:

[0009] A collection area, configured to collect several top cover assemblies to be processed;

[0010] An assembly area configured for positioning the top cover assembly;

[0011] The buffer conveying mechanism has a conveyor chain with a beginning end and a end end. The conveyor chain is configured to convey the top cover assembly between the beginning end and the end end. The beginning end is connected to the collection area, and the end end is connected to the assembly area.

[0012] In one embodiment, the visual positioning mechanism includes a visual positioning frame, a visual displacement component, and a visual recognition device. The visual displacement component is movably mounted on the visual positioning frame, and the visual recognition device is disposed on the visual displacement component. The visual displacement component is configured to move the visual recognition device relative to the visual positioning frame, and the visual recognition device is configured to acquire spatial positioning data of the top cover assembly.

[0013] In one embodiment, the visual displacement component includes a first X-axis truss, a first Y-axis truss, and a first Z-axis truss. The first X-axis truss is movably mounted to the first Y-axis truss along the Y-axis direction, the first Z-axis truss is movably mounted to the first X-axis truss along the X-axis direction, and the visual recognition device is movably mounted to the first Z-axis truss along the Z-axis direction.

[0014] In one embodiment, the hoisting displacement assembly includes a second X-axis truss, a second Y-axis truss, and a second Z-axis truss. The second X-axis truss is movably mounted to the second Y-axis truss along the Y-axis direction, the second Z-axis truss is movably mounted to the second X-axis truss along the X-axis direction, and the hoisting device is movably mounted to the second Z-axis truss along the Z-axis direction.

[0015] In one embodiment, the hoisting displacement assembly includes a flexible gripping mechanism disposed on the hoisting device, the hoisting device being configured to grip the top cover assembly via the flexible gripping mechanism.

[0016] In one embodiment, the container top cover automatic assembly device includes:

[0017] A safety guardrail is provided, which is equipped with a safety light curtain; wherein the buffer conveying mechanism, the visual positioning mechanism, the hoisting and grabbing mechanism, the collection area and the assembly area are all located within the safety guardrail.

[0018] In one embodiment, a maintenance access is provided in the safety barrier.

[0019] In one embodiment, the container top cover automatic assembly device includes:

[0020] A lighting system is installed within the safety railing.

[0021] In one embodiment, the container top cover automatic assembly device includes:

[0022] The main control cabinet is located within the safety guardrail and is controlled and connected to at least one of the buffer conveying mechanism, the visual positioning mechanism, and the hoisting and grasping mechanism.

[0023] In the aforementioned automated container roof assembly device, the automated container roof assembly device of this application can ensure the stability of the roof assembly during lifting, movement, and assembly, without the need for additional personnel to manually adjust and position it. Based on the vision positioning mechanism and the lifting and gripping mechanism, automatic positioning and stable gripping can be achieved, realizing automated assembly, thereby improving assembly efficiency and reducing manual operation hours and the number of workers. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of an automatic container top cover assembly device provided in one embodiment of this application.

[0025] Icon labels:

[0026] 1000, Buffer conveying mechanism; 2000, Visual positioning mechanism; 3000, Lifting and grasping mechanism. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0028] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0029] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0033] See Figure 1As shown, this application provides an automatic container top cover assembly device, which includes a buffer conveying mechanism 1000, a vision positioning mechanism 2000, and a lifting and gripping mechanism 3000. The buffer conveying mechanism 1000 includes a conveyor frame and a conveyor chain, the conveyor chain being mounted on the conveyor frame and configured to convey the top cover assembly. The vision positioning mechanism 2000 is configured to acquire spatial positioning data of the top cover assembly. Depending on assembly requirements, the spatial positioning data acquired by the vision positioning mechanism 2000 can include various types and multiple locations of relevant data related to the top cover assembly. The lifting and gripping mechanism 3000 is electrically connected to the vision positioning mechanism 2000. The lifting and gripping mechanism 3000 includes a lifting frame, a lifting displacement assembly, and a lifting device. The lifting displacement assembly is movably mounted on the lifting frame, and the lifting device is disposed on the lifting displacement assembly. The lifting displacement assembly is configured to move the lifting device relative to the lifting frame according to the spatial positioning data, and the lifting device is configured to lift the top cover assembly.

[0034] The visual positioning mechanism 2000 can be equipped with a multi-axis synchronous mode. Through multiple visual positioning detection mechanisms at different positions, it can determine different assembly targets, realize the positioning detection of multiple products with different lengths, widths, and heights, and guide the truss to accurately grasp the top cover assembly. Thus, the multi-axis synchronous mode of the aforementioned visual positioning mechanism 2000 can be used to realize the positioning detection of two products with different lifting tools and different length, width, and height requirements, and guide the truss to accurately grasp the top cover.

[0035] Furthermore, in one embodiment, a positioning mechanism can be simultaneously installed. This positioning mechanism incorporates mechanical and software anti-sway technologies, as well as multiple positioning techniques, to ensure the stability of the lifting and gripping mechanism 3000 during the picking, placing, and moving of the top cover assembly. For example, on a product with a total length of 8m, it achieves an anti-sway accuracy of ±1.0° and a left-right swing accuracy of ±2.45mm. Mechanical anti-sway refers to preventing the top cover assembly from swaying during assembly through mechanical structures such as pins and guides. Software anti-sway refers to using software programs to calculate and adaptively adjust parameters such as speed and position during the automatic assembly process, reducing the swaying of the top cover assembly during assembly.

[0036] In one embodiment, the automated container roof assembly device includes a collection area and an assembly area. The collection area is configured to collect several roof assemblies to be processed, and the assembly area is configured to position the roof assemblies. Therefore, several roof assemblies can be pre-collected and placed in the collection area, and then moved sequentially to the assembly area according to the assembly schedule and requirements. The assembly area can then be configured to position the roof assemblies, for example, by moving the roof assemblies onto a steel chassis in the assembly area.

[0037] The buffer conveyor mechanism 1000 has a conveyor chain with a beginning and a end. The conveyor chain is configured to transport the top cover assembly between the beginning and end. The beginning is connected to a collection area, and the end is connected to an assembly area. Therefore, the buffer conveyor mechanism 1000 can utilize its conveyor chain to transport the top cover assembly between the collection area and the assembly area as needed.

[0038] In one embodiment, the visual positioning mechanism 2000 includes a visual positioning frame, a visual displacement component, and a visual recognition device. The visual positioning frame serves as the assembly base for the visual displacement component and the visual recognition device in the visual positioning mechanism 2000. The visual positioning frame can be of various shapes, structures, or sizes, and is not limited herein. The visual displacement component is movably mounted on the visual positioning frame, and the visual recognition device is disposed on the visual displacement component. Therefore, the visual displacement component is configured to move the visual recognition device relative to the visual positioning frame, and the visual recognition device is configured to acquire spatial positioning data of the top cover assembly.

[0039] In one embodiment, the visual displacement component may include a first X-axis truss, a first Y-axis truss, and a first Z-axis truss. The first X-axis truss is movably assembled to the first Y-axis truss along the Y-axis direction, the first Z-axis truss is movably assembled to the first X-axis truss along the X-axis direction, and the visual recognition device is movably assembled to the first Z-axis truss along the Z-axis direction. Therefore, through the movable assembly of the first X-axis truss, the first Y-axis truss, and the first Z-axis truss, movement in three directions (X-axis, Y-axis, and Z-axis) in three-dimensional space can be achieved. The spatial position of the visual recognition device can be adjusted according to actual needs to meet the visual recognition requirements of the top cover assembly.

[0040] In one embodiment, the total length of the first X-axis truss can be set to 11.5 meters. The first X-axis truss can adopt a dual X-axis structure, using a servo motor, precision reducer, precision guide rail, and helical gear rack assembly. By using the assembly of these components, a movement position accuracy of ±0.1 mm can be achieved. The total length of the first Y-axis truss can be set to 8.9 meters. The first Y-axis truss can adopt a dual Y-axis structure, using a servo motor, precision reducer, precision guide rail, and helical gear rack assembly. The height of the first Z-axis truss can be set to 2.7 meters. The first Z-axis truss can bear a load of 4000 kg, using a lifting motor, precision reducer, and lifting mechanism assembly. Furthermore, the displacement speed in the X-axis and Y-axis directions can be set to 500 mm / s, and the displacement speed in the Z-axis direction can be set to 300 mm / s, with a repeatability accuracy of ±3 mm.

[0041] In one embodiment, the hoisting displacement assembly includes a second X-axis truss, a second Y-axis truss, and a second Z-axis truss. The second X-axis truss is movably assembled to the second Y-axis truss along the Y-axis direction, and the second Z-axis truss is movably assembled to the second X-axis truss along the X-axis direction. The hoisting device is movably assembled to the second Z-axis truss along the Z-axis direction. Therefore, through the movable assembly of the second X-axis truss, the second Y-axis truss, and the second Z-axis truss, movement in three directions (X-axis, Y-axis, and Z-axis) in three-dimensional space can be achieved. The spatial position of the hoisting device can be adjusted according to actual needs to meet the hoisting and spatial displacement requirements of the top cover assembly.

[0042] In one embodiment, the lifting displacement assembly includes a flexible gripping mechanism disposed on the lifting device, which is configured to grip the top cover assembly via the flexible gripping mechanism, thereby being compatible with gripping top cover assemblies of various lengths. The lifting device can change the gripping method according to different products; for example, the flexible gripping mechanism can be used to accommodate dimensional tolerances of containers, such as ±10mm tolerance requirements.

[0043] In one embodiment, the automated container top cover assembly device includes a safety guardrail equipped with a safety light curtain; wherein the buffer conveyor mechanism 1000, the visual positioning mechanism 2000, the lifting and grasping mechanism 3000, the assembly area, and the assembly area are all disposed within the safety guardrail. In one embodiment, a maintenance passage is provided within the safety guardrail. In one embodiment, the automated container top cover assembly device includes a lighting system disposed within the safety guardrail. In one embodiment, the automated container top cover assembly device includes a central control cabinet disposed within the safety guardrail, and the central control cabinet is controllably connected to at least one of the buffer conveyor mechanism 1000, the visual positioning mechanism 2000, and the lifting and grasping mechanism 3000.

[0044] As can be seen from the above, the automatic container roof assembly device of this application ensures the stability of the roof assembly during lifting, movement, and assembly, eliminating the need for manual adjustment and positioning by additional personnel. Based on the vision positioning mechanism 2000 and the flexible gripping mechanism, automatic positioning and compatibility with roof assembly dimensional errors within ±10mm are achieved. Automatic assembly improves assembly efficiency and reduces manual labor hours and the number of workers required.

[0045] After the container top cover automatic assembly device is started, the top cover assembly can first be automatically transported to the collection area by the transfer AGV. Then, a crane is used to lift the top cover assembly and place it on the conveyor chain of the buffer conveyor mechanism 1000. The buffer conveyor mechanism 1000 automatically transports and buffers the assembly, and then positions it in the assembly area.

[0046] The lifting device of the lifting and gripping mechanism 3000 moves above the top cover assembly. At this time, the spatial positioning data of the top cover assembly, such as the gripping point position, is acquired by the vision positioning mechanism 2000, which automatically identifies different products. With the assistance of the vision positioning mechanism 2000, the lifting device of the lifting and gripping mechanism 3000 descends to automatically grip the top cover assembly and rises and moves laterally to directly above the steel structure chassis. The lifting device of the lifting and gripping mechanism 3000 then descends again to complete the assembly.

[0047] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An automatic assembly device for container top covers, characterized in that, The automatic container top cover assembly device includes: A buffer conveying mechanism, comprising a conveyor frame and a conveyor chain, the conveyor chain being assembled to the conveyor frame and configured to convey the top cover assembly; A visual positioning mechanism, configured to acquire spatial positioning data of the top cover assembly; A hoisting and gripping mechanism includes a hoisting frame, a hoisting displacement assembly, and a hoisting device. The hoisting displacement assembly is movably mounted on the hoisting frame, and the hoisting device is disposed on the hoisting displacement assembly. The hoisting displacement assembly is configured to move the hoisting device relative to the hoisting frame according to the spatial positioning data. The hoisting device is configured to hoist the top cover assembly.

2. The automatic container top cover assembly device according to claim 1, characterized in that, The automatic container top cover assembly device includes: A collection area, configured to collect several top cover assemblies to be processed; An assembly area configured for positioning the top cover assembly; The buffer conveying mechanism has a conveyor chain with a beginning end and a end end. The conveyor chain is configured to convey the top cover assembly between the beginning end and the end end. The beginning end is connected to the collection area, and the end end is connected to the assembly area.

3. The automatic container top cover assembly device according to claim 1, characterized in that, The visual positioning mechanism includes a visual positioning frame, a visual displacement component, and a visual recognition device. The visual displacement component is movably mounted on the visual positioning frame, and the visual recognition device is disposed on the visual displacement component. The visual displacement component is configured to move the visual recognition device relative to the visual positioning frame, and the visual recognition device is configured to acquire spatial positioning data of the top cover assembly.

4. The automatic container top cover assembly device according to claim 3, characterized in that, The visual displacement component includes a first X-axis truss, a first Y-axis truss, and a first Z-axis truss. The first X-axis truss is movably mounted on the first Y-axis truss along the Y-axis direction, the first Z-axis truss is movably mounted on the first X-axis truss along the X-axis direction, and the visual recognition device is movably mounted on the first Z-axis truss along the Z-axis direction.

5. The automatic container top cover assembly device according to claim 1, characterized in that, The hoisting displacement assembly includes a second X-axis truss, a second Y-axis truss, and a second Z-axis truss. The second X-axis truss is movably assembled to the second Y-axis truss along the Y-axis direction, and the second Z-axis truss is movably assembled to the second X-axis truss along the X-axis direction. The hoisting device is movably assembled to the second Z-axis truss along the Z-axis direction.

6. The automatic container top cover assembly device according to claim 5, characterized in that, The hoisting displacement assembly includes a flexible gripping mechanism disposed on the hoisting device, which is configured to grip the top cover assembly via the flexible gripping mechanism.

7. The automatic container top cover assembly device according to claim 2, characterized in that, The automatic container top cover assembly device includes: A safety guardrail is provided, which is equipped with a safety light curtain; wherein the buffer conveying mechanism, the visual positioning mechanism, the hoisting and grabbing mechanism, the collection area and the assembly area are all located within the safety guardrail.

8. The automatic container top cover assembly device according to claim 7, characterized in that, A maintenance access point is provided within the safety barrier.

9. The automatic container top cover assembly device according to claim 7, characterized in that, The automatic container top cover assembly device includes: A lighting system is installed within the safety railing.

10. The automatic container top cover assembly device according to claim 7, characterized in that, The automatic container top cover assembly device includes: The main control cabinet is located within the safety guardrail and is controlled and connected to at least one of the buffer conveying mechanism, the visual positioning mechanism, and the hoisting and grasping mechanism.

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