CN114178749A - Automatic transferring method for hydraulic support structural member welding process - Google Patents
Automatic transferring method for hydraulic support structural member welding process Download PDFInfo
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- CN114178749A CN114178749A CN202111522944.1A CN202111522944A CN114178749A CN 114178749 A CN114178749 A CN 114178749A CN 202111522944 A CN202111522944 A CN 202111522944A CN 114178749 A CN114178749 A CN 114178749A
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- 238000003466 welding Methods 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 59
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- 238000001514 detection method Methods 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000007257 malfunction Effects 0.000 claims description 8
- 230000001939 inductive effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 5
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- 206010000372 Accident at work Diseases 0.000 description 2
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- 230000005674 electromagnetic induction Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
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Abstract
The invention discloses an automatic transfer method of a hydraulic support structural member welding process, wherein an automatic crown block, an interactive workbench, a welding positioner and a six-joint welding robot are arranged on a transfer path of the hydraulic support structural member welding process, an assembled hydraulic support structural member is manually transferred to the interactive workbench, the position of a workpiece is adjusted to be positioned, the automatic crown block grabs the workpiece by using a clamp, grabbing and positioning are realized by using a positioning device in the grabbing process, then the workpiece is placed on the welding positioner according to a set path, the six-joint welding robot automatically welds the workpiece by using an automatic edge finding function, and after welding is finished, the automatic crown block again grabs the workpiece and transfers the workpiece to the original interactive workbench. The automatic crown block grabbing and positioning precision is high, automatic transfer in the hydraulic support structural part welding process is achieved through signal interaction between the automatic crown block grabbing and positioning precision and the interactive workbench and the welding positioner, and transfer requirements of all hydraulic support structural parts at present can be met.
Description
Technical Field
The invention relates to the technical field of hydraulic support production, in particular to an automatic transferring method for a hydraulic support structural member welding process.
Background
The hydraulic support is used as a main supporting device in the fully mechanized mining equipment of the coal mine, and has the characteristics of large volume and weight, bad service conditions, many box-type welding structures and the like. The hydraulic support structural part mainly comprises a top beam, a shield beam and a base, and has the characteristics of large volume and weight, multiple box-type structures, large size range and the like, the single weight range of the hydraulic support structural part is 1.6-20 tons, the width size range is 1200-2400mm, and the length size range is 1800-5600 mm. Hydraulic support structure among the prior art transports mainly relies on manual four-jaw lifting hook that utilizes to snatch hydraulic support structure, and the manual overhead traveling crane of manual control transports the work piece to welded platform, and six joint welding robot automated welding, after the welding is accomplished, manual overhead traveling crane and four-jaw lifting hook transport work piece that utilizes. Although this method can realize automatic welding, the above method has the following disadvantages: 1. the hydraulic support structure is box structure, and when the work piece was transported in the manual work, utilizes four-jaw lifting hook to catch on hydraulic support structure hoist and mount hole department, because work piece self volume and weight are big, there are phenomena such as amplitude of fluctuation is big, hang to one side, unhook in the handling in-process, causes the industrial accident easily, seriously influences workman's personal safety. 2. When the hydraulic support structural member is transported manually by using a manual crown block and four-claw lifting hooks thereof, 2-3 persons are needed to cooperate to work, the labor intensity is high, and the per-capita efficacy is low. 3. The welding workshop of the structural member has high temperature, large welding smoke and dust and poor working environment, and seriously harms the health of workers. 4. The workpiece is manually transferred to the welding platform, the error is large, the welding size error of the workpiece is generally more than 5mm, the problem of large size error exists during workpiece welding, and the welding quality requirement cannot be met. 5. After the hydraulic support structural part is welded, the surface temperature of a workpiece is high, and when the workpiece is manually hoisted by using a manual crown block and four-claw lifting hooks of the crown block, burn accidents are easily caused, and potential safety hazards exist.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic transfer method for a welding process of a hydraulic support structural part, which realizes automatic transfer of the hydraulic support structural part in the welding process through automatic grabbing, positioning and transfer of an automatic crown block and signal interaction between the automatic crown block and an interactive workbench and a welding positioner, can avoid the problems of inconvenient operation and large positioning error in manual work transfer, and can avoid potential safety hazards easily caused by manual operation.
In order to solve the technical problems, the invention adopts the following technical scheme:
designing an automatic transfer method of a hydraulic support structural part welding procedure, which is characterized in that an automatic crown block, an interactive workbench, a welding positioner and a six-joint welding robot are arranged on a transfer path of the hydraulic support structural part welding procedure; the method specifically comprises the following steps:
(1) manually transferring the assembled hydraulic support structural part to an interactive workbench, adjusting the position of a workpiece, detecting whether the position of the workpiece meets the grabbing and positioning requirements by a positioning sensor on the interactive workbench, and sending a workpiece in-place signal to an automatic crown block;
(2) after receiving the signal, the automatic crown block runs to the position of the interactive workbench according to a set path, a clamp is used for grabbing a workpiece, grabbing and positioning are achieved through a positioning device in the grabbing process, then the workpiece is placed on the welding positioner according to the set path, and a workpiece in-place signal is sent to the welding positioner;
(3) after the welding positioner receives the signal, the clamping mechanism of the welding positioner is used for automatically clamping the workpiece and overturning the workpiece to a certain angle, and the six-joint welding robot performs automatic welding on the workpiece by using an automatic edge searching function;
(4) after the hydraulic support structural part welding procedure is completed, the welding positioner sends a signal to the automatic crown block;
(5) after receiving the signal, the automatic crown block runs to the position of the welding positioner according to a set path, the workpiece is automatically grabbed by the clamp, grabbing and positioning are achieved through the positioning device in the grabbing process, and the workpiece is automatically transferred to the original interactive workbench according to the set path.
Preferably, two adjacent sides in the outside of mutual workstation are provided with the bolt board respectively, set up evenly distributed's pinhole on bolt board top surface, in step (1), before the work piece was placed, peg graft the locating pin respectively in the pinhole of corresponding position on the bolt board of both sides earlier, be equipped with positioning sensor on the locating pin, the back on the mutual workstation is transported to the work piece, make the work piece side contact with the locating pin that corresponds respectively, form the right angle limit location, the adjustment work piece position accomplishes the location of work piece.
Preferably, the positioning device in the step (2) and the step (4) comprises detection radars arranged outside two sides of an upper frame of the automatic crown block, and the detection radars are used for detecting the distance between the automatic crown block and a surrounding object in real time;
the clamping sensors are respectively arranged on the inner sides of the movable clamp legs at the lower parts of the four clamps, and the clamping sensors on the two opposite clamps are opposite in position and are respectively used for detecting the opening and closing size between the two groups of clamp legs in real time;
the clamping in-place sensors are respectively arranged on the inner sides of the jaws of the four clamps and are used for detecting the distance from the edge of the workpiece to the inner sides of the jaws in the horizontal direction in real time;
the misoperation detection sensors are respectively arranged at the upper parts of the claws of the four clamps and correspond to the grabbing positions of the bottom surfaces of the workpieces, and are used for detecting the distance from the bottom surfaces of the workpieces to the upper parts of the claws in the vertical direction in real time;
and the bottom-touching detection sensors are respectively arranged at the bottoms of the claws of the four clamps and are used for detecting the distance from the bottoms of the clamps to an object below in real time.
Preferably, the detection radar is a 2D laser radar; the laser distance measuring sensor is used for the clamping sensor and the bottoming detection sensor; the clamping in-place sensor and the malfunction detection sensor adopt inductive sensors.
Preferably, in the step (3), after the welding positioner receives the signal, the workpiece is automatically clamped by the clamping mechanism of the welding positioner, a six-joint welding robot with an automatic edge searching function automatically welds a box structure flat weld of a hydraulic support structural member, after the flat weld is finished, the workpiece is driven by the pushing mechanism to translate to a specified position, the workpiece is overturned by 90 degrees by the jacking mechanism, a box structure vertical weld of the hydraulic support structural member is changed into a flat weld, the six-joint welding robot automatically welds the workpiece, after the welding is finished, the workpiece is overturned to a horizontal position by the jacking mechanism again, and the pushing mechanism drives the workpiece to translate to an original position of the welding positioner.
The invention has the beneficial effects that:
compared with the traditional manual method that a manual crown block and four-claw lifting hooks of the crown block are used for grabbing hydraulic support structural parts to carry out loading and unloading on the hydraulic support structural parts and welding the hydraulic support structural parts, the automatic crown block and the clamp of the automatic crown block are used for carrying out automatic loading and unloading on the hydraulic support structural parts, and the welding positioner and the six-joint welding robot are used for carrying out automatic welding, so that automatic grabbing, transferring and welding of a welding process of the hydraulic support structural parts are realized, and the problems of inconvenience in operation, low positioning precision and potential safety hazards in manual transferring in the prior art are solved.
The automatic crown block is assisted to grab by the positioning device, the positioning precision is high, the automatic crown block is interacted with the interactive workbench and the welding positioner through signals, the automatic transfer is realized, the transfer requirements of all hydraulic support structural members at present can be met, the working intensity of workers is favorably reduced, the working environment is improved, and the health level is improved.
Through configuring a 2D laser radar, a clamping sensor, a clamping in-place sensor, a malfunction detection sensor and a bottoming detection sensor on the automatic crown block, the opening and closing size between the clamp legs of the clamp device, the distance between the clamp legs and the surrounding environment of a workshop and the distance between the clamp legs and a transported workpiece can be detected in real time, detected data are uploaded to a dispatching system in real time, safety interlocking is achieved, and accident risks are reduced. When the distance between the clamp and the surrounding objects is short, the dispatching system analyzes data in real time and issues an instruction to stop the automatic crown block suddenly, so that safety accidents caused by collision between the clamp and the surrounding objects are prevented; when the clamp grabs the workpiece and is far away from the workpiece, the dispatching system analyzes data in real time and issues an instruction to prohibit the automatic crown block from lifting the clamp, so that the safety accident caused by the fact that the workpiece is dropped off in the transferring process because the clamp does not clamp the workpiece is prevented.
Through the arrangement of the real-time detection sensor on the automatic crown block clamp, personnel can check the running state of the equipment in real time through the remote terminal, and regularly carry out remote point inspection on the equipment, so that the comprehensive utilization efficiency of the equipment is improved.
According to the automatic transfer method for the hydraulic support structural member welding process, manual participation is not needed in the overhead traveling crane transfer and welding process, industrial accidents caused by manual operation errors can be avoided, and the method has important significance in efficient, safe, reliable, automatic and intelligent production of the automatic overhead traveling crane and the clamp thereof introduced in coal mine machinery and even related engineering machinery industries in future.
Drawings
FIG. 1 is a schematic layout of the equipment in the hydraulic support structure welding process;
fig. 2 is a front view of an automatic crown block gripping state;
fig. 3 is a right side view of an automatic crown block gripping state;
FIG. 4 is an enlarged partial view of the lower jaw of the clamp of FIG. 3;
FIG. 5 is a top view of an automated crown block;
FIG. 6 is a schematic diagram of the structure of an interactive table;
FIG. 7 is a schematic structural view of a weld positioner;
reference numbers in the figures: 1, a six-joint welding robot; 2, welding a positioner; 3, hydraulic support structural parts; 4, dedusting a room; 5, automatic crown block; 6, an interactive workbench;
7, a pulley yoke; 8 an upper frame; 9, moving the trolley in the middle; 10, clamping a clamp; 11 a lower drive device; 12, storing the cable frame; 13 detecting a radar; 14 clamping the sensor; 15 clamp in position sensor; 16 malfunction detection sensors; 17 a bottoming detection sensor;
18 a platform base; 19 pushing the trolley; 20 fixing the platform; 21 a latch plate; 22 positioning pins;
23 a clamping mechanism; a 24 pushing mechanism; 25, a jacking mechanism; 26 support the base.
Detailed Description
The following examples are given to illustrate specific embodiments of the present invention, but are not intended to limit the scope of the present invention in any way. The elements of the apparatus referred to in the following examples are conventional elements of the apparatus unless otherwise specified.
Example 1: an automatic transfer method of a hydraulic support structural part welding procedure is disclosed, wherein an automatic crown block 5, an interactive workbench 6, a welding positioner 2 and a six-joint welding robot 1 are arranged on a transfer path of a hydraulic support structural part 3 welding procedure; the method specifically comprises the following steps:
(1) the hydraulic support structural part 3 after being assembled is manually transferred to an interactive workbench 6, the position of a workpiece is adjusted, a positioning sensor on the interactive workbench 6 detects whether the position of the workpiece meets the grabbing positioning requirement or not, and a workpiece in-place signal is sent to an automatic crown block 5.
Two adjacent sides in the outside of interactive workstation 6 are provided with bolt board 21 respectively, the pinhole of evenly distributed has been seted up on bolt board 21 top surface, hydraulic support structure 3 assembles the process and accomplishes the back, pass between dolly 19 and the fixed platform 20 distance according to work piece size adjustment middle part, before the work piece was placed, insert locating pin 22 in the pinhole that corresponds the position on the bolt board 21 that is located platform base 18 edge earlier, then transport interactive workstation 6 with single work piece on, adjust the work piece position, make the work piece side contact with locating pin 22 respectively, form the right angle side location, be equipped with positioning sensor on locating pin 22, after the location of accomplishing the work piece, the sensor sends the work piece signal of targetting in place to automatic sky car 5.
(2) After receiving the signal, the automatic crown block 5 runs to the position of the interactive workbench 6 according to a set path, a clamp 10 is used for grabbing the workpiece, grabbing and positioning are achieved through a positioning device in the grabbing process, then the workpiece is placed on the welding positioner 2 according to the set path, and a workpiece in-place signal is sent to the welding positioner 2.
Wherein positioner include: detection radars 13 arranged outside both sides of the upper frame 8 of the automatic crown block 5, for detecting a distance between the automatic crown block 5 and a surrounding object in real time; the clamping sensors 14 are respectively arranged at the inner sides of the movable clamp legs at the lower parts of the four clamps 10, and the clamping sensors 14 on the two opposite clamps 10 are opposite in position and are respectively used for detecting the opening and closing size between the two groups of clamp legs in real time; the clamping in-place sensors 15 are respectively arranged on the inner sides of the jaws of the four clamps 10 and are used for detecting the distance from the edge of the workpiece to the inner sides of the jaws in the horizontal direction in real time; the misoperation detection sensors 16 are respectively arranged at the upper parts of the claws of the four clamps 10 corresponding to the grabbing positions of the bottom surfaces of the workpieces and are used for detecting the distance from the bottom surfaces of the workpieces to the upper parts of the claws in the vertical direction in real time; and the bottom-touching detection sensors 17 are respectively arranged at the bottoms of the jaws of the four clamps 10 and are used for detecting the distance from the bottom of the clamp 10 to an object below in real time. The detection radar 13 adopts a 2D laser radar; the clamping sensor 14 and the bottoming detection sensor 17 are laser ranging sensors; the clamp-in-place sensor 15 and the malfunction detection sensor 16 are inductive sensors.
The roller of an automatic crown block 5 is connected with a clamp pulley yoke 7 through a steel wire rope, a movable clamp leg at the lower part of a clamp 10 is driven by a lower driving device 11 to open and close, a clamping sensor 14 at the inner side of the movable clamp leg at the lower part of the clamp 10 detects the opening and closing size between the two clamp legs in real time, a bottom contact detection sensor 17 at the bottom of the clamp jaw automatically detects the distance between the clamp jaw and an object below the clamp jaw, the clamp 10 automatically descends to a position below the horizontal direction of a table top of an interaction workbench 6, a clamping in-place sensor 15 at the inner side of the clamp jaw detects the distance between a workpiece and a clamping in-place sensor 15 in real time, an error action detection sensor 16 at the upper part of the clamp jaw detects the distance between the workpiece and an error action detection sensor 16 in real time, after the clamp 10 clamps the workpiece, a signal is sent to a dispatching system, the dispatching system gives an instruction, the automatic crown block 5 runs according to a set path, a detection radar 13 at the outer side of an upper frame 8 detects the distance between the object around in real time in the moving process of the automatic crown block clamp, the collision accident is avoided, the automatic crown block 5 automatically places the workpiece on the welding positioner 2 after running to the designated position, and sends a workpiece in-place signal to the welding positioner 2.
(3) After the welding positioner 2 receives the signal, the clamping mechanism 23 is used for automatically clamping the workpiece and overturning the workpiece to a certain angle, and the six-joint welding robot 1 performs automatic welding on the workpiece by using an automatic edge searching function.
After the welding positioner 2 receives the signal, the workpiece is automatically clamped by the clamping mechanism 23, the six-joint welding robot 1 with the automatic edge searching function automatically welds the box structure flat weld of the hydraulic support structural part 3, after the flat weld is finished, the pushing mechanism 24 is used for driving the workpiece to translate to a designated position, the workpiece is overturned by 90 degrees by the jacking mechanism 25, the box structure vertical weld of the hydraulic support structural part 3 is changed into the flat weld, the six-joint welding robot 1 automatically welds the workpiece, after the welding is finished, the workpiece is overturned to a horizontal position by the jacking mechanism 25 again, and the pushing mechanism 24 is used for driving the workpiece to translate to the original position of the welding positioner 2.
(4) After the welding procedure of the hydraulic support structural part 3 is completed, the welding positioner 2 sends a signal to the automatic crown block 5;
(5) after receiving the signal, the automatic crown block 5 runs to the position of the welding positioner 2 according to a set path, automatically grabs the workpiece by using the clamp 10, realizes grabbing and positioning through the positioning device in the grabbing process, and automatically transfers the workpiece to the original interactive workbench 6 according to the set path.
The automatic crown block clamping device is formed by assembling a cable storage frame 12, an upper frame 8, an upper driving device, a middle moving trolley 9, a pulley yoke 7, lower moving clamp legs, a lower driving device 11 and a bearing seat. The automatic crown block operation positioning precision is +/-25 mm, the clamp size is 4200 x 4420 x 5300mm, the maximum bearing capacity is 20 tons, the clamp length opening and closing range is 1200-3200mm, the clamp width opening and closing range is 800-2600mm, the single weight range of the hydraulic support structural member is 1.6-19 tons, the width size range is 1200-2400mm, and the length range is 1800-5600mm, the automatic crown block can adapt to automatic grabbing and transferring of the hydraulic support structural member, can perform signal interaction with an interaction workbench and a welding positioner, achieves full coverage of the weight and the size of the hydraulic support structural member, and is high in applicability. In the process of grabbing the automatic crown block, a 2D laser radar, a clamping sensor, a clamping in-place sensor, a malfunction detection sensor and a bottom contact detection sensor are matched for auxiliary positioning, wherein the number of the 2D laser radars is 2, the detection range is 0.1-8 m, the distance between an automatic crown block clamping device and objects around a workshop is detected in real time in the running process of the automatic crown block, and the automatic crown block clamping device is prevented from colliding with the objects around; 4 clamping sensors are arranged, the detection range is 50-5300mm by adopting a laser ranging principle, and the opening and closing size between two clamp legs of the clamp device is detected in real time; 4 clamping in-place sensors are arranged, the detection range is 20mm by adopting the electromagnetic induction principle, and the distance between the workpiece and the clamping in-place sensors in the horizontal direction is detected in real time; the number of the malfunction detection sensors is 4, the electromagnetic induction principle is adopted, the detection range is 20mm, and the distance between the workpiece and the malfunction detection sensors in the vertical direction is detected in real time; 4 bottom-touching detection sensors are arranged, the laser ranging principle is adopted, the detection range is 50-8300mm, the distance between the clamp and the object below the clamp is detected in real time in the running process of the automatic crown block, and the clamp is prevented from colliding with the object below the clamp.
While the present invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various changes can be made in the specific parameters of the embodiments without departing from the spirit of the present invention, and that various specific embodiments can be made, which are common variations of the present invention and will not be described in detail herein.
Claims (5)
1. An automatic transfer method of a hydraulic support structural member welding procedure is characterized in that an automatic crown block, an interactive workbench, a welding positioner and a six-joint welding robot are arranged on a transfer path of the hydraulic support structural member welding procedure; the method specifically comprises the following steps:
(1) manually transferring the assembled hydraulic support structural part to an interactive workbench, adjusting the position of a workpiece, detecting whether the position of the workpiece meets the grabbing and positioning requirements by a positioning sensor on the interactive workbench, and sending a workpiece in-place signal to an automatic crown block;
(2) after receiving the signal, the automatic crown block runs to the position of the interactive workbench according to a set path, a clamp is used for grabbing a workpiece, grabbing and positioning are achieved through a positioning device in the grabbing process, then the workpiece is placed on the welding positioner according to the set path, and a workpiece in-place signal is sent to the welding positioner;
(3) after the welding positioner receives the signal, the clamping mechanism of the welding positioner is used for automatically clamping the workpiece and overturning the workpiece to a certain angle, and the six-joint welding robot performs automatic welding on the workpiece by using an automatic edge searching function;
(4) after the hydraulic support structural part welding procedure is completed, the welding positioner sends a signal to the automatic crown block;
(5) after receiving the signal, the automatic crown block runs to the position of the welding positioner according to a set path, the workpiece is automatically grabbed by the clamp, grabbing and positioning are achieved through the positioning device in the grabbing process, and the workpiece is automatically transferred to the original interactive workbench according to the set path.
2. The automatic transfer method for the welding procedure of the structural member of the hydraulic support according to claim 1, wherein the adjacent two side edges outside the interactive table are respectively provided with a pin plate, the top surface of the pin plate is provided with uniformly distributed pin holes, in the step (1), before the workpiece is placed, the positioning pins are respectively inserted into the corresponding pin holes on the pin plates on the two sides, the positioning sensors are arranged on the positioning pins, after the workpiece is transferred onto the interactive table, the side surfaces of the workpiece are respectively contacted with the corresponding positioning pins to form right-angle edge positioning, the position of the workpiece is adjusted, and the positioning of the workpiece is completed.
3. The automatic transfer method for the hydraulic support structure welding process according to claim 1, wherein the positioning device in the steps (2) and (4) comprises detection radars which are arranged outside both sides of the upper frame of the automatic crown block and are used for detecting the distance between the automatic crown block and the surrounding object in real time;
the clamping sensors are respectively arranged on the inner sides of the movable clamp legs at the lower parts of the four clamps, and the clamping sensors on the two opposite clamps are opposite in position and are respectively used for detecting the opening and closing size between the two groups of clamp legs in real time;
the clamping in-place sensors are respectively arranged on the inner sides of the jaws of the four clamps and are used for detecting the distance from the edge of the workpiece to the inner sides of the jaws in the horizontal direction in real time;
the misoperation detection sensors are respectively arranged at the upper parts of the claws of the four clamps and correspond to the grabbing positions of the bottom surfaces of the workpieces, and are used for detecting the distance from the bottom surfaces of the workpieces to the upper parts of the claws in the vertical direction in real time;
and the bottom-touching detection sensors are respectively arranged at the bottoms of the claws of the four clamps and are used for detecting the distance from the bottoms of the clamps to an object below in real time.
4. The automatic transfer method for the hydraulic support structure member welding process according to claim 3, wherein the detection radar is a 2D laser radar; the laser distance measuring sensor is used for the clamping sensor and the bottoming detection sensor; the clamping in-place sensor and the malfunction detection sensor adopt inductive sensors.
5. The automatic transfer method of the hydraulic support structure welding process according to claim 1, wherein in the step (3), after the welding positioner receives the signal, the clamping mechanism automatically clamps the workpiece, the six-joint welding robot with the automatic edge finding function automatically welds the flat welding line of the box structure of the hydraulic support structure, after the flat welding line is welded, the pushing mechanism drives the workpiece to translate to a designated position, the jacking mechanism overturns the workpiece by 90 degrees, the box structure vertical welding line of the hydraulic support structure is changed into the flat welding line, the six-joint welding robot automatically welds the workpiece, after the welding is finished, the jacking mechanism is used again to overturn the workpiece to a horizontal position, and the pushing mechanism drives the workpiece to translate to the original position of the positioner.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118003009A (en) * | 2023-12-12 | 2024-05-10 | 奥特(南京)科技有限公司 | Main chord robot scribing device and method for crawler crane |
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