CN110843648A - Automatic assembly system for train equipment box - Google Patents

Abstract

The invention discloses an automatic assembly system of a train equipment box, which comprises a carrying platform, a four-axis movement mechanism, a bearing tray, a navigation laser radar, a first depth camera and a controller, wherein a steering wheel driving device is arranged at the bottom of the carrying platform, the four-axis movement mechanism comprises a rotary table, a lifting device and a two-dimensional plane moving device, and the bottom of the bearing tray is arranged on the rotary table. When the device is used, the large equipment box is placed on the bearing tray, and the carrying platform slowly approaches to a corresponding mounting position of a train under the navigation of the controller; the controller controls the four-axis movement mechanism to drive the equipment box to adjust the position, the bolt holes of the equipment box correspond to hanging bolts on the train, then nuts and the hanging bolts are utilized to be connected, the equipment box is installed on the train, and installation of the equipment box is completed.

Description

A train equipment box automatic assembly system

technical field

The invention relates to the technical field of train assembly equipment, in particular to an automatic assembly system for train equipment boxes.

Background technique

The train equipment box is a common accessory group for trains, including train air conditioning unit, electrical control group, living facility module group and other common accessory groups. The size of the equipment box varies. When assembling the train equipment box, if a small equipment box is assembled, the small equipment can be transported by lifting equipment such as a hydraulic lifting trolley and transported to the corresponding train location for assembly; if the assembly is relatively large A large air-cushion truck is required to carry and lift the equipment box, and in the process of transporting the air-cushion vehicle, multiple people are required to accompany the equipment box so that the equipment box will not touch other facilities in the assembly workshop. After arriving at the train assembly position, if the installation position is inaccurate and the bolt holes on the mounting seat of the equipment box are not aligned with the pre-installed hanging bolts on the train, a large number of assembly workers are required to move the large equipment box. It consumes a lot of manpower and time, resulting in very inconvenient assembly of large equipment boxes and low assembly efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an automatic assembling system for train equipment boxes, which saves manpower and assembling time, greatly improves the assembling efficiency of equipment boxes, and facilitates the assembly of equipment boxes.

The present invention provides an automatic assembly system for train equipment boxes, comprising:

The transport platform has a mobile chassis at the bottom, the mobile chassis is provided with a steering wheel drive device, and the upper middle of the transport platform is provided with a placement slot;

A four-axis motion mechanism is arranged in the placement slot, and includes a rotating table, a lifting device for driving the lifting and lowering of the rotating table, and a two-dimensional plane moving device for driving the lifting device and the rotating table to move;

a carrying tray, located above the transport platform, and the bottom of the carrying tray is mounted on the rotating table for carrying equipment boxes;

Navigation lidar, arranged on the front side of the handling platform, used to obtain spatial map information;

a first depth camera, arranged on the left side of the transport platform, for detecting the distance between the train body and the transport platform;

The controller is electrically connected with the navigation laser radar, the first depth camera, the steering wheel driving device, and the four-axis motion mechanism.

The automatic assembling system for train equipment boxes in the embodiment of the present invention has at least the following technical effects: when in use, the large equipment box is placed on the carrying tray, the controller drives the steering wheel drive device to start, moves the transport platform, and then cooperates with the navigation laser radar , The data feedback of the first depth camera, calculate the current position of the transport platform, and then adjust the moving direction and speed of the steering wheel drive device, so that the transport platform slowly approaches the corresponding installation position of the train under the navigation of the controller; when the train arrives At the installation position, the steering wheel drive device stops and the transport platform stops, and then the controller controls the four-axis motion mechanism to drive the equipment box to adjust the position, so that the bolt holes of the equipment box correspond to the hanging bolts on the train, and then use the nut to The installation of the equipment box is completed by hanging the bolt connection and installing the equipment box on the train. Therefore, during the assembly process of the equipment box, a large number of assemblers can be eliminated to cooperate with the steps of moving the position of the large equipment box, saving manpower and assembly. Time, greatly improve the assembly efficiency of the equipment box, and facilitate the assembly of the equipment box.

According to some embodiments of the present invention, the left front end of the transport platform is further provided with an obstacle avoidance laser radar electrically connected to the controller.

According to some embodiments of the present invention, a lift push rod is provided on the left side of the transport platform, and a second depth camera is provided on the upper end of the lift push rod.

According to some embodiments of the present invention, the upper end of the lift push rod is provided with a placing table, the second depth camera is arranged on the placing table, and the placing table is provided with a left side of the lift push rod for A protective plate that protects the left side of the second depth camera.

According to some embodiments of the present invention, a lift seat is arranged in the middle of the left side of the transport platform, the lift push rod is arranged on the lift seat, and the first depth camera is arranged on the left side of the lift seat.

According to some embodiments of the present invention, the bottom of the carrying tray is provided with a plurality of supporting feet, and the supporting feet abut against the upper side surface of the transport platform.

According to some embodiments of the present invention, the steering wheel driving device includes two steering wheels and two universal wheels disposed at the bottom of the moving chassis, and a steering wheel motor that drives the steering wheels to rotate.

According to some embodiments of the present invention, the two-dimensional plane moving device includes a first screw driving device and a second screw driving device disposed on the first screw driving device, the first screw driving The device includes a first sliding seat arranged at the bottom of the placement groove, a first sliding block slidably connected with the first sliding seat, a first driving screw screw threadedly connected with the first sliding block, and driving the The first driving motor for driving the rotation of the screw rod, and the second screw rod driving device is arranged on the first sliding block.

According to some embodiments of the present invention, the second screw driving device includes a second sliding seat provided on the first sliding block, a second sliding block slidably connected with the second sliding seat, and a second sliding block slidably connected to the second sliding block. A second driving screw screw connected to the second sliding block, a second driving motor for driving the second driving screw to rotate, and the lifting device is arranged on the second sliding block.

According to some embodiments of the present invention, the edges of the carrying tray are provided with fences.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic structural diagram of an automatic assembling system for a train equipment box according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of another perspective of the train equipment box automatic assembly system shown in FIG. 1;

Fig. 3 is the sectional structure schematic diagram of the train equipment box automatic assembly system shown in Fig. 1;

Fig. 4 is the structural representation of the four-axis motion mechanism shown in Fig. 1;

FIG. 5 is a schematic diagram of a circuit point solution of a controller according to an embodiment of the present invention.

Reference number:

Transport platform 100, mobile chassis 110, steering wheel drive device 120, steering wheel 121, universal wheel 122, placement slot 130, lift push rod 140, placement platform 141, protective plate 142, second depth camera 150, lift seat 160,

Four-axis motion mechanism 200, rotary table 210, lifting device 220, two-dimensional plane moving device 230, first screw driving device 240, first sliding seat 241, first sliding block 242, first driving screw 243, first The driving motor 244, the second screw driving device 250, the second sliding seat 251, the second sliding block 252, the second driving screw 253, the second driving motor 254,

The carrying tray 300, the legs 310, the fence 320,

Navigation lidar 400,

The first depth camera 500,

controller 600,

Obstacle Avoidance Lidar 700.

Detailed ways

This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Each technical feature and overall technical solution of the invention should not be construed as limiting the protection scope of the invention.

In the description of the present invention, it should be understood that the azimuth description, such as the azimuth or position relationship indicated by up, down, front, rear, left, right, etc., is based on the azimuth or position relationship shown in the drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

1 to 5, an automatic assembly system for train equipment boxes, including:

The transport platform 100 has a mobile chassis 110 at the bottom, the mobile chassis 110 is provided with a steering wheel drive device 120, and the upper middle of the transport platform 100 is provided with a placement slot 130;

The four-axis motion mechanism 200 is arranged in the placement slot 130, and includes a rotary table 210, a lifting device 220 for driving the rotary table 210 to rise and fall, and a two-dimensional plane moving device 230 for driving the lifting device 220 and the rotary table 210 to move;

The carrying tray 300 is located above the transport platform 100, and the bottom of the carrying tray 300 is mounted on the rotating table 210 for carrying equipment boxes;

The navigation lidar 400 is arranged on the front side of the handling platform 100 and is used to obtain spatial map information;

The first depth camera 500 is arranged on the left side of the transport platform 100, and is used to detect the distance between the train body and the transport platform 100;

The controller 600 is electrically connected to the navigation lidar 400 , the first depth camera 500 , the steering wheel driving device 120 , and the four-axis motion mechanism 200 .

The steering wheel driving device 120 is disposed at the bottom of the moving chassis 110, and is used for driving the moving chassis 110 to move, that is, for driving the transport platform 100 to move. Wherein, as shown in FIG. 2 , the steering wheel driving device 120 includes two steering wheels 121 and two universal wheels 122 arranged at the bottom of the moving chassis 110 , and a steering wheel motor for driving the steering wheels 121 to rotate. That is, the steering wheel motor can drive the steering wheel 121 to rotate, so that the steering wheel 121 drives the conveying platform 100 to move. The steering wheel 121 is a commonly used driving wheel on the AGV trolley, which can be steered and rotated to facilitate turning and translational movements in various directions. The two steering wheels 121 are respectively located at the opposite corners of the moving chassis 110 to facilitate supporting and driving the transport platform 100 to move. The steering wheel 121 is provided with an encoder, which can record the number of turns of the steering wheel 121 to calculate the distance traveled by the transport platform 100 . The four-axis motion mechanism 200 is used to drive the carrier tray 300 to perform horizontal two-dimensional plane motion, lift motion, and rotate around the central axis of the rotary table 210 , then the four-axis motion mechanism 200 can be used to control the equipment boxes carried on the carrier tray 300 Carry out horizontal plane translation, lift, and rotation movements, so that the relative position between the equipment box and the train can be adjusted, so that the bolt holes of the equipment box correspond to the reserved holes of the train, which is convenient for the subsequent installation and fixation of the bolts of the equipment box, so it can save a lot of The assembly workers cooperate with the steps of moving the position of the large equipment box, which saves manpower and assembly time, greatly improves the assembly efficiency of the equipment box, and facilitates the installation of the equipment box. The navigation lidar 400 is used to detect the distance between the object in front and the transport platform 100, and to detect the movement speed of the object in front, so as to obtain the current spatial map information, and then feed it back to the controller 600, so that the controller 600 can create a spatial map , it is convenient to formulate the navigation route and control the action of the steering wheel drive device 120. Therefore, it is possible to cooperate with the encoder of the steering wheel drive device 120 to calculate the speed and moving distance of the current transport platform 100, and then cooperate with the first depth camera 500 to obtain the train body and the transport platform 100. Therefore, the controller 600 can calculate the current position of the transport platform 100, and the controller 600 adjusts the direction and rotation speed of the steering wheel 121 according to the current position, so that the transport platform 100 can slowly approach the train, so as to achieve the purpose of precise navigation. . The navigation method here is similar to the principle of the existing inertial navigation system, so it is not repeated here. In addition, the navigation lidar 400 can detect whether there is an obstacle ahead, so that the transport platform 100 can avoid the obstacle, so as to prevent the equipment box and the transport platform 100 from colliding with the object ahead while moving. When in use, the large equipment box is placed on the carrying tray 300, the controller 600 drives the steering wheel drive device 120 to start, and makes the transport platform 100 move, and then cooperates with the data feedback of the navigation lidar 400 and the first depth camera 500 to calculate the current The position of the transport platform 100 is adjusted, and then the moving direction and speed of the steering wheel drive device 120 are adjusted, so that the transport platform 100 can slowly approach the corresponding installation position of the train under the navigation of the controller 600; when reaching the installation position of the train, the steering wheel drive device 120 stops, the transport platform 100 stops, and then the controller 600 controls the four-axis motion mechanism 200 to drive the equipment box to adjust the position, so that the bolt holes of the equipment box correspond to the reserved hanging bolts on the train, and then use the nuts to fasten the equipment. If the box is installed on the train, the installation of the equipment box is completed. Therefore, during the assembly process of the equipment box, a large number of assemblers can be eliminated to cooperate with the steps of moving the position of the large equipment box, saving manpower and assembly time, and greatly improving the equipment box. Assembly efficiency, easy installation of equipment boxes. It should be noted that the controller is an MCU control chip, which can perform operations and control output, so it can control the whole machine to operate according to the process.

In some embodiments of the present invention, as shown in FIG. 1 and FIG. 2 , an obstacle avoidance laser radar 700 electrically connected to the controller 600 is further provided on the left front end of the handling platform 100 . The obstacle avoidance lidar 700 is used to detect the distance between the obstacles on the left and the front left from the transport platform 100, and then feed back information to the controller 600, so that the controller 600 controls the steering wheel drive device 120 to move, so that the transport platform 100 avoids obstacles to avoid collisions.

In some embodiments of the present invention, as shown in FIGS. 1 and 2 , a lift push rod 140 is provided on the left side of the transport platform 100 , and a second depth camera 150 is provided on the upper end of the lift push rod 140 . The second depth camera 150 can be raised and lowered, that is, when the equipment box is carried, the second depth camera 150 can be raised, so that the height of the second depth camera 150 is higher than the top of the equipment box, so that the second depth camera 150 can detect The distance between the obstacle on the upper side of the equipment box and the equipment box, so as to feed back information to the controller 600, so that the controller 600 can control the steering wheel drive device 120 to change the direction, so as to let the equipment box avoid the obstacle and avoid the collision between the equipment box and the obstacle . It should be noted that the lift push rod 140 is an electric push rod commonly used in the market, and in addition, it can also be a pneumatic or hydraulic push rod.

In some embodiments of the present invention, as shown in FIGS. 1 and 2 , the upper end of the lift rod 140 is provided with a placing table 141 , the second depth camera 150 is arranged on the placing table 141 , and the placing table 141 is located on the lifting push rod 140 . A protective plate 142 for protecting the left side of the second depth camera 150 is provided on the left side of the . The upper end of the protective plate 142 is higher than the second depth camera 150 , which can prevent the obstacles on the left and the upper side from directly colliding with the second depth camera 150 , so as to ensure that the second depth camera 150 is not damaged. Moreover, the distance between the obstacle located on the upper side of the equipment box and the equipment box can also be detected, and the effect of avoiding the collision between the equipment box and the obstacle can be achieved. In order to adjust the position of the equipment box conveniently, magnetically adsorbed red and blue markers can be pasted on the bottom center of the suspension bolts that are diagonal to each other in advance. The second depth camera 150 can detect the movement of the diagonal suspension bolts. position, the position of the hanging bolt is fed back to the controller 600, so that the controller controls the movement of the four-axis motion mechanism, so that the bolt hole of the equipment box is automatically aligned with the position of the hanging bolt.

In some embodiments of the present invention, as shown in FIG. 1 and FIG. 2 , a lift seat 160 is arranged in the middle of the left side of the transport platform 100 , the lift push rod 140 is arranged on the lift seat 160 , and the first depth camera 500 is arranged on the lift seat 160 . Left side of seat 160. That is, the first depth camera 500 and the lift push rod 140 are both disposed on the lift seat 160, and the first depth camera 500 and the second depth camera 150 are both located in the middle of the left side of the transport platform 100, so the second depth camera 150 can be detected first. Position the suspension bolt on the left side of the train. If the transport platform 100 needs to be moved, the first depth camera 150 can feed back the obstacle information on the left side of the transport platform 100 to the controller 600, so that the transport platform 100 can better avoid the moving process. The obstacle is avoided, collision is avoided, and the left side will not collide with the obstacle, which facilitates the positioning of the equipment box and reduces the collision when moving the transport platform 100. The depth and position parameters fed back by the first depth camera 500 and the second depth camera 150 are similar to the horizontal coordinates of the transport platform 100 , which is convenient for the controller 600 to calculate the distance between obstacles and the vehicle body and facilitate control.

In some embodiments of the present invention, as shown in FIG. 1 , FIG. 2 , and FIG. 3 , the bottom of the carrying tray 300 is provided with a plurality of legs 310 , and the legs 310 abut against the upper side of the transport platform 100 . The feet 310 are located at the bottom of the carrying tray 300 , and the bottom surface of the carrying tray 300 is larger than the opening of the mounting slot 130 , so that the feet 310 can be better supported on the transport platform 100 . During the movement of the transport platform 100 , the carrier tray 300 can be supported on the upper side of the transport platform 100 by the legs 310 , increasing the force point of the carrier tray 300 , dispersing the pressure of the four-axis motion mechanism 200 , and making the supporting effect better.

In some embodiments of the present invention, referring to FIGS. 3 and 4 , the two-dimensional plane moving device 230 includes a first screw driving device 240 and a second screw driving device 250 disposed on the first screw driving device 240 , the first screw driving device 240 includes a first sliding seat 241 arranged at the bottom of the mounting groove 130 , a first sliding block 242 slidably connected with the first sliding seat 241 , and a first driving device threadedly connected with the first sliding block 242 The screw 243 , the first driving motor 244 for driving the first driving screw 243 to rotate, and the second screw driving device 250 are arranged on the first sliding block 242 . The second screw driving device 250 includes a second sliding seat 251 disposed on the first sliding block 242 , a second sliding block 252 slidably connected to the second sliding seat 251 , and a second sliding block 252 threadedly connected to the second sliding block 252 . The driving screw 253 , the second driving motor 254 for driving the second driving screw 253 to rotate, and the lifting device 220 are arranged on the second sliding block 252 . The transporting direction of the first screw driving device 240 is perpendicular to the transporting direction of the second screw driving device 250 , so it is possible to carry out X- and Y-axis transport on a two-dimensional plane, that is, the lifting device 220 and the rotary table 210 drive the carrying tray 300 performs a two-dimensional plane translational movement, and both the first screw driving device 240 and the second screw driving device 250 can adjust the position of the carrying tray 300 steplessly, so that the position adjustment can be more accurate, and the four-axis motion mechanism can be conveniently carried out. 200 controls. The lifting device 220 is a cylindrical oil cylinder, which can be driven up and down. Second. The lifting device 220 can also be an electric linear drive module or an air cylinder. The rotary table 210 is a rotary platform driven by a servo motor, and has a servo motor and a rotary table. The servo motor drives the rotary table to rotate, and the rotary table is connected to the bottom of the carrying tray 300 .

In some embodiments of the present invention, referring to FIGS. 1 to 3 , the edge of the carrier tray 300 is provided with a fence 320 . The fence 320 can increase the edge height of the carrying tray 300 , so that when the equipment box is placed on the carrying tray 300 , it is more stable and will not fall off easily.

1 to 5 , the automatic assembling system for train equipment boxes according to an embodiment of the present invention will be described in detail with a specific embodiment. It is to be understood that the following description is illustrative only and not specific limitation of the invention.

The bottom of the transport platform 100 has a mobile chassis 110, the mobile chassis 110 is provided with a steering wheel drive device 120, and the middle of the upper side of the transport platform 100 is provided with a placement slot 130; It includes a rotary table 210, a lifting device 220 for driving the rotary table 210 to rise and fall, a two-dimensional plane moving device 230 for driving the lifting device 220 and the rotary table 210 to move; The platform 210 is used for carrying equipment boxes; the navigation lidar 400 is arranged on the front side of the transportation platform 100 to obtain spatial map information; the first depth camera 500 is arranged on the left side of the transportation platform 100 to detect the train body and the The distance of the transport platform 100 ; the controller 600 is electrically connected with the navigation lidar 400 , the first depth camera 500 , the steering wheel drive device 120 , and the four-axis motion mechanism 200 . The left front end of the transport platform 100 is also provided with an obstacle avoidance laser radar 700 that is electrically connected to the controller 600 . A lift push rod 140 is provided on the left side of the transport platform 100 , and a second depth camera 150 is provided at the upper end of the lift push rod 140 . The upper end of the lift rod 140 is provided with a placement table 141 , the second depth camera 150 is arranged on the placement table 141 , and the placement table 141 is provided with a protective plate 142 on the left side of the lift push rod 140 . A lift seat 160 is arranged in the middle of the left side of the transport platform 100 , the lift push rod 140 is arranged on the lift seat 160 , and the first depth camera 500 is arranged on the left side of the lift seat 160 . The bottom of the carrying tray 300 is provided with a plurality of supporting feet 310 , and the supporting feet 310 are used to support the carrying tray 300 on the upper side of the transport platform 100 . The steering wheel driving device 120 includes two steering wheels 121 and two universal wheels 122 arranged at the bottom of the moving chassis 110 , and a steering wheel motor for driving the steering wheels 121 to rotate. The two-dimensional plane moving device 230 includes a first screw driving device 240 and a second screw driving device 250 arranged on the first screw driving device 240 . The first sliding seat 241, the first sliding block 242 slidably connected with the first sliding seat 241, the first driving screw 243 threadedly connected with the first sliding block 242, the first driving screw 243 driving the rotation of the first driving screw 243 The motor 244 and the second screw driving device 250 are arranged on the first sliding block 242 . The second screw driving device 250 includes a second sliding seat 251 disposed on the first sliding block 242 , a second sliding block 252 slidably connected to the second sliding seat 251 , and a second sliding block 252 threadedly connected to the second sliding block 252 . The driving screw 253 , the second driving motor 254 for driving the second driving screw 253 to rotate, and the lifting device 220 are arranged on the upper side of the second sliding block 252 . The edge of the carrying tray 300 is provided with a fence 320 . When in use, the large equipment box is placed on the carrying tray 300, the controller 600 drives the steering wheel drive device 120 to start, the lift push rod 140 rises, and the height of the second depth camera 150 is higher than the top of the equipment box, and then the platform 100 is transported Move, the controller 600 cooperates with the navigation lidar 400, the first depth camera 500, the second depth camera 150, the obstacle avoidance lidar 700 and the data feedback from the encoder built in the steering wheel drive device 120 to calculate the current position of the transport platform 100, Then, the moving direction and moving speed of the steering wheel drive device 120 are adjusted, so that the transport platform 100 slowly approaches the corresponding installation position of the train and avoids obstacles under the navigation of the controller 600; for the convenience of the first depth camera 500, it is easier to detect the train The distance between the moving platform 100 and the estimated distance between the moving platform 100 can be identified by pasting the identification two-dimensional code on the installation position value that needs to be installed on the train body in advance, so that the first depth camera 500 can more easily identify and identify the moving platform 100 during the moving process. Positioning facilitates automatic navigation of the handling platform 100 . In order to facilitate automatic positioning, it is envisaged that red markers and blue markers are respectively attached to the bottom centers of the hanging bolts that are diagonal to each other. When the installation position of the train is reached, the steering wheel drive device 120 stops and the transport platform 100 stops. down, and then the lift push rod 140 rises, allowing the second depth camera 150 to detect the red and blue markers reserved at the bottom center of the bolt to estimate the position of the suspension bolt of the current train, and then the controller 600 controls the four-axis motion mechanism The 200 drives the equipment box to adjust the position, that is, the front and rear, left and right, up and down directions, and rotation around the center of rotation, so that the bolt holes of the equipment box correspond to the hanging bolts on the train, and then use nuts and hanging bolts to connect the equipment. If the box is installed on the train, the installation of the equipment box is completed. Therefore, during the assembly process of the equipment box, a large number of assemblers can be eliminated to cooperate with the steps of moving the position of the large equipment box, saving manpower and assembly time, and greatly improving the equipment box. Assembly efficiency, easy installation of equipment boxes.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the technical field, various modifications can be made without departing from the purpose of the present invention. kind of change.

Claims (10)

1. a train equipment box automatic assembly system, is characterized in that, comprises: a transport platform (100), the bottom has a mobile chassis (110), the mobile chassis (110) is provided with a steering wheel drive device (120), and a placement groove (130) is provided in the middle of the upper side of the transport platform (100); A four-axis motion mechanism (200), disposed in the placement groove (130), includes a rotary table (210), a lifting device (220) for driving the rotary table (210) to lift and lower, and a lifting device (220) for driving the rotary table (210). ) and a two-dimensional plane moving device (230) for moving the rotary table (210); a carrying tray (300), located above the conveying platform (100), the bottom of the carrying tray (300) is mounted on the rotating table (210) for carrying equipment boxes; a navigation laser radar (400), arranged on the front side of the handling platform (100), for acquiring spatial map information; a first depth camera (500), arranged on the left side of the transport platform (100), for detecting the distance between the train body and the transport platform (100); A controller (600) is electrically connected to the navigation laser radar (400), the first depth camera (500), the steering wheel drive device (120), and the four-axis motion mechanism (200). 2 . The automatic assembling system for train equipment boxes according to claim 1 , wherein the left front end of the handling platform ( 100 ) is further provided with an obstacle avoidance laser that is electrically connected to the controller ( 600 ). 3 . Radar (700). 3. An automatic assembling system for train equipment boxes according to claim 1, characterized in that: a lift push rod (140) is provided on the left side of the transport platform (100), and the lift push rod (140) is provided on the left side. The upper end is provided with a second depth camera (150). 4. An automatic assembling system for train equipment boxes according to claim 3, characterized in that: the upper end of the lift push rod (140) is provided with a placing platform (141), and the second depth camera (150) is provided with On the placing table (141), a protective plate (142) for protecting the left side of the second depth camera (150) is provided on the left side of the lifting push rod (140) on the placing table (141). . 5 . The automatic assembling system for train equipment boxes according to claim 3 , wherein a lift seat ( 160 ) is provided in the middle of the left side of the transport platform ( 100 ), and the lift push rod ( 140 ) is provided with a lift seat ( 160 ). 6 . On the lift seat (160), the first depth camera (500) is arranged on the left side of the lift seat (160). 6 . The automatic assembling system for train equipment boxes according to claim 1 , characterized in that: the bottom of the carrying tray ( 300 ) is provided with a plurality of legs ( 310 ), and the legs ( 310 ) are in contact with the The upper side of the transport platform (100). 7. An automatic assembling system for train equipment boxes according to claim 1, characterized in that: the steering wheel driving device (120) comprises two steering wheels (121) arranged at the bottom of the mobile chassis (110) and Two universal wheels (122) and a steering wheel motor that drives the steering wheel (121) to rotate. 8. An automatic assembling system for train equipment boxes according to claim 1, characterized in that: the two-dimensional plane moving device (230) comprises a first screw driving device (240) and a A second screw driving device (250) on the screw driving device (240), the first screw driving device (240) comprising a first sliding seat (241) disposed at the bottom of the mounting groove (130) , a first sliding block (242) slidably connected with the first sliding seat (241), a first driving screw (243) threadedly connected with the first sliding block (242), and driving the first driving A first drive motor (244) for the rotation of the screw rod (243), and the second screw rod driving device (250) is arranged on the first slider (242). 9 . The automatic assembling system for train equipment boxes according to claim 8 , wherein the second screw driving device ( 250 ) comprises a second sliding block ( 242 ) disposed on the first sliding block ( 242 ). A sliding seat (251), a second sliding block (252) slidably connected to the second sliding seat (251), a second driving screw (253) threadedly connected to the second sliding block (252), a driving A second driving motor (254) for rotating the second driving screw (253), and the lifting device (220) is arranged on the second sliding block (252). 10. The automatic assembling system for train equipment boxes according to any one of claims 1-9, wherein a fence (320) is provided on the edge of the carrying tray (300).

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