阅读说明：本技术 伸缩臂装配系统及装配方法 (Telescopic arm assembling system and assembling method ) 是由 吴寅生 于 2019-09-24 设计创作，主要内容包括：本发明涉及机械装配技术领域,公开了一种伸缩臂装配系统及装配方法,伸缩臂包括至少两个臂节,伸缩臂装配系统包括：固定工位,具有可释放地固定臂节的固定支撑；移动工位,具有能够将臂节在固定工位和移动工位之间进行移动的移动装配支撑；以及控制装置,用于控制移动装配支撑的运动,使移动装配支撑将放置在移动工位的内径较小的臂节装配至放置在固定工位的内径较大的臂节中,得到包括放置在移动工位的臂节和放置在固定工位的臂节的臂架总成,往复循环该装配操作。通过上述技术方案,按照臂节的内径从小到大的顺序进行装配,最大限度地留出作业空间,有效提高装配精度和作业效率,采用往复式装配流程可以实现不同型号和臂节数的伸缩臂装配。(The invention relates to the technical field of mechanical assembly, and discloses a telescopic arm assembly system and an assembly method, wherein a telescopic arm comprises at least two arm sections, and the telescopic arm assembly system comprises: a securing station having a securing support releasably securing the arm section; the moving station is provided with a moving assembly support capable of moving the arm section between the fixed station and the moving station; and the control device is used for controlling the movement of the movable assembly support, so that the movable assembly support assembles the arm section with the smaller inner diameter placed at the movable station into the arm section with the larger inner diameter placed at the fixed station to obtain the arm frame assembly comprising the arm section placed at the movable station and the arm section placed at the fixed station, and the assembly operation is repeatedly circulated. Through the technical scheme, the telescopic booms are assembled according to the sequence that the inner diameters of the boom sections are from small to large, the operation space is reserved to the maximum extent, the assembly precision and the operation efficiency are effectively improved, and the telescopic boom assembly with different types and boom section numbers can be realized by adopting a reciprocating assembly process.)

1. A telescopic arm assembly system, the telescopic arm including at least two arm sections, the telescopic arm assembly system comprising:

a securing station configured with a securing support to releasably secure the arm segment;

a mobile station configured with a mobile assembly support capable of moving the arm segments between the stationary station and the mobile station; and

the control device is used for controlling the movement of the movable assembly support, so that the movable assembly support assembles the arm sections placed on the movable station into the arm sections placed on the fixed station to obtain an arm frame assembly comprising the arm sections placed on the movable station and the arm sections placed on the fixed station, and the movable assembly support moves the arm frame assembly to the movable station, and the assembly operation is repeatedly circulated until the assembly of all the arm sections of the telescopic arm is sequentially completed according to the sequence that the inner diameters of the arm sections are from small to large,

wherein the inner diameter of the arm section placed at the moving station is smaller than the inner diameter of the arm section placed at the fixing station.

2. The telescopic arm assembly system of claim 1, further comprising: and the centering device is used for detecting centering data of the arm sections placed on the fixed station and the arm sections placed on the moving station in the assembling process and centering and adjusting the arm sections according to the centering data.

3. The telescopic arm assembly system of claim 2, wherein the centering device comprises:

the laser sensing device is used for detecting the centering data of the arm sections placed on the fixed station and the moving station; and

and the centering mechanism is used for centering and adjusting the arm sections placed on the moving station by taking the centering data of the arm sections placed on the fixed station as a reference under the control of the control device.

4. The telescopic arm assembly system of claim 1, further comprising: an abnormality detection device for detecting a jamming phenomenon in a process of assembling the arm section to be placed at the moving station to the arm section to be placed at the fixing station, and when the jamming phenomenon is detected, sending an assembly jamming signal to the control device, and

the control device is also used for controlling the movable assembling support to stop moving towards the direction of the fixed station when the clamping stagnation phenomenon occurs, and moving the arm section which is placed at the movable station and is being assembled to the movable station for re-assembling.

5. The telescopic arm assembly system of claim 1, further comprising: the test telescopic station is used for performing a test telescopic test on the telescopic arm after the assembly is completed and is configured to be provided with an auxiliary support, the auxiliary support can sense the height of the telescopic arm from the ground when the telescopic arm is subjected to the test telescopic test and can follow the support according to the sensed height, so that the telescopic arm can horizontally extend out.

6. A telescopic arm assembly method, the telescopic arm comprising at least two arm sections, the telescopic arm assembly method comprising:

placing the arm section of the arm sections which needs to be assembled on the outer side of the arm section with the smallest inner diameter on a fixing station with a fixing support for releasably fixing the arm section;

placing the arm sections with the smallest inner diameter on a moving station in a sequence from small to large in inner diameter of the arm sections, wherein the moving station is configured to be provided with a moving assembly support capable of moving the arm sections between the fixing station and the moving station;

and controlling the movement of the movable assembly support, assembling the arm sections placed on the movable station into the arm sections placed on the fixed station by the movable assembly support to obtain an arm frame assembly comprising the arm sections placed on the movable station and the arm sections placed on the fixed station, moving the arm frame assembly to the movable station by the movable assembly support, and repeatedly circulating the assembly operation until the assembly of all the arm sections of the telescopic arm is sequentially completed according to the sequence of the inner diameters of the arm sections from small to large, wherein the inner diameter of the arm section placed on the movable station is smaller than the inner diameter of the arm section placed on the fixed station.

7. The telescopic arm assembly method according to claim 6, further comprising:

detecting centering data of the arm sections placed at the fixed station and the arm sections placed at the moving station; and

and according to the centering data detected by the centering device, centering adjustment is carried out on the arm sections.

8. The telescopic arm assembly method of claim 7, wherein said centering adjustment of said arm segments comprises: centering adjustment is carried out on the arm sections placed on the moving station by taking centering data of the arm sections placed on the fixed station as a reference.

9. The telescopic arm assembly method according to claim 6, further comprising:

detecting a jamming phenomenon in a process of assembling the arm section placed at the moving station to the arm section placed at the fixed station; and

and when the clamping stagnation phenomenon is detected, controlling the movable assembling support to stop moving towards the direction of the fixed station, moving the arm section which is placed on the movable station and is being assembled to the movable station, and re-assembling.

10. The telescopic arm assembly method according to claim 6, further comprising:

performing a trial telescoping test on the assembled telescopic boom, and sensing the height of the telescopic boom from the ground when the trial telescoping test is performed on the telescopic boom; and

and carrying out follow-up support according to the sensed height so that the telescopic arm can horizontally extend out.

Technical Field

The invention relates to the technical field of mechanical assembly, in particular to a telescopic arm assembly system and an assembly method.

Background

At present, in the automobile crane industry and the fire fighting truck industry, the assembly of a multi-section telescopic boom is mainly realized by a double-traveling crane lifting crane or simple sliding rail propelling equipment.

When the double-traveling crane lifting method is adopted to suit the multiple sections of telescopic arms, an outer arm (a section of arm) is usually placed on a tool support, an inner arm (a section of arm) is lifted to a proper position in the air, suspension is suspended and suspended, then a front traveling crane is used for carrying out inclined pulling, a tail traveling crane follows timely, and inching is carried out to push the tail traveling crane into the outer arm. Because the fit clearance of inside and outside arm is less, the oblique pull of driving hangs to push away and needs the in good time observation clearance size and adjust, prevents that the arm section of thick bamboo from scraping each other. The dead weight of each arm single piece of the large-scale elevating fire truck is generally more than one ton, the fit clearance of the telescopic arm is small (generally 1-5mm), the assembly process adopts the inclined pulling and hanging push of the traveling crane, the whole process is controlled by a manual button, the inching displacement offset of the traveling crane is large, and the size precision control is difficult to be accurate. When the simple sliding rail propulsion method is adopted to suit the multiple sections of telescopic arms, the equipment mainly carries the arm cylinder to longitudinally move on the sliding rail through chains, brackets and the like.

The existing assembly system is mainly used for the automobile crane industry, the production batch is large generally, one set of production system is only used for assembling the telescopic arms of the same series and the same arm section number, the assembly line operation form is adopted, the flexibility degree is poor, the processes are all that the telescopic arms are assembled from the outer arm to the inner arm in sequence, namely, the two largest arm sections are assembled together, the smaller arm sections are sequentially installed, when the innermost arm sections are assembled, the size of each arm section is small, when an assembler enters the arm cylinder to assemble the sliding blocks, the operation space is limited, and the assembly precision and the operation efficiency can be greatly influenced.

Fig. 1 is a schematic flow diagram of assembly of a multi-section telescopic boom in the prior art, and as shown in fig. 1, the assembly process of the telescopic boom adopts diagonal pulling and hoisting of a traveling crane, and the whole process is controlled by a manual button. The method comprises the steps of firstly placing an outer arm (a first arm section) on a tool support, then hoisting an inner arm (a second arm section) to a proper position in the air, suspending and pausing, then obliquely pulling by using a front traveling crane, timely following by a tail traveling crane, and inching and propelling into the outer arm. Fig. 2 is a schematic view of a multi-section telescopic boom assembly using five telescopic booms as an example, as shown in fig. 2, a first boom section, a second boom section, a third boom section, a fourth boom section and a fifth boom section (shown as one, two, three, four and five in the figure) are respectively arranged from outside to inside, and a specific assembly process of assembling the multi-section telescopic boom is as follows: and the second arm section is arranged in the first arm section, and then the third arm section is arranged in the second arm section, the fourth arm section is arranged in the third arm section, and the fifth arm section is arranged in the fourth arm section.

And for the fire-fighting crane, the fit clearance of its flexible arm is less, and is generally 1-5mm to the clearance between the outer arm and the inner arm of two adjacent arm sections of flexible arm, when adopting two driving cooperation hoists, tries flexible, because the inching displacement offset of driving is great, consequently, need in good time observe the clearance between the arm section of being assembled in the oblique pull of driving hangs the push-off in-process, prevents that the arm section of thick bamboo from scraping each other. The assembly size precision control of the telescopic arm is difficult to be accurate, and the operation difficulty and the operation risk are large.

Disclosure of Invention

The present invention aims to provide a telescopic arm assembly system and method which solves or at least partially solves the above mentioned technical problems.

In order to achieve the above object, the present invention provides a telescopic arm assembly system including at least two arm sections, the telescopic arm assembly system including: a securing station configured with a securing support to releasably secure the arm segment; a mobile station configured with a mobile assembly support capable of moving the arm segments between the stationary station and the mobile station; and the control device is used for controlling the movement of the movable assembly support, so that the movable assembly support assembles the arm sections placed on the movable station into the arm sections placed on the fixed station to obtain an arm frame assembly comprising the arm sections placed on the movable station and the arm sections placed on the fixed station, and the movable assembly support moves the arm frame assembly to the movable station, and the assembly operation is repeatedly circulated until the assembly of all the arm sections of the telescopic arm is sequentially completed according to the sequence that the inner diameters of the arm sections are from small to large, wherein the inner diameter of the arm section placed on the movable station is smaller than the inner diameter of the arm section placed on the fixed station.

Preferably, the telescopic arm assembly system further comprises: and the centering device is used for detecting centering data of the arm sections placed on the fixed station and the arm sections placed on the moving station in the assembling process and centering and adjusting the arm sections according to the centering data.

Preferably, the centering device comprises: the laser sensing device is used for detecting the centering data of the arm sections placed on the fixed station and the moving station; and the centering mechanism is used for centering and adjusting the arm sections placed on the moving station by taking the centering data of the arm sections placed on the fixed station as a reference under the control of the control device.

Preferably, the telescopic arm assembly system further comprises: the abnormity detection device is used for detecting the clamping stagnation phenomenon in the process that the arm sections placed on the moving station are assembled to the arm sections placed on the fixed station, and sending assembly clamping stagnation signals to the control device when the clamping stagnation phenomenon is detected, and the control device is also used for controlling the moving assembly support to stop moving towards the direction of the fixed station when the clamping stagnation phenomenon occurs, and moving the arm sections which are placed on the moving station and are being assembled to the moving station to be assembled again.

Preferably, the telescopic arm assembly system further comprises: the test telescopic station is used for performing a test telescopic test on the telescopic arm after the assembly is completed and is configured to be provided with an auxiliary support, the auxiliary support can sense the height of the telescopic arm from the ground when the telescopic arm is subjected to the test telescopic test and can follow the support according to the sensed height, so that the telescopic arm can horizontally extend out.

According to a second aspect of the embodiments of the present invention, there is also provided a telescopic boom assembling method, the telescopic boom including at least two boom sections, the telescopic boom assembling method including: placing the outer side of the arm section with the smallest inner diameter to be assembled in the arm section on a fixing station with a fixing support for releasably fixing the arm section; placing the arm sections with the smallest inner diameter on a moving station in a sequence from small to large in inner diameter of the arm sections, wherein the moving station is configured to be provided with a moving assembly support capable of moving the arm sections between the fixing station and the moving station; and controlling the movement of the movable assembly support, assembling the arm sections placed on the movable station into the arm sections placed on the fixed station by the movable assembly support to obtain an arm frame assembly comprising the arm sections placed on the movable station and the arm sections placed on the fixed station, moving the arm frame assembly to the movable station by the movable assembly support, and repeatedly circulating the assembly operation until the assembly of all the arm sections of the telescopic arm is sequentially completed according to the sequence of the inner diameters of the arm sections from small to large, wherein the inner diameter of the arm section placed on the movable station is smaller than the inner diameter of the arm section placed on the fixed station.

Preferably, the telescopic arm assembling method further includes: detecting centering data of the arm sections placed at the fixed station and the arm sections placed at the moving station; and according to the centering data detected by the centering device, centering adjustment is carried out on the arm sections.

Preferably, the centering adjustment of the arm section includes: centering adjustment is carried out on the arm sections placed on the moving station by taking centering data of the arm sections placed on the fixed station as a reference.

Preferably, the telescopic arm assembling method further includes: detecting a jamming phenomenon in a process of assembling the arm section placed at the moving station to the arm section placed at the fixed station; and when the clamping stagnation phenomenon is detected, controlling the movable assembling support to stop moving towards the direction of the fixed station, moving the arm section which is placed on the movable station and is being assembled to the movable station, and assembling again.

Preferably, the telescopic arm assembling method further includes: performing a trial telescoping test on the assembled telescopic boom, and sensing the height of the telescopic boom from the ground when the trial telescoping test is performed on the telescopic boom; and carrying out follow-up support according to the sensed height so as to enable the telescopic arm to horizontally extend out.

Through the technical scheme, the telescopic booms are assembled according to the sequence that the inner diameters of the boom sections are from small to large, the operation space is reserved to the maximum extent, the assembly precision and the operation efficiency are effectively improved, and the telescopic boom assembly with different types and boom section numbers can be realized by adopting a reciprocating assembly process.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic flow chart of a multi-joint telescopic boom assembly in the prior art;

FIG. 2 is a schematic view of a multi-jointed telescopic boom assembly;

FIG. 3 is a block diagram of a telescopic arm assembly system provided by an embodiment of the present invention;

FIG. 4 is a specific application example of a telescopic arm assembly system provided by an embodiment of the present invention;

FIG. 5 is a block diagram of a telescopic arm assembly system provided by a preferred embodiment of the present invention;

FIG. 6 is a block diagram of a telescopic arm assembly system provided by a more preferred embodiment of the present invention;

fig. 7 is a schematic structural diagram of an application example of a telescopic arm assembling system provided by the embodiment of the present invention;

FIG. 8 is a flow chart of a telescopic arm assembly method provided by an embodiment of the present invention; and

fig. 9 is a flowchart of a telescopic arm assembling method according to a preferred embodiment of the present invention.

Description of the reference numerals

1. Fixed station 11 and fixed support

2. Moving station 21 and moving assembly support

3. Control device 4 and centering device

41. Laser sensing device 42 and centering mechanism

5. Test telescopic station 51 and auxiliary support

6. Positioning mechanism 7 and side hydraulic station

8. Ground rail

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

It should be noted that the block diagrams and the schematic structural diagrams in the embodiments of the present invention are merely exemplary to show the configuration of the telescopic arm assembly system provided in the embodiments of the present invention, and are not intended to show the connection relationship, the specific connection relationship and the installation layout are designed according to actual needs, and the terms "upper, lower, left and right" as used in the embodiments of the present invention are all based on the orientation shown in the drawings.

In addition, unless otherwise specified, the embodiments of the present invention all use five arm sections as an example, and describe an assembly system and an assembly method of a telescopic arm, which are a first arm section, a second arm section, a third arm section, a fourth arm section, and a fifth arm section from outside to inside, respectively.

Fig. 3 is a block diagram of a telescopic arm assembly system according to an embodiment of the present invention, and as shown in fig. 3, the telescopic arm assembly system includes: a fixing station 1 configured with a fixing support 11 for releasably fixing the arm segment; a moving station 2 configured with a moving assembly support 21 capable of moving the arm segment between the fixed station 1 and the moving station 2; and the control device 3 is used for controlling the movement of the movable assembly support 21, so that the movable assembly support 21 assembles the arm sections placed on the movable station 2 into the arm sections placed on the fixed station 1 to obtain the arm frame assembly comprising the arm sections placed on the movable station 2 and the arm sections placed on the fixed station 1, and the movable assembly support 21 moves the arm frame assembly to the movable station 2, and the assembly operation is repeatedly circulated until the assembly of all the arm sections of the telescopic arm is sequentially completed according to the sequence that the inner diameters of the arm sections are from small to large, wherein the inner diameter of the arm section placed on the movable station 2 is smaller than that of the arm section placed on the fixed station 1.

Taking the specific application example of the telescopic arm assembly system provided by the embodiment of the invention shown in fig. 4 as an example, to explain the assembly process, the fifth arm section is placed at the moving station 2, the fourth arm section is placed at the fixing station 1, the control device 3 controls the moving assembly support 21 to install the fifth arm section into the fourth arm section, then, the movable assembling support 21 moves the arm support assembly comprising the fourth arm section and the fifth arm section to the moving station 2, then the third arm section is placed at the fixed station 1, the movable assembling support 21 moves to the fixed station 1 again under the control of the control device 3, the arm support assembly comprising the fourth arm section and the fifth arm section is assembled into the third arm section placed at the fixed station 1, and repeating the steps until the arm support assembly comprising the second arm section to the fifth arm section is assembled into the first arm section.

Fig. 5 is a block diagram of a telescopic arm assembly system according to a preferred embodiment of the present invention, as shown in fig. 6, further including: and the centering device 4 is used for detecting centering data of the arm sections placed at the fixed station 1 and the arm sections placed at the moving station 2 in the assembling process and centering and adjusting the arm sections according to the centering data.

Specifically, during the assembly process, it is necessary to ensure that the center lines of all the arm sections of the telescopic arm are aligned as much as possible to improve the telescopic performance of the telescopic arm, and therefore, it is necessary to detect and adjust the centering data of the arm section assembly of the telescopic arm in time during the whole assembly process.

In the embodiment of the invention, the centering device 4 acquires data of the center point of the section of the arm section, compares the centering data of the arm section placed in the fixed station 1 with the centering data of the arm section placed in the moving station 2, and adjusts the centering data of the arm section of the telescopic arm by adjusting the fixed support or the movable assembly support according to the comparison result.

The fourth arm section is hoisted and placed on the fixed station 1, the centering device switch can be a remote control switch or a common key switch or the like when the centering device switch is pressed down, a network switch can also be adopted, the centering device is controlled in a unified mode of setting the closing time of the centering device or controlling the centering device in real time through the control device 3 of the telescopic arm assembling system, the centering device is not limited by the embodiment of the invention), and meanwhile, the fifth arm section is hoisted and placed on the mobile station 2 and centered and adjusted by the centering device 4.

Referring to fig. 4, a reciprocating assembly process of a telescopic arm assembly system having a centering device according to an embodiment of the present invention is illustrated: 1) the fourth arm is hoisted and placed at the fixed station 1, then a touch screen of the control device 3 is clicked or a remote control button is adopted to control the centering device 4, centering adjustment is carried out on the fourth arm section, and the fourth arm section is fixed by the fixed support 11; 2) the fifth arm section is hoisted and placed at the moving station 2, then a touch screen of the control device 3 is clicked or a remote control button is adopted to control the centering device 4, centering adjustment is carried out on the fourth arm section, and the fourth arm section is fixed by the moving assembly support 21; 3) clicking a touch screen of the control device 3 or adopting a remote control button to enable the movable assembly support 21 to push the fifth arm section to a fourth arm section placed on the fixed station 1; 4) moving the arm support assembly comprising the fourth arm section and the fifth arm section to a moving station by the moving assembly support; 5) carrying out the next round of assembly process, lifting and placing the third arm section at the fixed station 1, clicking a touch screen of the control device 3 or adopting a remote control button to control the centering device 4, carrying out centering adjustment on the fourth arm section, and fixing the fourth arm section by the fixed support 1; 6) a touch screen of the control device 3 is clicked or a remote control button is adopted to control the centering device 4, a boom assembly comprising a fourth arm section and a fifth arm section is centered and adjusted, and is fixed by a movable assembly support 21; 7) and clicking the touch screen of the control device 3 or adopting a remote control button to push the arm support assembly comprising the fourth arm section and the fifth arm section to the third arm section placed on the fixed station 1 by the movable assembly support 21, and repeating the steps until all the arm sections of the telescopic arm are assembled into a whole telescopic arm.

Preferably, the centring device 4 comprises: laser sensing means (not shown in fig. 6, represented in fig. 8 by laser sensing means 41) for detecting centering data of the arm segments placed at the stationary station 1 and at the mobile station 2; and a centering mechanism (not shown in fig. 6, and embodied by the centering mechanism 42 in fig. 8) for centering adjustment of the arm section placed in the moving station 2 with reference to centering data of the arm section placed in the fixed station 1 under the control of the control device 3.

In an embodiment of the present invention, the telescopic arm assembly system further comprises: and the abnormity detection device (not shown in the figure) is used for detecting the clamping stagnation phenomenon in the process of assembling the arm section placed at the moving station 2 to the arm section placed at the fixed station 1, and sending an assembling clamping stagnation signal to the control device when the clamping stagnation phenomenon is detected, and the control device is also used for controlling the moving assembly support to stop moving towards the direction of the fixed station when the clamping stagnation phenomenon occurs, and moving the arm section placed at the moving station and being assembled to the moving station for re-assembling.

Preferably, a motor torque acquisition device is used as an abnormality detection device, if a set motor torque abnormality condition is set when the movable assembly support 21 assembles the arm section placed in the movable station 2 into the arm section placed in the fixed station 1, if a feedback signal of the motor torque abnormality is detected, the clamping stagnation abnormality occurs in the assembly process of the movable assembly support 21, at the moment, the movable assembly support is controlled to stop moving, the fixed arm section is reversely withdrawn, and the arm section is assembled again after being centered.

Fig. 5 is a block diagram of a telescopic arm assembly system according to a more preferred embodiment of the present invention, and as shown in fig. 5, the telescopic arm assembly system further includes: and the trial telescopic station 5 is used for performing trial telescopic test on the assembled telescopic arm and is configured to be provided with an auxiliary support 51, the auxiliary support 51 can sense the height of the telescopic arm from the ground when the trial telescopic test is performed on the telescopic arm, and the auxiliary support can follow the sensed height to enable the telescopic arm to horizontally extend.

Specifically, after the telescopic arm is assembled, a trial telescopic test is performed as a necessary step, and the telescopic arm assembling system is provided with the trial telescopic station 5, so that the integration of assembling and debugging can be realized. The flexible in-process of examination is whole to carrying out the horizontal flexible test to the flexible arm of accomplishing of assembly, and a plurality of arm sections are flexible in step, and when flexible arm stretches out certain length, the arm section of the flexible arm of auxiliary stay 51 response is apart from the vertical height on ground, highly carries out the high response to every arm section and follows the support, guarantees that flexible arm can the level as far as possible stretch out, and the phenomenon of seriously downwarping does not appear.

Fig. 6 is a schematic structural diagram of an application example of the telescopic arm assembly system according to the embodiment of the present invention, as shown in fig. 6, the telescopic arm assembly system is provided with a ground rail 8 laid on the ground, the top surface of the ground rail 8 is flush with the ground, the length of the ground rail 8 is determined according to the extending total length of the telescopic arm, and the width thereof is preferably 600 mm and 1200 mm. Positioning mechanism 6 sets up at the tip of ground rail 8, and symmetrical arrangement comprises the box frame of taking the bolt in the both sides of ground rail 8, adopts the ground angle bolt fastening on the ground for fix a position the tip of flexible arm in assembly and flexible test process, bolt accessible hydraulic drive is flexible. The centering mechanism 42 is arranged at the right side of the positioning mechanism 6 and symmetrically arranged at two sides of the ground rail 8, generally four are preferred, the axial distance of the supporting seat of the positioning mechanism 42 at each side is preferably 0.5-0.8L (L is the arm section length of the telescopic arm), the distance of the top surface of the supporting seat from the ground is preferably 400 plus 900mm, the centering mechanism 42 comprises a supporting seat (not shown in the figure) and a clamping device (not shown in the figure), and the supporting seat and the clamping device are hydraulically driven by a side hydraulic station 7. The laser sensing devices 41 are arranged on the right side of the centering mechanism, the mode that the laser sensing devices are symmetrically arranged on two sides of the ground rail 8 is also adopted, four are generally preferred, the telescopic arm assembling systems need to be assembled with telescopic arms of different models, the lengths of arm sections of the telescopic arms are different, the distance between each laser sensing device 41 and the corresponding centering mechanism 42 is preferably 500 plus 1500mm, the laser sensors are fixed on the support, and the distance between the end faces of the sensors and the outer surface of the arm support is preferably 50-500 mm. The movable assembly support 21 comprises a pushing trolley arranged on a ground rail and consists of a front pushing trolley and a rear pushing trolley, the two pushing trolleys respectively comprise a lifting device, a trolley clamping device and a driving device, the high lifting is realized through an oil cylinder, and the trolley clamping device consists of an oil cylinder, a motor and a slide rail structure and is driven by the motor. Auxiliary stay 51 arranges on ground rail 8, the reliability of production test cost and flexible assembly system is taken into comprehensive consideration, adopt per two arm sections to set up an auxiliary stay 51's overall arrangement mode, auxiliary stay 51 is apart from the height-adjustable on ground, when trying flexible experiment to flexible arm, auxiliary stay 51 can respond to the height that the arm section is apart from ground, and utilize the power that other hydraulic pressure station 7 that puts provided to adjust according to the height that it responded to, with the arm section of supporting flexible arm, guarantee that flexible arm can the level stretch out and draw back.

Take the telescopic boom to have five arm sections as an example, when receiving telescopic boom assembly task, operating personnel sweeps the sign indicating number earlier and confirms the telescopic boom model, the system reads telescopic boom relevant parameter, place fourth arm section hoist and mount in fixed station 1, the locating pin on the left of positioning mechanism 6 targets in place, restriction fourth arm section is at 8 length direction's of ground rail displacement, controlling means 3 presss from both sides tight fourth arm section after carrying out fine setting according to the centering data control centering mechanism 42 of the fourth arm section that laser induction system 41 gathered, restriction fourth arm section's horizontal degree of freedom. The fifth arm section is hoisted and placed on the moving station 2, the fifth arm section is clamped in a centering mode by a pushing trolley of the moving assembly support 21, and the pushing trolley is slowly pushed so as to assemble the fifth arm section into the fourth arm section; when the push trolley reaches the induction area of the laser induction device, the laser induction device automatically scans the centering data of the fourth arm section and the fifth arm section, the centering data of the fourth arm section placed at the fixed station 1 is used as reference data, the centering data of the arm section placed at the moving station 2 is compared with the reference data for calculation, the fifth arm section is subjected to centering fine adjustment according to the calculation result, and when the centers of the fourth arm section and the fifth arm section coincide, the two arm sections are subjected to centering assembly. When the two arm sections are centered and completed and contact is started, the height of the pushing trolley with the left side moving assembly support 21 automatically descends, the pushing trolley moves to a proper position below the left end of the fourth arm section, the pushing trolley with the left side moving assembly support 21 continuously pushes the right end of the fourth arm section and the right end of the fifth arm section to be in mutual contact, namely, when the assembly of the two arm sections is completed, the pushing is stopped, the height of the pushing trolley on the right side also automatically descends, and the pushing trolley moves to a proper position below the right end of the fourth arm section. At the moment, the two pushing trolleys slowly rise to lift the arm support assembly comprising the fourth arm section and the fifth arm section, the fixed support of the fixed station 1 is loosened, and the pushing trolley lifting arm support assembly of the movable assembly support 21 returns to the movable station. And the subsequent arm section assembling process is analogized in turn. If the clamping stagnation phenomenon occurs in the process that the pushing trolley of the movable assembling support 21 pushes the arm joint fixed by the pushing trolley to the arm joint fixed by the fixed station 1, the abnormal feedback signal of the set motor torque is fed back to the control device 3, and after the control device 3 controls the pushing trolley to stop pushing and reversely quit, the arm joint which is being assembled is re-centered and then pushed again.

After flexible arm assembly is accomplished, carry out the flexible test of level to it, utilize other hydraulic station 7 of putting to provide power for the flexible hydro-cylinder of flexible arm, a plurality of arm sections of flexible arm are synchronous flexible, and when flexible arm stretches out certain length, the auxiliary stay of the flexible test station 5 of examination responds to the height of flexible arm apart from ground to according to the height that responds to, respond to following the support to flexible arm, guarantee that flexible arm can the level stretch out and draw back, the phenomenon of seriously downwarping does not appear.

Fig. 8 is a flowchart of an assembly method of a telescopic boom according to an embodiment of the present invention, where the telescopic boom includes at least two boom sections, and as shown in fig. 8, the assembly method of the telescopic boom may include the following steps:

and S100, placing the arm section which needs to be assembled on the outer side of the arm section with the smallest inner diameter in the arm sections on a fixing station of a fixing support with the arm section capable of being fixed releasably.

S200, sequencing the arm sections from small to large in inner diameter, and placing the arm section with the smallest inner diameter on a moving station, wherein the moving station is configured to be provided with a moving assembly support capable of moving the arm sections between a fixed station and the moving station.

S300, controlling the movement of the movable assembly support, enabling the movable assembly support to assemble the arm sections placed on the movable station into the arm sections placed on the fixed station to obtain an arm frame assembly comprising the arm sections placed on the movable station and the arm sections placed on the fixed station, and enabling the movable assembly support to move the arm frame assembly to the movable station.

And repeating the assembling operation of the steps S100-S300 repeatedly until the assembling of all the arm sections of the telescopic arm is finished in sequence according to the sequence that the inner diameters of the arm sections are from small to large, wherein the inner diameter of the arm section placed on the movable assembling support is smaller than that of the arm section placed on the fixed station.

In an embodiment of the present invention, the telescopic arm assembling method further includes: detecting centering data of the arm sections placed at the fixed station and the arm sections placed at the moving station; and according to the centering data detected by the centering device, centering adjustment is carried out on the arm sections.

Wherein, centering adjustment to the arm festival includes: centering adjustment is carried out on the arm sections placed on the moving station by taking the centering data of the arm sections placed on the fixed station as a reference.

In a more preferred embodiment of the present invention, the telescopic arm assembling method further comprises: detecting a clamping stagnation phenomenon in the process of assembling the arm section placed at the moving station to the arm section placed at the fixed station; and when the clamping stagnation phenomenon is detected, controlling the movable assembling support to stop moving towards the direction of the fixed station, moving the arm section which is placed at the movable station and is being assembled to the movable station, and re-assembling.

Fig. 9 is a flowchart of a telescopic arm assembling method according to a preferred embodiment of the present invention, and as shown in fig. 9, the telescopic arm assembling method further includes the following steps:

s400, performing a trial telescopic test on the assembled telescopic boom, and sensing the height of the telescopic boom from the ground when the trial telescopic test is performed on the telescopic boom.

And S500, carrying out follow-up support according to the sensed height so that the telescopic arm can horizontally extend out.

Other specific implementation details and beneficial effects of the telescopic arm assembling method refer to the telescopic arm assembling system, and are not described herein again.

Through the technical scheme, the smallest arm joint is installed firstly, the operation space is reserved to the maximum extent, the installation of parts in the assembling process is facilitated, and the assembling accuracy and the operation efficiency are effectively improved. The reciprocating type assembly process is adopted, the occupied space is small, the land resource is saved, meanwhile, the telescopic booms of different types and different boom section numbers can be assembled, the utilization rate of an assembly system is effectively improved, and the resource is saved.

Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.

Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.