CN112850154A - Longitudinal rib full-process automatic feeding and positioning device and method - Google Patents
Longitudinal rib full-process automatic feeding and positioning device and method Download PDFInfo
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- CN112850154A CN112850154A CN202110291215.3A CN202110291215A CN112850154A CN 112850154 A CN112850154 A CN 112850154A CN 202110291215 A CN202110291215 A CN 202110291215A CN 112850154 A CN112850154 A CN 112850154A
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- 239000000463 material Substances 0.000 claims abstract description 27
- 238000004519 manufacturing process Methods 0.000 claims abstract description 23
- 239000012634 fragment Substances 0.000 claims abstract description 7
- 210000000988 bone and bone Anatomy 0.000 claims description 63
- 238000009434 installation Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 11
- 238000003466 welding Methods 0.000 description 26
- 238000012546 transfer Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
- B65G47/883—Fixed stop
Abstract
A longitudinal rib whole-course automatic feeding and positioning device and a method thereof are disclosed, the device comprises a longitudinal rib feeding device, an electromagnetic material taking portal frame, a longitudinal rib positioning trolley and a segment conveying device which are sequentially arranged along the direction of a production line; the longitudinal frame feeding device comprises a feeding roller way, a vertical positioning device and a longitudinal positioning device; the electromagnetic material taking portal comprises a first portal track, a movable portal, a first lifting beam and an electromagnetic grabbing arm with a first electromagnetic block; the longitudinal frame positioning trolley comprises a movable trolley track, a movable trolley, a second lifting cross beam, a second electromagnetic block, a third electromagnetic block and a positioning device; the fragment conveying device comprises a roller platform, a clamping trolley track, a first clamping trolley, a second clamping trolley, a first hydraulic chuck and a second hydraulic chuck. Through the combination of various conveying facilities and the automatic feeding and positioning in the whole process, the longitudinal frame mounting process has the advantages of smooth support, stable movement, good safety and convenience in operation, the production efficiency is improved, and the production cost is reduced.
Description
Technical Field
The invention belongs to the field of ship welding, and particularly relates to a longitudinal rib whole-process automatic feeding and positioning device and method.
Background
In the hull construction process, a plane section production line is an important component of a hull assembling and welding facility, and the operation mode, the automation degree and the like determine the production quality and efficiency of hull assembling and welding. The plane segment generating line generally comprises a plate splicing station, a marking station, a longitudinal frame installing station, a longitudinal frame welding station, a T-shaped section installing station, a T-shaped section welding station and the like. For the longitudinal frame installation station, the main task is to install a plurality of longitudinal frames with equal intervals on a positioning line of a bottom plate in a vertical and vertical state. The vertical angle precision of web plate erection and the position precision of the longitudinal frame on the bottom plate positioning line are main control factors of the longitudinal frame installation station.
At present, the longitudinal bone installation and positioning basically adopt manual hoisting, manual positioning and manual spot welding prepositioning modes. The longitudinal frame is heavy, the vertical erection operation difficulty is high, the labor intensity is high, the working efficiency is low, and the safety risk is extremely high. The vertical angle precision of the vertical skeleton erection and the position precision on the positioning line are difficult to guarantee due to the operation modes of manual hoisting and manual positioning, and large errors exist. For luxury mail steamer which mainly adopts a sheet plane structure and has higher requirements on construction precision and weight control, the deformation of the sheet sectional plate body is very strictly controlled in the process of welding the longitudinal frame of the sheet sectional plate body because the sheet is easy to deform and difficult to correct in the process of welding the sheet. The longitudinal welding is usually automatic welding, so that an automatic feeding and positioning device suitable for a longitudinal plate installation station is very necessary.
The invention patent with the granted publication number of CN101229901B discloses a hoisting device and a hoisting method for a ship longitudinal frame, which structurally comprises a first side plate, a second side plate and a blocking plate, wherein the cross section of the blocking plate forms a wide-mouth structure with a curved upper part and a straight lower part; the first member and the second member with the cross section of 'Contraband' are symmetrically fixed at the outer bottom of the first side plate and the second side plate. The longitudinal frame is vertically installed by sliding the longitudinal frame which is hoisted manually into the hoisting device along the wide-mouth structure. The vertical angle accuracy of the vertical bone erection of the device depends on a wide-mouth structure and adjustable screws attached to the side plates, and the position accuracy of the vertical bone on a bottom plate positioning line depends on the first member and the second member which are manually assembled and disassembled and are in the shape of 'Contraband' and the additional positioning screws. In actual use, the vertical angle precision and the position precision of the longitudinal bone have large errors and are difficult to adjust. The improved related technology is that the invention with the authorization notice number of CN209477567U is 'a ship longitudinal bone positioning device', the device comprises a left support plate and a right support plate with conical inclined surfaces, the two support plates are symmetrically arranged to form a clamping gap for fixing a longitudinal bone, a positioning ruler is arranged on the fixing plate, a thickness ruler and a right base are arranged on the right support plate, and the end part of the right base is inserted into a fixing groove of the left base. The device can place the longitudinal bone into the clamping gap by means of the conical inclined surface without hoisting the longitudinal bone to a very accurate position.
The invention patents and inventions depend on manual hoisting and manual loading and unloading positioning devices, the vertical angle precision of the longitudinal bone depends on the structure of the positioning device which can be adjusted manually, and the position precision depends on the position precision of the positioning device which is installed manually. In actual use, the longitudinal frame still has large errors in installation, high operation difficulty, high labor intensity and low working efficiency. The invention discloses a ship deck longitudinal frame assembling device with application publication number CN109079479A, which comprises a frame and rollers, wherein the frame comprises a panel and two side plates fixed on the lower side surface of the panel, a press-fit cylinder is arranged on the panel, and electromagnets are arranged on the outer sides of the two side plates. The device has guaranteed through cylinder and electro-magnet that the vertical angle precision is erect to the indulge bone of artifical hoist and mount, makes the position precision of indulge bone on the locating wire further improve through setting up the gyro wheel. However, the device does not relate to how to erect the longitudinal bone hoisted manually, the position of the longitudinal bone on the positioning line is also adjusted by manually pushing the roller, and the longitudinal bone is pre-positioned in a manual spot welding mode. The whole longitudinal frame installation process still depends on manual operation, and has the advantages of large error, high labor intensity, low working efficiency and low automation degree.
To sum up, the vertical angle precision and the position precision of longitudinal frame installation location among the prior art are low, and the installation relies on manual operation, and the security is poor, the error is big, intensity of labour is high, work efficiency is low, degree of automation is very low, and the longitudinal frame installation process needs the process such as artifical spot welding prepositioning and longitudinal frame installation station and welding station transportation. Therefore, it is very necessary to design a longitudinal frame full-process automatic feeding and positioning device and method related to a longitudinal frame installation station of a ship plane segment.
Disclosure of Invention
Aiming at the problems, the invention provides a longitudinal rib full-process automatic feeding and positioning device and a method.
The purpose of the invention can be realized by the following technical scheme:
a longitudinal rib whole-course automatic feeding and positioning device comprises a longitudinal rib feeding device, an electromagnetic material taking portal frame, a longitudinal rib positioning trolley and a segment conveying device which are sequentially arranged along the direction of a production line;
the longitudinal frame feeding device comprises a feeding roller way, and a vertical positioning device and a longitudinal positioning device which are arranged on the feeding roller way, wherein the conveying direction of the feeding roller way is horizontally vertical to the direction of the production line;
the electromagnetic material taking gantry comprises a first gantry track, a moving gantry, a first lifting beam and an electromagnetic grabbing arm with a first electromagnetic block, wherein the first gantry track is arranged along the direction of a production line and is provided with the moving gantry, the first lifting beam is arranged on the moving gantry in a lifting manner, and a plurality of electromagnetic grabbing arms are distributed on the first lifting beam;
the longitudinal frame positioning trolley comprises a movable trolley track, a movable trolley, a second lifting cross beam, a second electromagnetic block, a third electromagnetic block and a positioning device, wherein the movable trolley track is arranged along the direction of a production line and is provided with the movable trolley, the second lifting cross beam is arranged on the movable trolley in a lifting manner, a plurality of fixed second electromagnetic blocks and a plurality of lifting third electromagnetic blocks are distributed on the second lifting cross beam, the positioning device is arranged close to the end part of the movable trolley track and is matched with the movable trolley to position the movable trolley;
the fragment conveying device comprises a roller platform, a clamping trolley track, a first clamping trolley, a second clamping trolley, a first hydraulic chuck and a second hydraulic chuck, wherein the clamping trolley track is arranged on one side of the roller platform along the direction of a production line and is provided with the first clamping trolley and the second clamping trolley, and the first hydraulic chuck and the second hydraulic chuck which face the roller platform horizontally are arranged on the first clamping trolley and the second clamping trolley respectively.
Further, vertical positioning device includes along the equidistant multiunit vertical positioning subassembly that distributes of feed roller table direction of delivery, and every group vertical positioning subassembly is located between two rollers, and vertical positioning subassembly includes first fixed bolster, two first pneumatic cylinders, two pillars, and two first pneumatic cylinders are located the both sides that correspond roller length direction of first fixed bolster respectively and its cylinder body all is articulated with first fixed bolster, and the piston rod of every first pneumatic cylinder sets up and articulates with the middle part of a pillar, and the lower extreme of two pillars is articulated with the top of first fixed bolster.
Furthermore, the longitudinal positioning device comprises a longitudinal moving module, a lifting mechanism and a baffle plate, wherein the longitudinal moving module is installed on one side of the feeding roller way, the lifting mechanism is installed on a sliding block of the longitudinal moving module, and the baffle plate is installed on the lifting mechanism.
Furthermore, an electric hoist is arranged on a fixed cross beam of a movable portal of the electromagnetic material taking portal, vertically arranged guide trolley tracks and guide wheels are arranged on fixed pillars on two sides, a guide trolley is arranged on each guide trolley track, the electric hoist is connected with and drives the guide trolleys on the guide trolley tracks on the two sides to lift, and the two guide trolleys are connected with a first lifting cross beam through ropes matched with the corresponding guide wheels respectively.
Furthermore, more than two second hydraulic cylinders which are vertically arranged are distributed on the rear side of the platform of the movable trolley of the longitudinal frame positioning trolley along the crossing direction, and second lifting cross beams are installed on the piston ends of the more than two second hydraulic cylinders.
Furthermore, a plurality of hydraulic cylinders are distributed on a second lifting cross beam of the longitudinal frame positioning trolley, and a piston end of each third hydraulic cylinder faces downwards and is provided with a third electromagnetic block.
Furthermore, the positioning device of the longitudinal positioning trolley is a certain distance away from the rear end of the movable trolley track, the positioning device comprises a second fixing support and a hydraulic pin vertically installed on the second fixing support, and a positioning hole matched with the hydraulic pin is formed in the rear side of the movable trolley.
Furthermore, a fourth hydraulic cylinder for driving the first hydraulic chuck to move towards the roller platform is arranged on the first clamping trolley of the longitudinal frame positioning trolley, and a fifth hydraulic cylinder for driving the second hydraulic chuck to move towards the roller platform is arranged on the second clamping trolley.
Furthermore, the end parts of the feeding roller way of the longitudinal frame feeding device, the first gantry track of the electromagnetic material taking gantry, the moving trolley track of the longitudinal frame positioning trolley and the clamping trolley track of the segment conveying device are all provided with mechanical stops.
A whole-process automatic feeding and positioning method for a longitudinal frame adopts the whole-process automatic feeding and positioning device for the longitudinal frame, and comprises the following steps:
(1) longitudinal feeding is carried out through a longitudinal feeding device, and the longitudinal is vertically erected;
(2) picking up the vertical longitudinal bones on the longitudinal bone feeding device through the electromagnetic material taking portal, and transporting and handing over the vertical longitudinal bones to the longitudinal bone positioning trolley;
(3) positioning the longitudinal frame to a positioning line on the bottom plate through the longitudinal frame positioning trolley;
(4) and conveying the bottom plate to the installation position of the next longitudinal bone by the fragment conveying device.
Compared with the prior art, the invention has the following beneficial effects:
1. through the combination of various conveying facilities, the longitudinal frame mounting process has the advantages of smooth support, stable movement, good safety and convenient operation, and realizes the high-precision positioning of key control factors such as the vertical angle and the position of the longitudinal frame mounting;
2. the whole longitudinal frame mounting and conveying process is smooth, manual interference is not needed in the production process, the quality is more reliable, the production process is safer, automatic feeding and positioning are realized in the whole longitudinal frame mounting process, the production takt is met, and the production efficiency is greatly improved;
3. the longitudinal frame installing station and the longitudinal frame welding station are connected seamlessly, the working procedures of spot welding pre-positioning, transferring and the like required in the longitudinal frame installing process are reduced, the production efficiency of longitudinal frame installation and welding of a plane segmentation production line is further improved, and meanwhile, the production cost is reduced to a great extent.
Drawings
FIG. 1 is a schematic plan view of the present invention;
FIG. 2 is a schematic structural view of a longitudinal feeding device according to the present invention;
FIG. 3 is a front view of the longitudinal feeding device of the present invention;
FIG. 4 is a side view of a vertical positioning assembly in the longitudinal feeding device of the present invention;
FIG. 5 is a schematic structural view of an electromagnetic reclaiming gantry of the present invention;
FIG. 6 is a front view of the alignment trolley of the present invention;
FIG. 7 is a side view of the alignment trolley of the present invention;
FIG. 8 is a top view of the alignment trolley of the present invention;
FIG. 9 is a front view of the segment delivery apparatus of the present invention;
fig. 10 is a top view of the segment transfer device of the present invention.
The reference numbers are as follows:
1 longitudinal feeding device
101 roller way
102 roller bed support
103 drag chain
104 first mechanical stop
105 first fixing support
106 first hydraulic cylinder
107 support
108 longitudinal moving module
109 lifting mechanism
2 electromagnetic material taking portal frame
201 first gantry track
202 moving gantry
203 electric hoist
204 guide trolley
205 first lifting beam
206 electromagnetic grabbing arm
207 second mechanical stop
208 position sensor
3 longitudinal positioning trolley
301 moving trolley track
302 moving trolley
303 third mechanical stop
304 second lifting beam
305 second hydraulic cylinder
306 second electromagnetic block
307 third electromagnetic block
308 third hydraulic cylinder
309 second fixing support
310 hydraulic pin
4-segment conveying device
401 clamping trolley track
402 first clamping carriage
403 second clamping carriage
404 first hydraulic chuck
405 second hydraulic chuck
406 fourth mechanical stop
5 laser welding portal
6 an electric cabinet.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in conjunction with the accompanying drawings to make it clear to those skilled in the art how to practice the present invention. While the invention has been described in connection with preferred embodiments thereof, these embodiments are merely illustrative, and not restrictive, of the scope of the invention.
Referring to fig. 1, the automatic whole-process longitudinal feeding and positioning device comprises a longitudinal feeding device 1, an electromagnetic material taking portal frame 2, a longitudinal positioning trolley 3 and a segment conveying device 4 which are sequentially arranged along the direction of a production line.
Referring to fig. 2 to 4, the longitudinal feeding device 1 includes a feeding roller table, a vertical positioning device, and a longitudinal positioning device.
The feed roller way is used for carrying the longitudinal frame, and the feed roller way includes roll table 101, roll table support 102, driving motor, cable, tow chain 103, first mechanical backstop 104, and wherein, first mechanical backstop 104 sets up in the end of roll table 101, and when preventing the maloperation, the longitudinal frame rolls and falls subaerially.
The vertical positioning device is used for erecting the delivered longitudinal bone. The vertical positioning device comprises a plurality of groups of vertical positioning assemblies which are distributed at equal intervals along the conveying direction of the roller way 101, each group of vertical positioning assemblies is positioned between two rollers, see fig. 4, the vertical positioning device comprises a first fixing support 105, two first hydraulic cylinders 106 and two supporting columns 107, the first fixing support 105 is fixed on the roller way support 102, the two first hydraulic cylinders 106 are respectively positioned on two sides of the first fixing support 105 corresponding to the length direction of the rollers, the cylinder bodies of the two first hydraulic cylinders 106 are hinged to the first fixing support 105, piston rods of the first hydraulic cylinders 106 are upwards arranged and hinged to the middle of one supporting column 107, and the lower ends of the two supporting columns 107 are hinged to the top of the first fixing support 105. When the two first hydraulic cylinders 106 do not drive the respective struts 107 to rise, the two struts 107 are in a flat state, covering a width that ensures that the longitudinal bone is within this range.
The longitudinal positioning device is used for accurately longitudinally positioning a longitudinal bone and comprises a longitudinal moving module 108, a lifting mechanism 109 and a baffle plate, wherein the longitudinal moving module 108 is installed on the roller way support 102 and arranged on one side of the roller way 101, the longitudinal moving module 108 can be a linear module matched with a servo motor, a gear, a rack and a sliding rail, the lifting mechanism 109 is installed on a sliding block of the longitudinal moving module 108, the baffle plate is installed on the lifting mechanism 109, and the lifting mechanism 109 can be an air cylinder or a hydraulic cylinder.
This indulge bone feed arrangement 1 during operation, indulge bone is placed on the roll table 101 of feeding roll table, through carrying to the vertical position of fragment, and vertical positioner carries out accurate vertical positioning to indulging bone, specifically is, sets for indulging bone specification and length, the position of indulging bone on the bottom plate in control system, controls earlier through control system and indulges and moves module 108 and drive elevating system 109 and remove to the vertical position that indulging bone is located, controls elevating system 109 again and puts down the baffle, to indulging bone vertical positioning, wherein, the position accessible encoder accurate record of baffle. Then, the vertical positioning device vertically erects the longitudinal frame so as to facilitate the electromagnetic material taking gantry 2 to pick up the longitudinal frame through the electromagnetic grabbing arm 206, specifically, the two first hydraulic cylinders 106 of each group of vertical positioning assemblies drive the respective support columns 107 to upwards rise and combine, so that the web of the longitudinal frame is just positioned between the two support columns 107, and further, the longitudinal frame is vertically erected.
Referring to fig. 5, the electromagnetic material taking gantry 2 is used for picking up the longitudinal frame in a vertical standing state on the longitudinal frame feeding device 1 and transporting and handing over the longitudinal frame to the longitudinal frame positioning trolley 3.
The electromagnetic material taking gantry 2 comprises a first gantry rail 201, a movable gantry 202, an electric hoist 203, a guide trolley rail, a guide wheel, a guide trolley 204, a first lifting beam 205, an electromagnetic grabbing arm 206 and a second mechanical stop 207. The extending direction of the first gantry track 201 is perpendicular to the conveying direction of the roller way 101, the moving gantry 202 is mounted on the first gantry track 201 and is driven by a servo motor thereon to move along the first gantry track 201, and a second mechanical stop 207 is arranged at the tail end of the first gantry track 201 to prevent the moving gantry 202 from sliding down. Install electric block 203 on the fixed beam of removal portal 202, all install direction dolly track and guide pulley on the fixed support of both sides, install direction dolly 204 on the direction dolly track, electric block 203 connects and drives the direction dolly 204 on the direction dolly track of both sides and goes up and down, two direction dollies 204 are connected with first lifting beam 205 through the rope with corresponding the guide pulley complex respectively, it has the electromagnetism of a plurality of vertical settings to snatch arm 206 to distribute along the trend on the first lifting beam 205, the lower extreme that arm 206 was snatched to every electromagnetism is first electromagnetic block.
When the electromagnetic material taking portal 2 works, the movable portal 202 is located at the position of the longitudinal bone feeding device 1, and a first electromagnetic block on the electromagnetic grabbing arm 206 is electrified to adsorb a longitudinal bone web plate to pick up a longitudinal bone. Then, the electric hoist 203 drives the guide trolley 204 to move downwards, so that the first lifting beam 205 is lifted to a height exceeding the height of the longitudinal positioning trolley 3, the highest height of the first lifting beam 205 is controlled by an upper limit stop built in the electric hoist 203, and the lowest height is controlled by a lower limit stop of the first gantry rail 201. Then, the movable gantry 202 moves to a fixed position where the longitudinal positioning trolley 3 takes materials along the first gantry track 201, the electromagnetic material taking gantry 2 can be accurately positioned through the positioning sensor 208, the longitudinal distance can be consistent during each transportation, the walking distance can be set in the control system at each time, or the control is performed through manual intervention. After the longitudinal positioning trolley 3 reaches the material taking position, the longitudinal frame on the electromagnetic grabbing arm 206 is positioned in the front upper part of the longitudinal positioning trolley 3, the electric hoist 203 drives the guide trolley 204 to ascend again, and the first lifting cross beam 205 descends to enable the longitudinal frame to just descend to the front part of the longitudinal positioning trolley 3. After the longitudinal positioning trolley 3 moves backwards, the second electromagnetic block 306 fixed on the longitudinal positioning trolley touches and adsorbs the web surface of the longitudinal, the first electromagnetic block on the electromagnetic grabbing arm 206 is powered off, the longitudinal is released, the electric block 203 drives the guide trolley 204 to move downwards, the first lifting beam 205 is lifted, the movable gantry 202 returns to the longitudinal feeding device 1 again, and the next longitudinal is picked up.
Referring to fig. 6 to 8, the longitudinal positioning trolley 3 is used for positioning the longitudinal received from the electromagnetic material taking gantry 2 to a positioning line on the bottom plate.
The longitudinal positioning trolley 3 comprises a trolley track 301, a trolley 302, a third mechanical stop 303, a second lifting beam 304, a second hydraulic cylinder 305, a second electromagnetic block 306, a third electromagnetic block 307, a third hydraulic cylinder 308, a positioning hole and a positioning device. The moving trolley track 301 is parallel to the first gantry track 201 of the electromagnetic material taking gantry 2, the moving trolley 302 is mounted on the moving trolley track 301 and is driven by a servo motor thereon to move along the moving trolley track 301, and a third mechanical stop 303 is arranged at the front end of the moving trolley track 301 to prevent the moving trolley 302 from sliding down. More than two second hydraulic cylinders 305 which are vertically arranged are distributed on the rear side of the platform of the movable trolley 302 along the crossing direction, and second lifting cross beams 304 are arranged on the piston ends of the more than two second hydraulic cylinders 305. A plurality of second electromagnetic blocks 306 and third hydraulic cylinders 308 which are fixed in position are distributed on the second lifting cross beam 304 along the trend, the second electromagnetic blocks 306 and the third hydraulic cylinders 308 can be distributed at intervals, and the piston end of each third hydraulic cylinder 308 faces downwards and is connected with a third electromagnetic block 307. The positioning device is at a certain distance from the rear end of the moving trolley track 301, the positioning device comprises a second fixing support 309 and a hydraulic pin 310 vertically installed on the second fixing support 309, and a positioning hole matched with the hydraulic pin 310 is formed in the rear side of the moving trolley 302.
When the longitudinal positioning trolley 3 works, the moving trolley 302 moves backwards along the moving trolley track 301, the second electromagnetic block 306 touches and adsorbs the web surface of the longitudinal, and the first electromagnetic block on the electromagnetic grabbing arm 206 of the electromagnetic material taking portal 2 is powered off to release the longitudinal. The dolly 302 is then advanced along the dolly rail 301 to move the longitudinal beam to the positioning centre line of the segment, i.e. the centre line of the laser welding gantry 5, see the dashed line position in fig. 8. At this time, the base plate to be assembled is already positioned below the laser welding gantry 5, the positioning line of the longitudinal frame is marked on the base plate, the positioning hole of the moving trolley 302 is just above the hydraulic pin 310, and the moving trolley 302 is fixed by jacking the hydraulic pin 310 to penetrate through the positioning hole. Then, after the laser welding gantry 5 welds and fixes the longitudinal frame, the second electromagnetic block 306 is powered off, the longitudinal frame is not adsorbed any more, the moving trolley 302 returns to the original position, and the next longitudinal frame is waited to be handed over with the electromagnetic material taking gantry 2.
The third electromagnetic block 307 is used for assisting the second electromagnetic block 306 to adsorb the longitudinal bone with a larger size, the contact area of the third electromagnetic block 307 is larger than that of the second electromagnetic block 306, the third electromagnetic block 307 is driven by the third hydraulic cylinder 308 to move up and down, and the initial position of the third electromagnetic block 307 is higher than that of the second electromagnetic block 306. Before the second electromagnetic block 306 adsorbs and transports the longitudinal bone, the second lifting beam 304 is driven by the second hydraulic cylinder 305 to lift for height adjustment through the data of the preset longitudinal bone, so that the second electromagnetic block 306 can just adsorb the longitudinal bone transported on the electromagnetic material taking gantry 2. The position of the positioning device is determined according to the positioning line on the bottom plate and the distance of the longitudinal frame to be transported by the longitudinal frame positioning trolley 3.
Referring to fig. 9 and 10, the segment transfer device 4 is used to transfer the base plate and transfer the base plate to the mounting position of the next longitudinal bone so that the positioning line of the longitudinal bone on the base plate coincides with the positioning center line of the segment.
The segment transfer device 4 comprises a roller platform, a gripping carriage track 401, a first gripping carriage 402, a second gripping carriage 403, a first hydraulic jaw 404, a second hydraulic jaw 405, and a fourth mechanical stop 406. The roller platform is arranged on the ground and used for bearing a bottom plate, the clamping trolley track 401 is parallel to the moving trolley track 301 of the longitudinal positioning trolley 3 and is arranged on one side of the roller platform, the first clamping trolley 402 and the second clamping trolley 403 are arranged on the clamping trolley track 401 and are driven by respective servo motors to move along the clamping trolley track 401, the fourth mechanical stop 406 is arranged at two ends of the clamping trolley track 401 and is used for preventing the first clamping trolley 402 and the second clamping trolley 403 from sliding off, and the first hydraulic chuck 404 and the second hydraulic chuck 405 which horizontally face the roller platform are respectively arranged on the first clamping trolley 402 and the second clamping trolley 403. Wherein, a rack can be arranged on the clamping trolley track 401, and the respective servo motors of the first clamping trolley 402 and the second clamping trolley 403 are matched with the rack through a gear, so that the design is convenient for accurately positioning the movement of the first clamping trolley 402 and the second clamping trolley 403.
When the segment conveying device 4 works, the roller platform bears the bottom plate, the first hydraulic chuck 404 and the second hydraulic chuck 405 clamp the edge of the bottom plate together, the first clamping trolley 402 and the second clamping trolley 403 move along the clamping trolley track 401, the bottom plate is conveyed to the position where a positioning line of a longitudinal bone to be welded on the bottom plate corresponds to the longitudinal bone on the longitudinal bone positioning trolley 3 up and down, and the laser welding gantry 5 is used for welding the longitudinal bone. The first hydraulic clamp 404 and the second hydraulic clamp 405 remain clamped to the baseplate during the longitudinal bone welding process. After the longitudinal bones are welded, the first clamping trolley 402 and the second clamping trolley 403 send the bottom plate to the next longitudinal bone installation position, namely the position where the positioning line of the next longitudinal bone to be welded corresponds to the longitudinal bone on the longitudinal bone positioning trolley 3. After the welding of the longitudinal bones is completed, the first clamping trolley 402 and the second clamping trolley 403 convey the segments out of the station. Wherein, the position of the longitudinal skeleton line is imported through the data of the segment design model, and the control system automatically sets.
The first holding trolley 402 may further be provided with a fourth hydraulic cylinder for driving the first hydraulic clamp 404 to move longitudinally, and the second holding trolley 403 may further be provided with a fifth hydraulic cylinder for driving the second hydraulic clamp 405 to move longitudinally. Thus, when the first hydraulic chuck 404 or the second hydraulic chuck 405 is clamped, the other hydraulic chuck can be driven by the corresponding hydraulic cylinder to move longitudinally, so that the alignment of the positioning line on the bottom plate and the longitudinal bone on the longitudinal bone positioning trolley 3 is realized.
The welding of the whole automatic feeding and positioning device for the longitudinal frame is realized by the laser welding gantry 5, and the control system is realized by the electric cabinet 6.
The method for realizing the automatic whole-process feeding and positioning of the longitudinal frame according to the device comprises the following steps:
(1) longitudinal feeding and vertical erection are carried out through the longitudinal feeding device 1, the longitudinal is erected vertically, and length detection is carried out on the longitudinal;
(2) the vertical longitudinal bones on the longitudinal bone feeding device 1 are picked up through the electromagnetic material taking portal 2 and are transported and handed over to the longitudinal bone positioning trolley 3;
(3) positioning the longitudinal frame on a positioning line on the bottom plate through the longitudinal frame positioning trolley 3;
(4) the bottom plate is conveyed to the mounting position of the next longitudinal bone through the fragment conveying device 4, namely the position of the positioning line of the next longitudinal bone to be welded corresponds to the longitudinal bone on the longitudinal bone positioning trolley 3.
It should be noted that many variations and modifications of the embodiments of the present invention fully described are possible and are not to be considered as limited to the specific examples of the above embodiments. The above examples are given by way of illustration of the invention and are not intended to limit the invention. In conclusion, the scope of the present invention should include those changes or substitutions and modifications which are obvious to those of ordinary skill in the art.
Claims (10)
1. A longitudinal rib whole-course automatic feeding and positioning device is characterized by comprising a longitudinal rib feeding device, an electromagnetic material taking portal frame, a longitudinal rib positioning trolley and a segment conveying device which are sequentially arranged along the direction of a production line;
the longitudinal frame feeding device comprises a feeding roller way, and a vertical positioning device and a longitudinal positioning device which are arranged on the feeding roller way, wherein the conveying direction of the feeding roller way is horizontally vertical to the direction of the production line;
the electromagnetic material taking gantry comprises a first gantry track, a moving gantry, a first lifting beam and an electromagnetic grabbing arm with a first electromagnetic block, wherein the first gantry track is arranged along the direction of a production line and is provided with the moving gantry, the first lifting beam is arranged on the moving gantry in a lifting manner, and a plurality of electromagnetic grabbing arms are distributed on the first lifting beam;
the longitudinal frame positioning trolley comprises a movable trolley track, a movable trolley, a second lifting cross beam, a second electromagnetic block, a third electromagnetic block and a positioning device, wherein the movable trolley track is arranged along the direction of a production line and is provided with the movable trolley, the second lifting cross beam is arranged on the movable trolley in a lifting manner, a plurality of fixed second electromagnetic blocks and a plurality of lifting third electromagnetic blocks are distributed on the second lifting cross beam, the positioning device is arranged close to the end part of the movable trolley track and is matched with the movable trolley to position the movable trolley;
the fragment conveying device comprises a roller platform, a clamping trolley track, a first clamping trolley, a second clamping trolley, a first hydraulic chuck and a second hydraulic chuck, wherein the clamping trolley track is arranged on one side of the roller platform along the direction of a production line and is provided with the first clamping trolley and the second clamping trolley, and the first hydraulic chuck and the second hydraulic chuck which face the roller platform horizontally are arranged on the first clamping trolley and the second clamping trolley respectively.
2. The longitudinal rib whole-course automatic feeding and positioning device is characterized in that the vertical positioning device comprises a plurality of groups of vertical positioning assemblies which are distributed at equal intervals along the conveying direction of a feeding roller way, each group of vertical positioning assemblies is positioned between two rollers, each vertical positioning assembly comprises a first fixing support, two first hydraulic cylinders and two support columns, the two first hydraulic cylinders are respectively positioned on two sides of the first fixing support in the length direction of the corresponding roller, the cylinder bodies of the two first hydraulic cylinders are hinged to the first fixing support, a piston rod of each first hydraulic cylinder is upwards arranged and hinged to the middle of one support column, and the lower ends of the two support columns are hinged to the top of the first fixing support.
3. The automatic whole longitudinal beam feeding and positioning device according to claim 1, wherein the longitudinal positioning device comprises a longitudinal moving module, a lifting mechanism and a baffle plate, the longitudinal moving module is installed on one side of the feeding roller way, the lifting mechanism is installed on a sliding block of the longitudinal moving module, and the baffle plate is installed on the lifting mechanism.
4. The automatic whole longitudinal beam feeding and positioning device as claimed in claim 1, wherein an electric hoist is arranged on a fixed cross beam of a moving gantry of the electromagnetic material taking gantry, vertically arranged guide trolley rails and guide wheels are arranged on fixed pillars on two sides, guide trolleys are arranged on the guide trolley rails, the electric hoist is connected with and drives the guide trolleys on the guide trolley rails on two sides to ascend and descend, and the two guide trolleys are respectively connected with the first ascending and descending cross beam through ropes matched with the corresponding guide wheels.
5. The automatic whole longitudinal beam feeding and positioning device as claimed in claim 1, wherein more than two second hydraulic cylinders are vertically arranged on the rear side of the platform of the movable trolley of the longitudinal beam positioning trolley along the crossing direction, and second lifting cross beams are mounted on the piston ends of the more than two second hydraulic cylinders.
6. The automatic whole longitudinal beam feeding and positioning device as claimed in claim 1, wherein a plurality of hydraulic cylinders are distributed on the second lifting cross beam of the longitudinal beam positioning trolley, and a piston end of each third hydraulic cylinder faces downwards and is provided with a third electromagnetic block.
7. The automatic whole longitudinal beam feeding and positioning device as claimed in claim 1, wherein the positioning device of the longitudinal beam positioning trolley is at a certain distance from the rear end of the rail of the moving trolley, the positioning device comprises a second fixing support and a hydraulic pin vertically mounted on the second fixing support, and a positioning hole matched with the hydraulic pin is formed in the rear side of the moving trolley.
8. The automatic whole longitudinal beam feeding and positioning device as claimed in claim 1, wherein a fourth hydraulic cylinder for driving the first hydraulic chuck to move towards the roller platform is arranged on the first clamping trolley of the longitudinal beam positioning trolley, and a fifth hydraulic cylinder for driving the second hydraulic chuck to move towards the roller platform is arranged on the second clamping trolley.
9. The automatic whole longitudinal beam feeding and positioning device as claimed in claim 1, wherein mechanical stops are arranged at the end parts of the feeding roller way of the longitudinal beam feeding device, the first gantry rail of the electromagnetic material taking gantry, the moving trolley rail of the longitudinal beam positioning trolley and the clamping trolley rail of the segment conveying device.
10. A whole-process automatic longitudinal feeding and positioning method is characterized in that the whole-process automatic longitudinal feeding and positioning device of any one of claims 1 to 9 is adopted, and comprises the following steps:
(1) longitudinal feeding is carried out through a longitudinal feeding device, and the longitudinal is vertically erected;
(2) picking up the vertical longitudinal bones on the longitudinal bone feeding device through the electromagnetic material taking portal, and transporting and handing over the vertical longitudinal bones to the longitudinal bone positioning trolley;
(3) positioning the longitudinal frame to a positioning line on the bottom plate through the longitudinal frame positioning trolley;
(4) and conveying the bottom plate to the installation position of the next longitudinal bone by the fragment conveying device.
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| CN202110291215.3A CN112850154B (en) | 2021-03-18 | 2021-03-18 | Automatic feeding and positioning device and method for whole longitudinal bone |
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| CN202110291215.3A CN112850154B (en) | 2021-03-18 | 2021-03-18 | Automatic feeding and positioning device and method for whole longitudinal bone |
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| CN112850154B CN112850154B (en) | 2024-01-12 |
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| CN112850154B (en) | 2024-01-12 |
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