CN111874551B

CN111874551B - Mobile cluster splicing and transporting device

Info

Publication number: CN111874551B
Application number: CN202010774904.5A
Authority: CN
Inventors: 刘思文; 罗文成; 陈伟波; 向玉印; 张洋根
Original assignee: Foshan Longshen Robot Co Ltd
Current assignee: Foshan Longshen Robot Co Ltd
Priority date: 2020-08-05
Filing date: 2020-08-05
Publication date: 2021-11-30
Anticipated expiration: 2040-08-05
Also published as: CN111874551A

Abstract

The invention discloses a mobile bundling plug-in device which comprises an AGV trolley, a three-axis module execution mechanism, a floating plug-in mechanism and a vision mechanism, wherein the three-axis module execution mechanism is arranged on the AGV trolley; the three-axis module actuating mechanism comprises an X-axis module, a Y-axis module and a Z-axis module; one end of the swing seat is connected to the driving end of the Z-axis module, and the other end of the swing seat is connected with the rotating shaft of the Y-axis swing seat; the visual mechanism is fixed on one side of the swing seat; the rear side surface of the male connecting plate is hinged with the rotating shaft of the Y-axis swing seat; the pulley bracket is connected with the main bracket through a Y-axis spring; the guide blocks on the left side and the right side of the female head bracket are connected with the pulley bracket through X-axis springs; the male plug is fixed on the female head bracket. In the embodiment of the invention, the mobile cluster plugging device has the advantage of high intelligent degree, can automatically and sequentially butt with equipment one by one, the floating plugging mechanism can realize flexible floating of the plugging male head, and the plugging male head can quickly and stably butt with the equipment, thereby ensuring the testing efficiency and the interaction efficiency of the equipment.

Description

Mobile cluster splicing and transporting device

Technical Field

The invention relates to the technical field of flow tests, in particular to a flow bundling, splicing and transporting device.

Background

In an intelligent factory, most production equipment is fixed in position, and objects needing to be transported, such as raw materials, processed semi-finished products, finished products and the like, flow among the production equipment through the AGV trolley, so that butt joint among the production equipment is realized. Production facility has fixed operation procedure usually, and very big some equipment does not have high in the clouds communication function, can not follow long-range debugging, needs the staff to carry out the setting and the control of procedure manually, when needs adjust production facility, in order to avoid the staff to produce equipment such as AGV dolly and disturb, generally need whole line to stop the operation and carry out debugging operation again, otherwise can produce the safety problem easily.

The AGV dolly plays the function of plugging into to different production facility, consequently, the AGV dolly all can have remote control (data remote transmission function promptly) usually, can utilize the AGV dolly to debug the production facility that can't carry out remote communication, avoids the staff to get into the place, reduces the safety risk.

However, because the data interfaces of different production devices are not set at the same position, the fixed interface is difficult to adapt to different production devices, and if an AGV cart is developed specifically for a specific production device, the workload is huge, the cost is high, and the implementation is not facilitated.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a mobile cluster splicing and transporting device which has the advantage of high intelligent degree, can automatically and sequentially splice equipment one by one, does not need to consume a large amount of manpower and material resources, solves the problem of low splicing efficiency, and ensures the testing efficiency and the interaction efficiency of the equipment; in addition, in the mobile cluster splicing transportation device, the floating splicing mechanism can realize flexible floating of the splicing male head, has good structural flexibility, and the splicing male head can be quickly and stably butted with equipment, so that the testing efficiency and the interaction efficiency of the equipment can be ensured, and the device has good practicability; moreover, after the mobile cluster splicing and transporting device tests and interacts equipment, the transporting function of articles can be realized, and the device has more purposes.

Correspondingly, the embodiment of the invention provides a mobile bundling splicing and transporting device, which comprises an AGV trolley, a three-axis module executing mechanism, a floating splicing mechanism and a vision mechanism, wherein the AGV trolley is arranged on the three-axis module executing mechanism;

the three-axis module actuating mechanism comprises an X-axis module, a Y-axis module and a Z-axis module, the X-axis module is fixed on the AGV trolley, the Y-axis module is connected to the driving end of the X-axis module, and the Z-axis module is connected to the driving end of the Y-axis module;

the floating plug-in mechanism comprises a swing seat, a male head connecting plate and a plug-in male head assembly; one end of the swing seat is connected to the driving end of the Z-axis module, and the other end of the swing seat is connected with a Y-axis swing seat rotating shaft; the visual mechanism is fixed on one side of the swing seat; the rear side surface of the male connecting plate is hinged with the rotating shaft of the Y-axis swing seat; the plug male head assembly comprises a main bracket, a pulley bracket, a female head bracket and a plug male head; the main bracket is arranged on the front side surface of the male connecting plate; the pulley bracket is connected with the main bracket through a Y-axis spring; the left side and the right side of the female head support are respectively provided with a guide block, and the guide blocks are connected with the pulley support through an X-axis spring; the male plug is fixed on the female head support.

In an optional embodiment, the three-axis module executing mechanism further includes a Y-axis module support and a Z-axis module support;

the Y-axis module support comprises an X-axis connecting plate and a Y-axis fixing plate, the X-axis connecting plate is connected to the driving end of the X-axis module, the Y-axis fixing plate is fixed on the X-axis connecting plate, and the Y-axis module is fixed on the Y-axis fixing plate;

the Z-axis module support comprises a Y-axis connecting plate and a Z-axis fixing plate, the Y-axis connecting plate is connected to the driving end of the Y-axis module, the Z-axis fixing plate is fixed on the Y-axis connecting plate, and the Z-axis module is fixed on the Z-axis fixing plate.

In an alternative embodiment, the vision mechanism includes a light source assembly and a vision camera assembly;

the light source assembly comprises a light source mounting bracket, a light source mounting plate and a square light source; one end of the light source mounting bracket is fixed on one side of the swing seat, the light source mounting plate is connected to the other end of the light source mounting bracket, and the square light source is fixed on the front side surface of the light source mounting plate;

the visual camera assembly comprises a camera mount and a visual camera; the camera support is fixed on the rear side surface of the light source mounting plate; the vision camera is fixed on the camera support, the camera lens of the vision camera sequentially penetrates through the light source mounting plate and the square light source, and the directions of the camera lens, the square light source and the plug male head are the same.

In an optional embodiment, a protective shell is arranged on the AGV, and surrounds the triaxial module executing mechanism, the floating plug-in mechanism and the vision mechanism;

the camera lens, the square light source and the plug male head face the protective shell opening;

and the opening of the protective shell is provided with a safety grating, the transmitting end of the safety grating is arranged on one side of the opening of the protective shell, and the receiving end of the safety grating is arranged on the other side of the opening of the protective shell.

In an optional implementation manner, an inverter power supply is further arranged on the AGV;

a supporting plate is arranged in the protective shell above the triaxial module actuating mechanism, the floating insertion mechanism and the vision mechanism, and an instrument, a 5G module and a Dongle module are arranged on the supporting plate;

the module controller is arranged on the inner wall of the protective shell, and the operation button and the warning lamp are arranged on the outer wall of the protective shell.

In an optional implementation mode, a floating seat is arranged on the rear side face of the male connecting plate, a floating seat bearing hole is formed in the floating seat, a deep groove ball bearing is arranged in the floating seat bearing hole, and the floating seat is hinged to the Y-axis swing seat through the deep groove ball bearing.

In an optional implementation manner, a floating seat recess is formed in the floating seat, one end of the swing seat is embedded into the floating seat recess, spring wave ball screws are respectively arranged on the left side and the right side of the floating seat recess, and spring wave balls of the spring wave ball screws face the swing seat.

In an optional implementation manner, a Y-axis spring shaft is arranged on the pulley support, a Y-axis spring shaft hole matched with the Y-axis spring shaft is arranged on the main support, the Y-axis spring shaft extends into the Y-axis spring shaft hole, and the Y-axis spring is wound on the Y-axis spring shaft;

the pulley support is provided with an X-axis spring shaft hole site matched with the X-axis spring shaft, the X-axis spring shaft extends into the X-axis spring shaft hole site, and the X-axis spring is wound on the X-axis spring shaft.

In an optional embodiment, the left and right inner sides of the main bracket are respectively provided with a Y-axis guide rail;

the left side and the right side of the pulley bracket are respectively provided with a Y-axis floating first limiting idler wheel, and the Y-axis floating first limiting idler wheels are in sliding fit with the inner side surface of the Y-axis guide rail;

the left and right sides of coaster support still is provided with Y axle spacing subassembly that floats respectively, Y axle spacing subassembly that floats includes the spacing gyro wheel of the unsteady second of Y axle and the spacing gyro wheel of the unsteady third of Y axle, the unsteady second of Y axle spacing gyro wheel with the trailing flank sliding fit of Y axle guide rail, the unsteady third of Y axle spacing gyro wheel with the leading flank sliding fit of Y axle guide rail.

In an optional implementation manner, X-axis floating first limiting assemblies are respectively arranged on the left side and the right side of the pulley support, each X-axis floating first limiting assembly comprises an X-axis floating first limiting roller and an X-axis floating second limiting roller, the X-axis floating first limiting rollers are in sliding fit with the upper side surface of the guide block, and the X-axis floating second limiting rollers are in sliding fit with the lower side surface of the guide block;

the left and right sides of coaster support still is provided with the spacing subassembly of the unsteady second of X axle respectively, the spacing subassembly of the unsteady second of X axle includes the unsteady third spacing gyro wheel of X axle and the unsteady fourth spacing gyro wheel of X axle, the unsteady third spacing gyro wheel of X axle with the trailing flank cooperation of guide block, the unsteady fourth spacing gyro wheel of X axle with the leading flank cooperation of guide block.

The embodiment of the invention provides a mobile cluster splicing and transporting device, wherein the mobile cluster splicing and transporting device can automatically move based on an AGV trolley so as to automatically splice equipment at different positions, and meanwhile, the AGV trolley 1 can control the operation of a three-axis module execution mechanism 2, a floating splicing mechanism 3 and a vision mechanism 4, so that the mobile cluster splicing and transporting device can automatically splice the equipment. In addition, in the floating inserting mechanism, the inserting male head is floated in the Y-axis direction based on the Y-axis spring to realize the up-and-down floating of the inserting male head, the inserting male head is floated in the X-axis direction based on the X-axis spring to realize the left-and-right floating of the inserting male head, the inserting male head can flexibly float in the inserting male head assembly in the left-and-right and up-and-down directions, and has good structural flexibility, further, the male head connecting plate can flexibly float in the left-and-right and up-and-down directions, the inserting male head assembly is arranged on the front side surface of the male head connecting plate, the inserting male head assembly can flexibly float in the left-and-down directions along with the male head connecting plate, so that the structural flexibility of the inserting male head assembly is further improved, and therefore, the floating inserting mechanism can well realize the left-and-right flexible floating of the inserting male head, The upper part and the lower part of the socket are flexibly floated, so that the socket has good structural flexibility, even if a certain butting position deviation occurs, the socket male head can still be flexibly, quickly and stably butted with equipment, the testing efficiency and the interaction efficiency of the equipment are ensured, and the socket has good practicability; moreover, based on the AGV dolly, the transportation function of article can also be realized to the grafting conveyer of flowing bundling after testing and interacting equipment, possesses more usage.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic three-dimensional structure of a flow cluster splicing transport device in an embodiment of the invention;

FIG. 2 is an exploded view of a three-dimensional structure of a flow cluster splicing conveyor in an embodiment of the invention;

FIG. 3 is a schematic front view of a three-axis module actuator and vision mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a rear view of a tri-axial module actuator and vision mechanism in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a first three-dimensional structure of a floating plugging mechanism in an embodiment of the present invention;

FIG. 6 is a second three-dimensional schematic illustration of a floating plug-in mechanism in an embodiment of the present invention;

FIG. 7 is an elevation view of a floating plug-in mechanism in an embodiment of the present invention;

fig. 8 is a partial structural schematic view of a floating plug mechanism in an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic three-dimensional structure diagram of a flow cluster plug transport device in an embodiment of the present invention, and fig. 2 is an exploded three-dimensional structure diagram of the flow cluster plug transport device in the embodiment of the present invention.

The embodiment of the invention provides a mobile cluster splicing and transporting device which comprises an AGV trolley 1, a three-axis module executing mechanism 2, a floating splicing mechanism 3 and a vision mechanism 4.

Fig. 3 is a schematic front structure diagram of a three-axis module actuator and a vision mechanism in an embodiment of the present invention, and fig. 4 is a schematic back structure diagram of the three-axis module actuator and the vision mechanism in the embodiment of the present invention.

The three-axis module actuating mechanism 2 comprises an X-axis module 21, a Y-axis module 22 and a Z-axis module 23; the X-axis module 21 is fixed on the AGV trolley 1, the Y-axis module 22 is connected to the driving end of the X-axis module 21, and the Y-axis module 22 moves along the X-axis direction under the driving of the X-axis module 21; the Z-axis module 23 is connected to the driving end of the Y-axis module 22, and the Z-axis module 23 is driven by the Y-axis module 22 along the Y-axis direction.

Fig. 5 is a first three-dimensional structural diagram of a floating plug-in mechanism in an embodiment of the present invention, fig. 6 is a second three-dimensional structural diagram of the floating plug-in mechanism in the embodiment of the present invention, fig. 7 is a front view of the floating plug-in mechanism in the embodiment of the present invention, and fig. 8 is a partial structural diagram of the floating plug-in mechanism in the embodiment of the present invention.

The floating plug-in mechanism 3 comprises a swing seat 31, a male head connecting plate 32 and a plug-in male head component; one end of the swing seat 31 is connected to the driving end of the Z-axis module 23, the swing seat 31 is driven by the Z-axis module 23 to move along the Z-axis direction, and the other end of the swing seat 31 is connected to a Y-axis swing seat rotating shaft 311; the vision mechanism 4 is fixed on one side of the swing seat 31; the rear side surface of the male connecting plate 32 is hinged with the Y-axis swing seat rotating shaft 311.

The plugging male head component comprises a main bracket 331, a pulley bracket 332, a female head bracket 333 and a plugging male head 334; the main bracket 331 is disposed at a front side surface of the male connecting plate 32; the pulley bracket 332 is arranged in the main bracket 331, and the pulley bracket 332 is connected with the main bracket 331 through a Y-axis spring 335; the female head bracket 333 is arranged in the pulley bracket 332, guide blocks 3331 are respectively arranged on the left side and the right side of the female head bracket 333, and the guide blocks 3331 are connected with the pulley bracket 332 through an X-axis spring 336; the male plug 334 is arranged on the female support 333, and the male plug 334 is used for being connected with equipment in a butt joint mode.

In specific implementation, the pulley support 332 is connected with the main support 331 through a Y-axis spring 335, the pulley support 332 is floated in the Y-axis direction through the Y-axis spring 335, the male plug 334 is arranged in the pulley support 332, and the male plug 334 can float in the Y-axis direction along with the pulley support 332, that is, the male plug 334 can float up and down; the guide block 3331 is connected with the pulley bracket 332 through an X-axis spring 336, the female bracket 333 realizes floating in the X-axis direction through the X-axis spring 336, the male plug 334 is fixed on the female bracket 333, and the male plug 334 can realize floating in the X-axis direction along with the female bracket 333, i.e. left-right floating of the male plug 334 can be realized; it can be seen that, in the male plug assembly, the male plug 334 can flexibly float left and right, up and down, and has good structural flexibility.

Further, the rear side surface of the male connecting plate 32 is hinged to the Y-axis swing seat rotating shaft 311, and the male connecting plate 32 can rotate to a limited extent by using the Y-axis swing seat rotating shaft 311 as a rotating axis, so that the male connecting plate 32 floats in the X-axis direction, that is, the male connecting plate 32 floats left and right; in addition, the male connecting plate 32 can also slide along the Y-axis swing base rotating shaft 311, so that the male connecting plate 32 can float in the Y-axis direction to a certain extent, that is, the male connecting plate 32 can float up and down to a certain extent; it can be seen that public first connecting plate 32 can realize about, the nimble of upper and lower floating, public first subassembly setting of pegging graft is in public first connecting plate 32's leading flank, public first subassembly of pegging graft can be followed public first connecting plate 32 further realizes about, the nimble of upper and lower floating, further improves public first subassembly's of pegging graft structure flexibility, so that grafting mechanism 3 that floats has better structure flexibility.

In conclusion, in the mobile cluster splicing transportation device, the floating splicing mechanism 3 can well realize that the splicing male head 334 flexibly floats left and right, up and down, and has good structural flexibility, and even if a certain butting position deviation occurs, the splicing male head 334 can still flexibly, quickly and stably butt with equipment, so that the testing efficiency and the interaction efficiency of the equipment are ensured, and the device has good practicability.

In specific implementation, an upper computer sends geographic position information to the AGV trolley 1, the AGV trolley 1 autonomously moves to an appointed position according to the geographic position information, and the AGV trolley 1 can realize autonomous movement of the mobile cluster splicing transport device so as to automatically dock equipment at different positions; AGV dolly 1 is the master control side simultaneously, controls triaxial module actuating mechanism 2 unsteady grafting mechanism 3 with the operation of vision mechanism 4: after the AGV trolley 1 autonomously moves to a specified position, the AGV trolley 1 controls the operation of the vision mechanism 4, the vision mechanism 4 automatically executes photographing action, acquires photographing position information and sends the photographing position information back to the AGV trolley 1; the AGV trolley 1 controls the three-axis module executing mechanism 2 to automatically run according to the photographing position information, and the inserting male head 334 of the floating inserting mechanism 3 automatically moves to an appointed butt joint position under the driving of the three-axis module executing mechanism 2; after the male plug 334 moves to a designated docking position, the AGV cart 1 starts the male plug 334 to realize docking with the device.

It should be noted that, based on the AGV trolley 1, the self-movement of the mobile cluster splicing transport device can be realized to automatically dock the devices at different positions, and meanwhile, the AGV trolley 1 can control the operation of the triaxial module execution mechanism 2, the floating splicing mechanism 3 and the vision mechanism 4, so as to automatically dock the devices; it is thus clear that the mobile cluster splicing and transporting device has the advantages of intellectualization and high automation degree, can autonomously move to different positions, can automatically realize the butt joint with equipment, can automatically and sequentially butt joint with the equipment one by one, does not need to consume a large amount of manpower, solves the problem of low butt joint efficiency, and ensures the test efficiency and the interaction efficiency of the equipment.

Moreover, based on AGV dolly 1, the transportation function of article can also be realized to the grafting conveyer of flowing bundling after testing and interacting equipment, possesses more usage.

In the embodiment of the present invention, the three-axis module actuator 2 further includes a Y-axis module support 24 and a Z-axis module support 25.

The Y-axis module support 24 includes an X-axis connecting plate 241 and a Y-axis fixing plate 242, the X-axis connecting plate 241 is connected to the driving end of the X-axis module 21, the Y-axis fixing plate 242 is fixed on the X-axis connecting plate 241, and the Y-axis module 22 is fixed on the Y-axis fixing plate 242; the Y-axis module support 24 is arranged to facilitate fixing of the Y-axis module 22 and connection between the Y-axis module 22 and the X-axis module 21.

The Z-axis module support 25 comprises a Y-axis connecting plate 251 and a Z-axis fixing plate 252, the Y-axis connecting plate 251 is connected to the driving end of the Y-axis module 22, the Z-axis fixing plate 252 is fixed on the Y-axis connecting plate 251, and the Z-axis module 23 is fixed on the Z-axis fixing plate 252; the Z-axis module support 25 is arranged to facilitate fixing of the Z-axis module 23 and connection between the Z-axis module 23 and the Y-axis module 22.

The embodiment of the vision mechanism 4 can be various, and in the embodiment of the present invention, the vision mechanism 4 includes a light source assembly and a vision camera assembly.

The light source assembly comprises a light source mounting bracket 411, a light source mounting plate 412 and a square light source 413; one end of the light source mounting bracket 411 is fixed to one side of the swing seat 31, the light source mounting plate 412 is connected to the other end of the light source mounting bracket 411, and the square light source 413 is fixed to the front side surface of the light source mounting plate 412; the arrangement of the light source mounting bracket 411 and the light source mounting plate 412 facilitates the fixing of the square light source 413.

The visual camera assembly includes a camera mount 421 and a visual camera 422; the camera support 421 is fixed on the rear side of the light source mounting plate 412; the visual camera 422 is fixed on the camera support 421, and the camera support 421 is arranged to facilitate the fixation of the visual camera 422; the camera lens of vision camera 422 passes in proper order light source mounting panel 412 with square light source 413, just the camera lens square light source 413 with public head 334's of grafting orientation is the same, all is towards equipment in concrete implementation, square light source 413 can do vision camera 422's camera lens provides the light source, guarantees vision camera 422's imaging quality to acquire more accurate position information of shooing, more accurate control triaxial module actuating mechanism 2's operation makes public head 334 of grafting realizes better the butt joint with equipment.

In the embodiment of the invention, the AGV trolley 1 is provided with the protective shell 5, the protective shell 5 surrounds the three-axis module executing mechanism 2, the floating insertion mechanism 3 and the visual mechanism 4, and the protective shell 5 can well protect the three-axis module executing mechanism 2, the floating insertion mechanism 3 and the visual mechanism 4.

Be provided with protective housing opening 51 on the protective housing 5, the camera lens square light source 413 with public head 334 orientation of pegging graft protective housing opening 51, in the concrete implementation, protective housing opening 51 is towards equipment, warp protective housing opening 51 realizes the butt joint with equipment.

Specially, protective housing opening 51 department is provided with safety grating 52, safety grating 52's transmitting terminal sets up one side of protective housing opening 51, safety grating 52's receiving terminal sets up protective housing opening 51's opposite side, in the concrete implementation, safety grating 52 is as photoelectric safety protection device flow the automation mechanized operation process of pegging graft conveyer tied in a bundle, when personnel are close to protective housing opening 51, safety grating 52 can produce the level change, AGV dolly 1 senses safety grating 52's level change back can produce the scram signal, and scram the operation of the grafting conveyer tied in a bundle that flows, protection personnel's safety.

In the embodiment of the invention, the AGV trolley 1 is further provided with an inverter power supply 61, and the inverter power supply 61 is used for providing a direct-current power supply for the mobile cluster inserting and transporting device.

The inside of protective housing 5 is in triaxial module actuating mechanism 2 the grafting mechanism 3 that floats with the top of vision mechanism 4 is provided with layer board 62, be provided with instrument and meter 63, 5G module 64 and Dongle module 65 on the layer board 62: the operating state of the flow cluster plug transport device can be monitored by the instrumentation 63; the AGV trolley 1 can communicate with a mobile terminal through the 5G module 64, the mobile terminal can send the geographic position information of equipment to the AGV trolley 1 through the 5G module 64, and meanwhile, the working state and the running condition of the mobile bundling splicing system can be monitored in real time through the mobile terminal; the Dongle module 65 can be used in combination with a specific wireless device, such as a wireless mouse, a wireless keyboard, etc., to facilitate the operation and control of the mobile cluster plug transport device; it should be noted that, by arranging the instrumentation 63, the 5G module 64, and the Dongle module 65 on the supporting board 62, the blocking can be reduced to some extent, and the effective performance of the processes of data transmission, signal communication, etc. is ensured.

Be provided with module controller 66 on the inner wall of protective housing 5, module controller 66 respectively with X axle module 21Y axle module 22 with Z axle module 23 electricity is connected, in the concrete implementation, AGV dolly 1 can pass through module controller 66 controls respectively X axle module 21Y axle module 22 with the operation of Z axle module 23, in order to realize vision mechanism 4 with the triaxial position automatically regulated of grafting mechanism 3 floats.

Be provided with operating button 67 and warning light 68 on the outer wall of protective housing 5, wherein, operating button 67 can include start button, stop button, scram button etc. through operating button 67 can manual control the mobile transportation device of pegging graft tied in a bundle, warning light 68 can indicate through the light effect of difference the mobile operating condition who pegs graft the transportation device of pegging graft tied in a bundle and locate.

In the embodiment of the invention, a floating seat 321 is arranged on the rear side surface of the male connecting plate 32, a floating seat bearing hole 3213 is arranged in the floating seat 321, a deep groove ball bearing 3214 is arranged in the floating seat bearing hole 3213, the floating seat 321 is hinged with the Y-axis swing seat rotating shaft 311 through the deep groove ball bearing 3214, the deep groove ball bearing 3214 is adopted to realize the hinging, and the deep groove ball bearing 3214 has the advantages of simple structure and convenient use, can bear radial and axial combined loads, and well meets the requirements of the left-right and up-down floating of the floating seat 321.

The rear side surface of the male connecting plate 32 is provided with a connecting plate groove 322 matched with the floating seat 321, the floating seat 321 is embedded and fixed in the connecting plate groove 322, and the stable connection of the floating seat 321 is realized through the connecting plate groove 322.

In the embodiment of the present invention, a floating seat recess 3211 is disposed on the floating seat 321, one end of the swing seat 31 is embedded in the floating seat recess 3211, spring wave ball screws 3212 are disposed on the left and right sides of the floating seat recess 3211, the screws of the spring wave ball screws 3212 are used for connecting with the floating seat recess 3211, the spring wave balls of the spring wave ball screws 3212 face the swing seat 31, during left and right floating of the floating seat 321 and the male connection plate 32, the spring wave ball screws 3212 on the left and right sides of the floating seat recess 3211 can elastically cooperate with one end of the swing seat 31 to limit and elastically reset the left and right floating of the floating seat 321 and the male connection plate 32, and the spring wave ball screws 3212 have advantages of convenient use, good limiting and elastic reset effects.

In the embodiment of the present invention, the guide block 3331 is provided with a guide block connecting block 33311, the left and right sides of the female bracket 333 are respectively provided with a female bracket connecting groove 3332 adapted to the guide block connecting block 33311, the guide block connecting block 33311 is embedded and fixed in the female bracket connecting groove 3332, and the guide block 3331 can be stably connected by the matching of the female bracket connecting groove 3332 and the guide block connecting block 33311.

In the embodiment of the present invention, the guide block 3331 is provided with a Z-axis alignment pin 33312, and the Z-axis alignment pin 33312 is used for alignment, so as to facilitate the butt joint of the male plug 334 with a device.

In the embodiment of the present invention, a Y-axis spring shaft 3351 is disposed on the pulley support 332, a Y-axis spring shaft hole 3311 adapted to the Y-axis spring shaft 3351 is disposed on the main support 331, the Y-axis spring shaft 3351 extends to the Y-axis spring shaft hole 3311, the Y-axis spring 335 is wound on the Y-axis spring shaft 3351, and the Y-axis spring shaft 3351 can ensure that the Y-axis spring 335 is always disposed along the Y-axis direction, so as to ensure the vertical floating direction of the male plug 334.

In an embodiment of the present invention, an X-axis spring shaft 3361 is disposed on the guide block 3331, an X-axis spring shaft hole 3321 adapted to the X-axis spring shaft 3361 is disposed on the pulley support 332, the X-axis spring shaft 3361 extends into the X-axis spring shaft hole 3321, the X-axis spring 336 is wound on the X-axis spring shaft 3361, and the X-axis spring shaft 3361 can ensure that the X-axis spring 336 is always disposed along the X-axis direction, so as to ensure the left-right floating direction of the male plug 334.

In the embodiment of the present invention, the left and right inner sides of the main bracket 331 are respectively provided with a Y-axis guide 337.

The left side and the right side of the pulley support 332 are respectively provided with a Y-axis floating first limiting idler wheel 3322, and the Y-axis floating first limiting idler wheel 3322 is in sliding fit with the inner side surface of the Y-axis guide rail 337.

The left and right sides of coaster support 332 still is provided with Y axle spacing subassembly that floats respectively, Y axle spacing subassembly that floats includes that the Y axle floats second spacing gyro wheel 3323 and the unsteady third spacing gyro wheel 3324 of Y axle, the Y axle floats second spacing gyro wheel 3323 with the unsteady third spacing gyro wheel 3324 one-to-one setting of Y axle, the Y axle float second spacing gyro wheel 3323 with the trailing flank sliding fit of Y axle guide rail 337, the Y axle float third spacing gyro wheel 3324 with the leading flank sliding fit of Y axle guide rail 337.

In specific implementation, the first floating limiting roller 3322 on the Y axis, the second floating limiting roller 3323 on the Y axis and the third floating limiting roller 3324 on the Y axis can both ensure that the pulley bracket 332 always floats in the Y axis direction, and when the pulley bracket 332 floats in the Y axis direction, the first floating limiting roller 3322 on the left side and the right side can also limit the position of the pulley bracket 332 in the X axis direction, and the floating limiting assemblies on the left side and the right side can also limit the position of the pulley bracket 332 in the Z axis direction, so that the male plugging head 334 always floats in the Y axis direction, and the vertical floating direction of the male plugging head 334 is ensured.

In the embodiment of the present invention, the left and right sides of the pulley bracket 332 are respectively provided with an X-axis floating first limit assembly, the X-axis floating first limit assembly includes an X-axis floating first limit roller 3325 and an X-axis floating second limit roller 3326, the X-axis floating first limit roller 3325 is slidably engaged with the upper side surface of the guide block 3331, and the X-axis floating second limit roller 3326 is slidably engaged with the lower side surface of the guide block 3331.

The left and right sides of coaster support 332 still is provided with the spacing subassembly of the unsteady second of X axle respectively, the spacing subassembly of the unsteady second of X axle includes that the X axle floats third spacing gyro wheel 3327 and the unsteady fourth spacing gyro wheel 3328 of X axle, the unsteady third spacing gyro wheel 3327 of X axle with the trailing flank cooperation of guide block 3331, the unsteady fourth spacing gyro wheel 3328 of X axle with the cooperation of the leading flank of guide block 3331.

In specific implementation, the first limit roller 3325 that the X-axis floats, the second limit roller 3326 that the X-axis floats, the third limit roller 3327 that the X-axis floats and the fourth limit roller 3328 that the X-axis floats can both guarantee that the guide block 3331 and the female head support 333 float along the X-axis direction all the time, moreover, when the guide block 3331 and the female head support 333 float in the X-axis direction, the first limit component that the X-axis floats of the left and right sides can also limit the position of the guide block 3331 in the Y-axis direction, and the second limit component that the X-axis floats of the left and right sides can also limit the position of the guide block 3331 in the Z-axis direction, so as to guarantee that the guide block 3331 and the female head support 333 float along the X-axis direction all the time, and guarantee the left and right floating direction of the male plug 334.

The embodiment of the invention provides a mobile cluster splicing and transporting device, wherein the mobile cluster splicing and transporting device can automatically move based on an AGV trolley 1 so as to automatically splice equipment at different positions, and meanwhile, the AGV trolley 1 can control the operation of a three-axis module executing mechanism 2, a floating splicing mechanism 3 and a vision mechanism 4, so that the mobile cluster splicing and transporting device can automatically splice the equipment. In addition, in the floating plug-in mechanism 3, the plug-in male head 334 is based on the floating of the Y-axis spring 335 in the Y-axis direction to realize the up-and-down floating of the plug-in male head 334, the plug-in male head 334 is based on the floating of the X-axis spring 336 in the X-axis direction to realize the left-and-right floating of the plug-in male head 334, the plug-in male head 334 can flexibly float left and right and up and down in the plug-in male head assembly, and has good structural flexibility, further, the male head connecting plate 32 can flexibly float left and right and up and down, the plug-in male head assembly is arranged on the front side surface of the male head connecting plate 32, and the plug-in male head assembly can further flexibly float left and right and up and down along with the male head connecting plate 32, so as to further improve the structural flexibility of the plug-in male head assembly, it can be seen that the floating plug-in mechanism 3 can well realize the left-and right floating of the plug-in male head 334, The upper part and the lower part are flexible and float, so that the structure flexibility is good, even if a certain butting position deviation occurs, the plugging male head 334 can still flexibly, quickly and stably butt with the equipment, the testing efficiency and the interaction efficiency of the equipment are ensured, and the practicability is good; moreover, based on AGV dolly 1, the transportation function of article can also be realized to the grafting conveyer of flowing bundling after testing and interacting equipment, possesses more usage.

In addition, the flow bundling splicing transportation device provided by the embodiment of the invention is described in detail above, and the principle and the embodiment of the invention should be explained by using a specific example herein, and the description of the above embodiment is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A mobile cluster splicing and transporting device is characterized by comprising an AGV trolley, a three-axis module executing mechanism, a floating splicing mechanism and a vision mechanism;

the floating plug-in mechanism comprises a swing seat, a male head connecting plate and a plug-in male head assembly; one end of the swing seat is connected to the driving end of the Z-axis module, and the other end of the swing seat is connected with a Y-axis swing seat rotating shaft; the visual mechanism is fixed on one side of the swing seat; the rear side surface of the male connecting plate is hinged with the rotating shaft of the Y-axis swing seat; the plug male head assembly comprises a main bracket, a pulley bracket, a female head bracket and a plug male head; the main bracket is arranged on the front side surface of the male connecting plate; the pulley bracket is connected with the main bracket through a Y-axis spring; the left side and the right side of the female head support are respectively provided with a guide block, and the guide blocks are connected with the pulley support through an X-axis spring; the inserting male head is fixed on the female head bracket;

the left side and the right side of the pulley bracket are respectively provided with an X-axis floating first limiting assembly, the X-axis floating first limiting assembly comprises an X-axis floating first limiting idler wheel and an X-axis floating second limiting idler wheel, the X-axis floating first limiting idler wheel is in sliding fit with the upper side surface of the guide block, and the X-axis floating second limiting idler wheel is in sliding fit with the lower side surface of the guide block;

2. The flow cluster splicing transporter of claim 1, wherein the tri-axial module actuator further comprises a Y-axis module mount and a Z-axis module mount;

3. The flow cluster splicing transporter of claim 1, wherein said vision mechanism comprises a light source assembly and a vision camera assembly;

4. The flow cluster splicing transport device of claim 3, wherein a protective enclosure is provided on the AGV car, said protective enclosure enclosing said tri-axial module actuator, said floating splicing mechanism and said vision mechanism;

5. The flow bunch splicing conveyor of claim 4, wherein an inverter power supply is further provided on the AGV;

6. The flow cluster splicing transportation device according to claim 1, wherein a floating seat is arranged on the rear side surface of the male connecting plate, a floating seat bearing hole is formed in the floating seat, a deep groove ball bearing is arranged in the floating seat bearing hole, and the floating seat is hinged to the Y-axis swing seat rotating shaft through the deep groove ball bearing.

7. The mobile cluster splicing and transporting device of claim 6, wherein a floating seat recess is formed in the floating seat, one end of the swing seat is embedded in the floating seat recess, spring wave ball screws are respectively arranged on the left side and the right side of the floating seat recess, and spring wave balls of the spring wave ball screws face the swing seat.

8. The flow bundling splicing transport device according to claim 1, wherein a Y-axis spring shaft is arranged on the pulley bracket, a Y-axis spring shaft hole matched with the Y-axis spring shaft is arranged on the main bracket, the Y-axis spring shaft extends into the Y-axis spring shaft hole, and the Y-axis spring is wound on the Y-axis spring shaft;

9. The mobile cluster splicing and transporting device as claimed in claim 1, wherein the left and right inner sides of the main support are respectively provided with Y-axis guide rails;