CN214393089U - Landing leg assembly rigging equipment - Google Patents

Abstract

The utility model relates to an engineering machine tool field discloses a landing leg assembly rigging equipment, wherein, landing leg assembly rigging equipment includes manipulator (100), is used for bearing mobile device (200) that manipulator (100) removed, install in visual identification device (300) and the control of manipulator (100) the manipulator with mobile device's the control unit, the control unit with visual identification device electricity is connected, with the basis visual identification device's recognition result control the manipulator with mobile device snatchs the landing leg assembly and will the operation of the installation cavity of chassis is aimed at to the landing leg assembly. The positions of the supporting leg assembly and the installation cavity can be accurately judged through the visual recognition device, so that the operation and the movement of the manipulator are accurately controlled through the control unit according to the path determined by the positions of the supporting leg assembly and the installation cavity, and the assembly of the supporting leg assembly is accurately completed.

Description

Landing leg assembly rigging equipment

Technical Field

The utility model relates to an engineering machine tool field specifically relates to landing leg assembly rigging equipment.

Background

Many construction machines have a leg assembly that is assembled by fitting the leg assembly into a mounting cavity of the undercarriage. The installation cavity and the landing leg assembly directly have a certain installation gap, during installation, the landing leg assembly is conveyed to a position close to the bottom frame through the travelling crane, then the tail portion of the landing leg assembly is manually aligned to the opening of the installation cavity of the bottom frame, then the landing leg assembly is inserted into the opening for a certain depth through the travelling crane, then accessories such as riding wheels and hydraulic rubber pipes are installed, then the landing leg assembly is disconnected from the travelling crane, and then the landing leg assembly is completely pushed into the installation cavity through the forklift. Because the landing leg assembly and the installation cavity are aligned manually, the assembly precision is low due to the fact that subjective judgment deviation of people and installation gaps are small, collision possibly exists in the assembly process, the structure and the appearance of related parts are easily damaged, and the final product has potential quality hazards. Moreover, the assembly process needs cooperation of a plurality of people, the efficiency is low, the labor intensity is high, and safety risks exist.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a landing leg assembly rigging equipment in order to overcome the problem that the landing leg assembly precision is poor, inefficiency that prior art exists to improve assembly precision and efficiency.

In order to achieve the above object, an aspect of the present invention provides a leg assembly assembling apparatus, wherein, the leg assembly assembling apparatus includes a manipulator, a moving device for bearing the movement of the manipulator, a control unit installed in the visual recognition device and the control of the manipulator and the control unit of the moving device, the control unit is electrically connected with the visual recognition device, so as to control the manipulator with the moving device to grab the leg assembly and align the leg assembly to the operation of the installation cavity of the bottom frame.

Optionally, the moving device includes a first guide rail disposed along a first horizontal direction and a moving support mechanism disposed along the first guide rail, the moving support mechanism includes a second guide rail disposed along a second horizontal direction perpendicular to the first horizontal direction, a support seat disposed along the second guide rail and a lifting mechanism mounted on the support seat, and the manipulator is mounted on the lifting mechanism.

Optionally, the mobile device is configured to have at least one of the following features: a first straight rack is arranged on the first guide rail, and a first gear matched with the first straight rack is arranged at the bottom of the second guide rail; a second spur rack is arranged on the second guide rail, and a second gear matched with the second spur rack is arranged at the bottom of the supporting seat; the lifting mechanism comprises a mounting seat for mounting the manipulator, a third spur rack fixed on the supporting seat, and a third gear matched with and mounted on the mounting seat.

Optionally, the manipulator comprises a base connected to the moving device, a pushing mechanism mounted on the base for pushing the leg assembly, and fingers arranged in pairs, and the fingers are movably mounted on the base to be able to adjust a gap between the pair of fingers.

Optionally, the robot comprises a rotation mechanism for rotating the substrate.

Alternatively, the pushing mechanism can push in opposite directions by rotation of the rotating mechanism.

Optionally, the visual recognition device is disposed at a side end of the base body.

Optionally, the leg assembly mounting apparatus includes a chassis positioning mechanism for positioning a chassis mounted with the leg assembly.

Optionally, the leg assembly mounting apparatus includes a ground rail, and the chassis positioning mechanism is disposed on the ground rail and is switchable between a moving state moving along the ground rail and a locking state locked with respect to the ground rail.

Optionally, the leg assembly assembling device includes a leg assembly positioning mechanism for placing the leg assembly, and the leg assembly positioning mechanism includes a side positioning block for limiting a side portion of the leg assembly.

Through the technical scheme, the position of the installation cavity can be accurately judged through the visual recognition device, so that the operation and the movement of the manipulator are accurately controlled through the control unit according to the path determined by the positions of the supporting leg assembly and the installation cavity, and the assembly of the supporting leg assembly is accurately completed.

Drawings

FIG. 1 is a perspective view of an assembly using the leg assembly apparatus of the present application;

fig. 2 is a perspective view of a mounting structure of the first guide rail of fig. 1;

FIG. 3 is a perspective view of the mobile support mechanism and robot of FIG. 1;

figure 4 is a perspective view of the robot of figure 1;

FIG. 5 is a perspective view of the chassis positioning mechanism of FIG. 1;

FIG. 6 is a perspective view of positioning the undercarriage on the undercarriage positioning mechanism of FIG. 5;

FIG. 7 is a perspective view of the leg assembly positioning mechanism of FIG. 1;

FIG. 8 is a perspective view of positioning a leg assembly on the leg assembly positioning mechanism of FIG. 7.

Description of the reference numerals

100. A manipulator; 110. a substrate; 120. a pushing mechanism; 130. a finger; 140. a rotation mechanism; 150. a roller; 200. a mobile device; 210. a first guide rail; 211. a first straight rack; 220. a second guide rail; 221. a first gear; 222. a second spur rack; 230. a supporting seat; 240. a lifting mechanism; 241. a mounting seat; 242. a third spur rack; 243. a third gear; 250. a horizontal drag chain; 260. a vertical drag chain; 270. a column; 280. a cross beam; 300. a visual recognition device; 400. a leg assembly; 500. A chassis; 510. a mounting cavity; 600. an underframe positioning mechanism; 610. positioning a groove; 620. a rear positioning block; 630. a compression structure; 631. a rod body; 632. pressing a plate; 640. a vehicle body; 700. a ground rail; 710. Positioning a plate; 800. a leg assembly positioning mechanism; 810. a side positioning block; 820. a fixed seat; 830. a positioning seat.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

In the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, left, and right" generally means upper, lower, left, and right as illustrated with reference to the accompanying drawings; "inner and outer" refer to the inner and outer relative to the profile of the components themselves. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

According to an aspect of the present application, there is provided a leg assembly assembling apparatus, wherein the leg assembly assembling apparatus includes a robot arm 100, a moving device 200 for carrying movement of the robot arm 100, a visual recognition device 300 installed at the robot arm 100, and a control unit for controlling the robot arm 100 and the moving device 200, the control unit being electrically connected to the visual recognition device 300 to control the robot arm 100 and the moving device 200 to perform operations of grabbing a leg assembly 400 and aligning the leg assembly 400 to a mounting cavity 510 of a bottom chassis 500 according to a recognition result of the visual recognition device 300.

With the supporting leg assembly assembling equipment, the position of the installation cavity 510 can be accurately judged through the visual recognition device 300, so that the operation and the movement of the mechanical arm 100 are accurately controlled through the control unit according to the path determined by the positions of the supporting leg assembly 400 and the installation cavity 510, and the assembling of the supporting leg assembly is accurately completed.

The visual recognition device 300 includes a visual sensor and other elements, so as to be able to perform visual shooting and analyze the shot image to obtain required information (for example, the coordinate position of the installation cavity 510), and then feed the information back to the control unit, and the control unit can determine a path between the position of the positioned leg assembly 400 (the leg assembly 400 can be pre-positioned, and therefore the position is set) and the position of the installation cavity 510 according to the information, so as to control the robot arm 100 and the moving device 200 to perform corresponding operations, so that the robot arm 100 accurately picks up the leg assembly 400 and moves the leg assembly 400 to be aligned with the installation cavity 510, so as to complete the assembly.

In order to facilitate the omnidirectional movement of the carrier robot 100, it is preferable that the carrier robot 100 moves in three orthogonal directions. To this end, as shown in fig. 1 to 3, the moving device 200 includes a first guide rail 210 disposed along a first horizontal direction (wherein, for a related device for avoiding the ground, such as an undercarriage positioning mechanism 600, hereinafter, a cross beam 280 may be supported by a column 270, and the first guide rail 210 is mounted to the cross beam 280), and a moving support mechanism disposed along the first guide rail 210, the moving support mechanism including a second guide rail 220 disposed along a second horizontal direction perpendicular to the first horizontal direction, a support base 230 moving along the second guide rail 220, and an elevating mechanism 240 mounted to the support base 230, and the robot 100 being mounted to the elevating mechanism 240.

The robot arm 100 can be moved in the vertical direction by the elevating mechanism 240; the robot arm 100 can be moved in the second horizontal direction by moving the support base 23 along the second guide rail 220; the robot arm 100 may be moved in the first horizontal direction by moving the support mechanism along the first guide rail 210. Thus, the robot hand 100 can move arbitrarily to a predetermined position in a set three-dimensional space with the leg assembly 400.

Wherein the movement of the lifting mechanism 240, the support base 230 and the moving support mechanism can be achieved in various suitable ways. For example, the first guide rail 210 may be provided with a first straight rack 211, the bottom of the second guide rail 220 is provided with a first gear 221 engaged with the first straight rack 211, and by driving the first gear 221, the first gear 221 may drive the second guide rail 220 to move along the first straight rack 211, so as to implement movement of the robot arm 100 along the first horizontal direction. To ensure smooth movement, a pair of first guide rails 210 may be disposed in parallel on both sides of the moving mechanism, and corresponding first gears 221 may be disposed on both ends of the second guide rail 220. Similarly, a second spur rack 222 may be disposed on the second guide rail 220, a second gear engaged with the second spur rack 222 is disposed at the bottom of the support seat 230, and the second gear drives the support seat 230 to move along the second spur rack 222 by driving the second gear, so as to realize the movement of the robot arm 100 along the second horizontal direction. Similarly, the lifting mechanism 240 may include a mounting base 241 for mounting the robot arm 100, a third spur rack 242 fixed to the support base 230, and a third gear 243 engaged with the third spur rack 242 and mounted to the mounting base 241. By driving the third gear 243, the mounting base 241 can be driven to move along the third spur rack 242, so as to realize the movement of the robot arm 100 in the vertical direction.

In addition, to facilitate the provision of the various pipelines, the mobile device 200 may include a tow chain for arranging the pipelines, for example, the mobile device 200 may include a horizontal tow chain 250 to facilitate movement of the pipelines in the second horizontal direction and a vertical tow chain 260 to facilitate movement of the pipelines in the vertical direction. Both ends of the horizontal drag chain 250 may be disposed on the second guide rail 220 and the support base 230, respectively, and both ends of the vertical drag chain 260 may be disposed on the third spur rack 242 and the mounting base 241, respectively.

To facilitate the picking and pushing of the leg assembly 400, the robot arm 100 may adopt various suitable structures, for example, in the embodiment shown in fig. 4, the robot arm 100 may include a base 110 connected to the moving device 200, a pushing mechanism 120 for pushing mounted to the base 110, and a pair of fingers 130, the fingers 130 being movably mounted to the base 110 to enable adjustment of a gap between the pair of fingers 130. Thus, the leg assembly 400 can be picked up and released by adjusting the gap between the pair of fingers 130, and the leg assembly 400 can be pushed by the pushing fingers 130 by the pushing of the pushing mechanism 120.

Specifically, the base 110 may be provided with a slide rail, and at least one finger 130 is slidably mounted on the slide rail and moves along the slide rail through a driving mechanism, so as to adjust a gap between the pair of fingers 130. Additionally, to facilitate providing the desired firm grip when picking up the leg assembly 400, at least two pairs of fingers 130 may be provided. In addition, in order to reduce the friction damage to the leg assembly 400, the roller 150 may be disposed at the bottom of the finger 130 to support the leg assembly 400 when the leg assembly 400 is clamped and provide rolling friction during pushing, so as to protect the bottom surface of the leg assembly 400 from being damaged by collision.

Wherein, the fingers 130 may be movably mounted to the base 110 in various suitable manners, in order to facilitate the pair of fingers 130 to be able to approach or separate from each other conveniently for clamping or releasing operation, it is preferable that a lead screw is rotatably provided on the base 110, and the pair of fingers 130 are respectively mounted to the lead screw through nut seats so as to be able to approach or separate from each other through rotation of the lead screw. Specifically, two ends of the lead screw may be supported on opposite sides of the base 110 through bearings, a middle portion of the lead screw may be supported on a middle cross beam of the base 110 through bearings, the lead screw is provided with threads having opposite turning directions from the middle portion to the two ends, and nut seats of the pair of fingers 130 are respectively installed on two sides of the middle portion of the lead screw. The lead screw can be driven by a servo motor, and the servo motor can be arranged on the middle cross beam. In addition, fingers 130 are mounted below the nut holders, and finger guides may be provided on the base 110 to guide the movement of the fingers.

In addition, the gripping force of the finger 130 can be adjusted according to the size and weight of the leg assembly 400. Specifically, the current of the servo motor can be adjusted, so that the servo motor has different output powers, and the clamping force of the fingers can be adjusted.

In addition, since the initial placement state of the leg assembly 400 may cause the axis of the leg assembly 400 to deviate from the axis of the mounting chamber 510, the leg assembly 400 is rotated after the robot arm 100 picks up the leg assembly 400, and for this reason, the robot arm 100 includes the rotation mechanism 140 for rotating the base 110.

It is understood that it should be ensured that the pushing mechanism 120 can still push the substrate 110 after the substrate 110 rotates, that is, the pushing mechanism 120 rotates with the substrate 110. In addition, when the leg assembly 400 is held by the finger 130, a part of the length of the leg assembly 400 is inevitably occupied, and after the finger 130 pushes the leg assembly 400 to a certain depth of the installation cavity 510, the finger 130 may interfere with the installation cavity 510 and cannot push the leg assembly. To achieve full pushing of leg assembly 400, the pushing mechanism 120 is preferably capable of pushing in the opposite direction by rotation of the rotation mechanism 140. Wherein, the pushing mechanism 120 is configured to push bidirectionally, for example, the pushing mechanism 120 may be a servo push rod, and the pushing can be pushed bidirectionally by extending and retracting the servo push rod. Thus, after being pushed to a certain depth by the finger 130 by extending the servo push rod, the finger 130 can be released and rotated by the driving mechanism 140 by 180 ° in the plane, so that the finger 130 lets open the front of the installation cavity 510, and then operated in the reverse direction by retracting the servo push rod, thereby completely pushing the leg assembly 400 into the installation cavity 510.

In the present application, the visual recognition device 300 may be disposed at an appropriate position of the robot arm 100 so as to be able to take a visual photograph when the robot arm 100 moves. Preferably, the visual recognition device 300 is disposed at a side end of the base 110, and more preferably, the visual recognition device 300 is disposed toward a side end of the installation cavity 510 when being pushed by the finger 130, so as to feed back information of the pushing process in real time. For example, when the leg assembly 400 is brought into contact with the side wall of the mounting cavity 510 due to a manufacturing error during pushing, the pushing path of the robot 100 can be adjusted by being detected in time by the visual recognition device 300.

Further, the leg pushing apparatus includes a force detecting device for detecting a reaction force to which pushing (including pushing by the moving device 200 and the pushing device 120) is applied. Wherein the force detection device may be electrically connected with the control unit. Through setting up power detection device is convenient for judge and pushes whether smooth and easy. Specifically, when the pushing direction deviates (for example, the leg assembly 400 is contacted with the leg assembly 400 when the leg assembly 400 is pushed in according to the set path due to the size deviation of the installation cavity), the reaction force applied during pushing is increased. Therefore, the control unit may be configured based on experimental data or experience, and when the feedback of the force detection device indicates that the received reaction force reaches a predetermined value, which indicates that the pushing direction is deviated, the control unit may control the manipulator 100 and/or the moving device 200 to adjust the position of the manipulator 100 (while stopping the pushing), and at the same time, continue to detect the received reaction force by the force detection device until the reaction force by the force detection device decreases below the predetermined value, at which time, the pushing may be continued in the current pushing direction. Also, the above process may be assisted by the visual recognition device 300. Specifically, the visual recognition device 300 may be used to monitor the gap between the leg assembly 400 and the installation cavity during the pushing process, so as to assist in determining whether the pushing direction deviates and whether the pushing direction is appropriate after the position is adjusted.

In the present application, when the leg assembly 400 is installed in the installation cavity 510, it is required to ensure that the bottom frame 500 is stably positioned. On the one hand, it is necessary to set a moving path of the robot 100 at the position of the positioned installation cavity 510, and on the other hand, it is necessary to ensure that the bottom chassis 500 is not moved during the assembly process and is smoothly assembled. To this end, as shown in fig. 5 and 6, the leg assembly mounting apparatus includes a base frame positioning mechanism 600 for positioning the base frame 500 mounted with the leg assembly 400. Specifically, the bottom chassis positioning mechanism 600 may include a positioning groove 610 for positioning a corresponding structure on the bottom chassis 500 (e.g., a catch plate at the bottom of the bottom chassis 500), a rear positioning block 620 for positioning the rear side of the bottom chassis 500 along the length direction of the bottom chassis 500, and a pressing structure 630 for pressing the bottom chassis 500 against the positioning groove 610. During the use, place chassis 500 on chassis positioning mechanism 600 for corresponding structure holds in constant head tank 610 and the rear side butt back locating piece 620 of chassis 500 and preliminary location, then compress tightly chassis 500 in constant head tank 610 through compact structure 630 can. The pressing structure 630 may include a rod 631 disposed at the bottom of the positioning groove 610 and a pressing plate 632 threadedly coupled to the rod, and after the base frame 500 is initially positioned, the pressing plate 632 may be screwed so that the pressing plate presses the base frame 500 against the top surface of the positioning groove 610.

Further, to facilitate continuous operation, the undercarriage positioning mechanism 600 may be configured to move to facilitate handling of the undercarriage 500 and removal of the undercarriage 500 and leg assembly 400 after assembly is complete. To this end, the leg assembly mounting apparatus includes a ground rail 700, and the undercarriage positioning mechanism 600 is provided on the ground rail 700 and is switchable between a moving state moving along the ground rail 700 and a locked state locked with respect to the ground rail 700. Specifically, the chassis positioning mechanism 600 may have a body 640 engaged with the ground rail 700, and the positioning groove 610 and the rear positioning block 620 may be disposed on the body 640. To facilitate the switching between the moving body and the locking state, the positioning plates 710 may be disposed on both sides of the ground rail 700, and the second positioning holes corresponding to the first positioning holes on the positioning plates 710 may be disposed on both sides of the vehicle body 640, so that the vehicle body 640 is locked to the ground rail 700 by inserting connecting members (e.g., pins) into the first positioning holes and the second positioning holes. When the vehicle body 640 needs to be moved, the connecting members are removed.

In addition, in order to provide good initial positioning of the leg assembly 400 before being picked up by the robot arm 100, as shown in fig. 7 and 8, the leg assembly assembling apparatus includes a leg assembly positioning mechanism 800 for placing the leg assembly 400, and the leg assembly positioning mechanism 800 includes a side positioning block 810 for limiting a side portion of the leg assembly 400.

In use, the leg assembly 400 may be hoisted to the leg assembly positioning mechanism 800 to place the sides of the leg assembly 400 against the side positioning blocks 810 for initial positioning. The position of the center of gravity of the leg assembly 400 may be obtained according to recognition of the visual recognition device 300 or preset model parameters so as to grip the proper position of the leg assembly 400 by the robot arm 100 and then pick up and move. In order to improve the initial positioning accuracy, a plurality of side positioning blocks 810 arranged in a straight line may be disposed on the leg assembly positioning mechanism 800 to cooperatively position the leg assembly 400 along the length direction. Also, to provide efficiency, at least two sets of side positioning blocks 810 may be provided, each set being arranged along the same straight line. In the embodiment shown in fig. 7, the leg assembly positioning mechanism 800 may include a fixing base 820, a plurality of positioning bases 830 are disposed on the fixing base 820 in parallel, and a side positioning block 820 is disposed on each positioning base 830 at intervals. The corresponding side positioning blocks 820 of different positioning bases 830 are arranged in a line to position the same leg assembly 400. In addition, the distances between the positioning seats 830 may be different, for example, two positioning seats 830 may be disposed in the middle of the fixing seat 820, the distance between the two positioning seats 830 is used for positioning the center of the leg assembly 400, and when the leg assembly 400 is transported (for example, hoisted) to the leg assembly positioning mechanism 800, the operation may be performed with reference to the positions of the two positioning seats 830. Preferably, a centering mark may be provided on the end surface of the fixing seat 820, and the centering mark corresponds to the center between the two positioning seats 830.

According to another aspect of the present application, there is provided a leg assembly assembling method, wherein the leg assembly assembling method includes:

s1, identifying the position of the mounting cavity of the underframe through a visual identification device;

s2, grabbing the leg assembly through the manipulator and assembling the leg assembly into the accommodating cavity according to the path between the position of the identified leg assembly and the position of the accommodating cavity of the chassis where the leg assembly is to be installed.

By using the assembly method of the leg assembly, the position of the installation cavity 510 can be accurately judged through the visual recognition device 300, so that the operation and movement of the manipulator 100 can be accurately controlled according to the path determined by the positions of the leg assembly 400 and the installation cavity 510, and the assembly of the leg assembly can be accurately completed.

Wherein, due to the manufacturing tolerance between the actual workpiece and the design, to ensure the smooth assembly, step S2 may include: s21, on the basis of the identified position of the installation cavity, calibrating by comparing the size parameters of the installation cavity and a standard installation cavity to obtain the path; and S22, assembling the leg assembly into the accommodating cavity according to the path.

That is, the deviation of the mounting cavity 510 from the corresponding standard (i.e., the design dimension, such as the contour dimension associated with the assembly of the leg assembly 400 and the mounting cavity 510) can be obtained through visual recognition, and the assembly of the leg assembly can be made more accurate and smooth by setting the path in consideration of the deviation.

Step S22 includes determining the gripping force of the robot arm according to the type of the leg assembly for pick and place operations. For example, the clamping force may be controlled by controlling the current to a servo motor that drives the fingers 130 when using the leg assembly mounting apparatus of the present application.

The method of the present application may be implemented in any suitable manner, for example, the leg assembly mounting apparatus of the present application may be used.

Preferably, the robot arm 100 includes a base 110 connected to the moving device 200, a pushing mechanism 120 mounted to the base 110 for pushing the leg assembly 400, and a pair of fingers 130, the fingers 130 being movably mounted to the base 110 to be able to adjust a gap between a pair of the fingers 130, the robot arm 100 includes a rotating mechanism 140 for rotating the base 110, and the step S2 of assembling the leg assembly to the mounting cavity includes:

moving the robot 100 by the moving device 200 to clamp the leg assembly 400 and push the leg assembly 400 into the installation cavity 510 by a first distance;

mounting a riding wheel and a rubber tube;

releasing the clamping force of the robot arm 100 on the leg assembly 400, holding the leg assembly 400 by the robot arm 100, and pushing the leg assembly 400 into the installation cavity 510 by the pushing mechanism 120 for a second distance;

the robot 100 releases the grip of the leg assembly 400, and the base 110 is rotated by 180 ° by the rotating mechanism 140, so that the leg assembly 400 is completely pushed into the mounting cavity 510 by the retraction of the pushing mechanism 120.

The leg assembly 400 is first pushed a first distance to install the riding wheels and hose fittings. By dividing the remaining push-in distance of the leg assembly 400 into two pushes, the limited stroke of the push mechanism 120 can be fully utilized to complete the long-distance push.

Alternatively, another auxiliary pushing mechanism may be installed on the base 110, the pushing direction of the auxiliary pushing mechanism is different from the pushing direction of the pushing mechanism 120, after the riding wheel and the rubber tube are installed, the supporting leg assembly 400 is pushed into the base 110 by the pushing mechanism 120 for a second distance, and then the rotating mechanism 140 rotates the base to enable the auxiliary pushing mechanism to rotate to the position where the supporting leg assembly 400 is pushed along the pushing direction, so that the supporting leg assembly 400 is continuously pushed by the auxiliary pushing mechanism until the supporting leg assembly 400 is completely pushed in. Depending on the relative positions of the auxiliary pushing mechanism and the pushing mechanism 120, the pushing of the two can be switched by rotating the rotating mechanism 140 by a corresponding angle.

The method of carrying out the present application using the leg assembly set-up apparatus of the present application is described below with reference to the accompanying drawings.

First, the leg assembly 400 and the base frame 500 are positioned, respectively. Specifically, the leg assembly 400 is placed as centrally as possible onto the pre-determined location of the leg assembly positioning mechanism 800 such that the leg assembly 400 is placed against the side positioning block 810 for positioning. The bottom chassis 500 is placed on the bottom chassis positioning mechanism 600 fixed at a predetermined position on the ground rail 700 such that the catch plate of the bottom chassis 500 is positioned in the positioning groove 610, the rear side of the bottom chassis 500 is positioned against the rear positioning block 620, and then the bottom chassis 500 is pressed by the pressing structure 630.

At this time, the position of the leg assembly 400 is substantially determined, the position of the mounting cavity 510 can be recognized by the visual recognition device 300, and the control unit can determine the position of the center of gravity of the leg assembly 400 and the angular deviation of the leg assembly 400 from the mounting cavity 510 according to the specific model of the leg assembly 400. By comparing the size difference of the bottom chassis 500 and the corresponding standard with the data provided by the visual recognition device 300, and using the size difference as a compensation factor, the control unit can obtain an accurate path for moving the leg assembly 400 into the mounting cavity 510 and pushing it therein. Subsequently, the control unit may control the robot 100 and the moving device 200 to perform corresponding operations to pick up the leg assembly 400 (e.g., by controlling the distance and the approach between the fingers 130) and move it to a position aligned with the mounting cavity 510. The clamping force of the finger 130 on the leg assembly 400 can be set according to the specification of the leg assembly 400.

Then, the robot arm 100 may first push the holding leg assembly 400 into the mounting cavity 510 by a certain distance (for example, 35% of the total push-in distance) through the moving device 200, and then may mount a mounting member such as a riding wheel and a hose, and then may push the holding leg assembly 400 into the mounting cavity 510 by the fingers 130 by a certain distance (for example, 30% of the total push-in distance and 65% of the total push-in distance) through the extension of the pushing mechanism 120. At this point, the finger 130 can be released and rotated horizontally by 180 ° via the rotation mechanism 140, such that the finger 130 clears the area in front of the mounting chamber 510 and aligns the mounting chamber 510 via the pushing mechanism 120, and the leg assembly 400 continues to be pushed the remaining distance by the retraction of the pushing mechanism 120.

During the pushing-in process of the leg assembly 400, the pushing-in process can be fed back in real time through the visual recognition device 300, and the pushing-in direction and force can be adjusted in real time according to needs (for example, the mounting gap between the leg assembly 400 and the mounting cavity 510 is eliminated and is in contact with each other).

After leg assembly 400 is fully pushed into mounting cavity 510, a sprocket may be mounted at the rear of leg assembly 400 to complete the assembly. Subsequently, the locking of the undercarriage positioning mechanism 600 with the ground rail 700 may be released, and the undercarriage 500 and the leg assembly 400 assembled on the undercarriage 500 may be transported away from the assembly site.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto. The technical scheme of the utility model in the technical conception scope, can be right carry out multiple simple variant. The present application includes the combination of individual features in any suitable manner. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations. These simple variations and combinations should also be considered as disclosed in the present invention, all falling within the scope of protection of the present invention.

Claims (10)

1. The leg assembly assembling apparatus is characterized by comprising a manipulator (100), a moving device (200) for bearing the movement of the manipulator (100), a visual recognition device (300) installed on the manipulator (100), and a control unit for controlling the manipulator (100) and the moving device (200), wherein the control unit is electrically connected with the visual recognition device (300) so as to control the manipulator (100) and the moving device (200) to perform the operations of grabbing a leg assembly (400) and aligning the leg assembly (400) to a mounting cavity (510) of a chassis (500) according to the recognition result of the visual recognition device (300).

2. The leg assembly assembling apparatus as claimed in claim 1, wherein the moving means (200) comprises a first guide rail (210) disposed along a first horizontal direction and a moving support mechanism movably disposed along the first guide rail (210), the moving support mechanism comprising a second guide rail (220) disposed along a second horizontal direction perpendicular to the first horizontal direction, a support base (230) moving along the second guide rail (220), and an elevating mechanism (240) installed to the support base (230), the robot arm (100) being installed to the elevating mechanism (240).

3. The leg assembly mounting apparatus of claim 2 wherein the moving means is configured to have at least one of the following characteristics:

a first straight rack (211) is arranged on the first guide rail (210), and a first gear (221) matched with the first straight rack (211) is arranged at the bottom of the second guide rail (220);

a second spur rack (222) is arranged on the second guide rail (220), and a second gear matched with the second spur rack (222) is arranged at the bottom of the supporting seat (230);

the lifting mechanism (240) comprises a mounting seat (241) for mounting the manipulator (100), a third spur rack (242) fixed on the supporting seat (230), and a third gear (243) matched with the third spur rack (242) and mounted on the mounting seat (241).

4. The leg assembly mounting apparatus of claim 1, comprising a chassis positioning mechanism (600) for positioning a chassis (500) mounted with the leg assembly (400).

5. The leg assembly mounting apparatus as claimed in claim 4, comprising a ground rail (700), wherein the chassis positioning mechanism (600) is provided on the ground rail (700) and is switchable between a moving state moving along the ground rail (700) and a locked state locked with respect to the ground rail (700).

6. The leg assembly mounting apparatus of claim 1, comprising a leg assembly positioning mechanism (800) for placing the leg assembly (400), wherein the leg assembly positioning mechanism (800) comprises a side positioning block (810) for limiting a side of the leg assembly (400).

7. The leg assembly assembling apparatus according to any one of claims 1 to 6, wherein the robot (100) includes a base (110) connected to the moving device (200), a pushing mechanism (120) mounted to the base (110) for pushing the leg assembly (400), and fingers (130) arranged in pairs, the fingers (130) being movably mounted to the base (110) to enable adjustment of a gap between a pair of the fingers (130).

8. Leg assembly mounting arrangement according to claim 7, characterized in that the robot arm (100) comprises a rotation mechanism (140) for rotating the base body (110).

9. The leg assembly mounting apparatus of claim 8, wherein the pushing mechanism (120) is capable of pushing in opposite directions by rotation of the rotation mechanism (140).

10. The leg assembly mounting apparatus of claim 7, wherein the visual recognition device (300) is provided to a side end of the base body (110).

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