CN216764091U - Automatic transfer positioning device for hydraulic support structural part - Google Patents
Automatic transfer positioning device for hydraulic support structural part Download PDFInfo
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- CN216764091U CN216764091U CN202123131801.6U CN202123131801U CN216764091U CN 216764091 U CN216764091 U CN 216764091U CN 202123131801 U CN202123131801 U CN 202123131801U CN 216764091 U CN216764091 U CN 216764091U
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Abstract
The utility model discloses an automatic transferring and positioning device for a hydraulic support structural member, wherein an interactive workbench and an automatic crown block are arranged on a transferring path of the hydraulic support structural member, detection radars are respectively arranged outside two sides of an upper frame of the automatic crown block, clamping sensors are respectively arranged on the inner sides of movable clamp legs at the lower parts of four clamps, clamping in-place sensors are respectively arranged on the inner sides of jaws of the four clamps, misoperation detection sensors are respectively arranged at the upper parts of the jaws of the four clamps corresponding to the grabbing positions of the bottom surface of a workpiece, bottom touching detection sensors are respectively arranged at the bottoms of the jaws of the four clamps, bolt plates are respectively arranged on two adjacent side edges at the outer side of the interactive workbench, and pin holes which are uniformly distributed are formed in the top surface of each bolt plate and used for inserting positioning pins. The utility model can accurately position in the process of grabbing the workpiece by the automatic crown block, ensures that the workpiece still keeps the required position after being transferred to the next procedure, and is convenient for subsequent automatic welding.
Description
Technical Field
The utility model relates to the technical field of hydraulic support production, in particular to an automatic transferring and positioning device for a hydraulic support structural part.
Background
The hydraulic support is used as main supporting equipment in the fully mechanized coal mining equipment of the coal mine, and has the characteristics of large volume and weight, severe 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 utility model is to provide an automatic transferring and positioning device for a hydraulic support structural part, which can accurately position the grabbing of a workpiece in the automatic overhead traveling crane transferring process, is convenient for realizing the automatic transferring of the hydraulic support structural part, avoids the problems of inconvenient operation and large positioning error in manual transferring of the workpiece, and can avoid potential safety hazards easily caused by manual operation.
In order to solve the technical problems, the utility model adopts the following technical scheme:
designing an automatic transferring and positioning device for a hydraulic support structural part, wherein an interactive workbench for placing the hydraulic support structural part and an automatic crown block for grabbing and transferring the hydraulic support structural part are arranged on a transferring path of the hydraulic support structural part, and detection radars are respectively arranged outside two sides of an upper frame of the automatic crown block and are used for detecting the distance between the automatic crown block and surrounding objects in real time;
the inner sides of the movable clamp legs at the lower parts of the four clamps are respectively provided with a clamping sensor 14, and the clamping sensors 14 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;
clamping in-place sensors 15 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 upper parts of the claws of the four clamps are respectively provided with a malfunction detection sensor 16 corresponding to the grabbing position of the bottom surface of the workpiece, and the malfunction detection sensors are used for detecting the distance from the bottom surface of the workpiece to the upper parts of the claws in the vertical direction in real time;
bottom contact detection sensors 17 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;
the adjacent two sides in the outside of interactive workstation are provided with the bolt board respectively, set up evenly distributed's pinhole on bolt board top surface for the locating pin pegs graft, when the work piece was placed on the interactive workstation, the work piece lateral part corresponds the position and contacts in order to realize the location with the locating pin.
Preferably, a contact sensor is arranged on the locating pin.
Preferably, the detection radar is a 2D laser radar.
Preferably, the clamping sensor and the bottoming detection sensor are laser ranging sensors; the clamping in-place sensor and the malfunction detection sensor adopt inductive sensors.
In the technical scheme, the assembled hydraulic support structural part is manually transferred to an interactive workbench, the position of a workpiece is adjusted, a positioning sensor on the interactive workbench 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; after receiving the signal, the automatic crown block runs to the position of the interactive workbench according to a set path, the workpiece is grabbed by the clamp, grabbing and positioning are achieved through the positioning device in the grabbing process, and then the workpiece is transferred to a subsequent machining process according to the set path. Taking a welding process as an example, an automatic crown block transfers a workpiece to the position of a welding positioner, places the workpiece on the welding positioner and sends a workpiece in-place signal to the welding positioner; 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; after the hydraulic support structural part welding procedure is completed, the welding positioner sends a signal to the automatic crown block; 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.
The utility model has the beneficial effects that:
according to the utility model, the 2D laser radar, the clamping sensor, the clamping in-place sensor, the misoperation detection sensor and the bottoming detection sensor are arranged on the automatic crown block, so that the opening and closing size between the clamp legs of the clamp device, the distance from the clamp legs to the surrounding environment of a workshop and the distance from the clamp legs to a transferred workpiece can be detected in real time, the detection data is uploaded to the scheduling system in real time, the safety interlocking is realized, and the accident risk is reduced. When the clamp is close to the surrounding objects, the dispatching system can send out a warning according to the received signal and issue an instruction to scram the automatic crown block, 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 can issue an instruction to forbid the automatic crown block to lift the clamp, so that the safety accident caused by the fact that the clamp does not clamp the workpiece and the workpiece drops in the transferring process is avoided.
The utility model can accurately position when the automatic crown block grabs the workpiece, ensures that the automatic crown block accurately and stably grabs the workpiece, and automatically transfers the workpiece to the subsequent processing procedure, and solves the problems of inconvenient operation, low positioning precision and potential safety hazard existing in the prior art when the four-claw lifting hook is adopted to manually grab the hydraulic support structural part.
Drawings
Fig. 1 is a front view of an automatic crown block gripping state;
FIG. 2 is a right side view of an automatic crown block gripping state;
FIG. 3 is an enlarged view of a portion of the lower jaw of the clamp of FIG. 2;
FIG. 4 is a top view of an automated crown block;
FIG. 5 is a schematic diagram of an interactive table;
FIG. 6 is a schematic layout of the equipment in the hydraulic support structure welding process;
FIG. 7 is a schematic structural view of a welding 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 embodiments of the present invention in detail and are not intended to limit the scope of the present invention in any way.
Example 1: an automatic transfer positioning device for a hydraulic support structure member is provided, referring to fig. 1-5, on a transfer path of the hydraulic support structure member 3, an interactive table 6 for placing the hydraulic support structure member 3 and an automatic crown block 5 for grabbing and transferring the hydraulic support structure member 3 are provided. Taking the welding process as an example, the subsequent automatic welding equipment comprises a welding positioner 2 and a six-joint welding robot 1, see fig. 6-7.
Two adjacent sides in the outside of interactive workstation 6 are provided with bolt board 21 respectively, offer evenly distributed's pinhole on bolt board 21 top surface for peg graft locating pin 22, when the work piece was placed on interactive workstation 6, the work piece lateral part corresponds the position and contacts in order to realize the location with locating pin 22, is provided with contact pick on the location, 22.
Taking a welding procedure as an example, the automatic transferring process of the hydraulic support structural part is as follows:
(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.
After the hydraulic support structural part 3 assembly process is completed, the distance between the middle pushing trolley 19 and the fixed platform 20 is adjusted according to the size of a workpiece, before the workpiece is placed, the positioning pin 22 is inserted into a pin hole in a corresponding position on the pin plate 21 at the edge of the platform base 18, then the single workpiece is transported to the interactive workbench 6, the position of the workpiece is adjusted, the side face of the workpiece is respectively contacted with the positioning pin 22 to form right-angle edge positioning, a positioning sensor is arranged on the positioning pin 22, and after the positioning of the workpiece is completed, the sensor sends a workpiece in-place signal to the automatic crown block 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 workpiece is grabbed by the clamp 10, grabbing and positioning are achieved through the 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.
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 receiving the signal, the welding positioner 2 automatically clamps the workpiece by using the clamping mechanism 23, see fig. 7. Six joint welding robot 1 with automatically, seek limit function carries out automatic weld to the box structure flat weld of hydraulic support structure 3, after the flat weld welding, utilize advancing mechanism 24 to drive the work piece translation to assigned position, utilize climbing mechanism 25 to overturn 90 with the work piece, become the flat weld with the box structure vertical weld of hydraulic support structure 3, six joint welding robot 1 carries out automatic weld to the work piece, after the welding, reuse climbing mechanism 25 overturns the work piece to horizontal position, utilize advancing mechanism 24 to drive the work piece translation to positioner 2 primary positions.
(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 horizontal direction distance between the workpiece and the clamping in-place sensors 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.
The apparatus elements referred to in the above embodiments are conventional apparatus elements unless otherwise specified.
The embodiments of the present invention have been described in detail with reference to the drawings and examples, but the present invention is not limited to the above embodiments, and can be modified or changed within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (4)
1. An automatic transferring and positioning device for a hydraulic support structure, wherein an interactive workbench for placing a hydraulic support structure and an automatic crown block for grabbing and transferring the hydraulic support structure are arranged on a transferring path of the hydraulic support structure, and is characterized in that,
detection radars are respectively arranged outside two sides of an upper frame of the automatic crown block and are used for detecting the distance between the automatic crown block and surrounding objects in real time;
clamping sensors (14) are respectively arranged on the inner sides of the movable clamp legs at the lower parts of the four clamps, and the clamping sensors (14) 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;
clamping in-place sensors (15) 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 upper parts of the claws of the four clamps are respectively provided with a malfunction detection sensor (16) corresponding to the grabbing position of the bottom surface of the workpiece, and the malfunction detection sensors are used for detecting the distance from the bottom surface of the workpiece to the upper parts of the claws in the vertical direction in real time;
bottom-touching detection sensors (17) 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;
the adjacent two sides in the outside of interactive workstation are provided with the bolt board respectively, set up evenly distributed's pinhole on bolt board top surface for the locating pin pegs graft, when the work piece was placed on the interactive workstation, the work piece lateral part corresponds the position and contacts in order to realize the location with the locating pin.
2. The automatic hydraulic support structure transfer and positioning device of claim 1, wherein a contact sensor is arranged on the positioning pin.
3. The automatic hydraulic support structure transfer and positioning device according to claim 1, wherein the detection radar is a 2D laser radar.
4. The automatic hydraulic support structure transfer and positioning device of claim 1, wherein the clamping sensor and the bottoming detection sensor are laser distance measuring sensors; the clamping in-place sensor and the malfunction detection sensor adopt inductive sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123131801.6U CN216764091U (en) | 2021-12-14 | 2021-12-14 | Automatic transfer positioning device for hydraulic support structural part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123131801.6U CN216764091U (en) | 2021-12-14 | 2021-12-14 | Automatic transfer positioning device for hydraulic support structural part |
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| Publication Number | Publication Date |
|---|---|
| CN216764091U true CN216764091U (en) | 2022-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123131801.6U Active CN216764091U (en) | 2021-12-14 | 2021-12-14 | Automatic transfer positioning device for hydraulic support structural part |
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| CN (1) | CN216764091U (en) |
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2021
- 2021-12-14 CN CN202123131801.6U patent/CN216764091U/en active Active
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