Demonstration-free automatic shape righting equipment and working method thereof

Abstract

The invention discloses teaching-free automatic shape correcting equipment and a working method thereof.The equipment comprises a rotating C-shaped stand column located in a workshop working area channel, a robot is installed on the rotating C-shaped stand column in an inverted hanging mode, and the robot comprises a mechanical arm, an anti-collision device, a numerical control flame heating gun and a binocular camera; the bumper, the numerical control flame heating gun and the binocular camera are all installed at the end of the mechanical arm. According to the method, a personification operation mode is adopted, a robot replaces a manual clamping heating appliance to heat and shape the welded sheet metal structural part, the operation efficiency and the shape correcting quality are improved, a user marks a heating track on a three-dimensional model or a two-dimensional CAD drawing, a system automatically generates an operation program, and the operation efficiency and the shape correcting quality are improved. The configured high-precision sensor is used for accurately measuring the deformation amount, system software is provided with an algorithm, heating parameters are automatically adjusted, and compared with the shape righting process which is carried out in a progressive circulation mode of detection, heating, effect detection, reheating and the like during manual shape righting, the operation efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of metal part orthopedic surgery, in particular to a teaching-free automatic orthopedic surgery device and a working method thereof. Background Art

[0002] The main parts of mechanical equipment are usually made by welding. Under normal circumstances, the shrinkage of the welded joint will cause the steel plate to deform. In the specific production process, mechanical correction and heating correction are generally used to correct the steel plate to eliminate the deformation. Both methods have their own advantages and disadvantages:

[0003] Mechanical correction requires the installation of special equipment, such as jacks, presses, air compressors, etc. Therefore, the investment cost of mechanical correction is relatively high, and the operating space requirements are relatively high, and the processing efficiency is also relatively low. Heating correction mainly uses flame heating. The main factors considered according to the amount of deformation include heating position, heating temperature and heating speed. These are generally selected and operated based on experience, which requires high skills of workers, and a product needs to undergo multiple corrections to reach the final quality requirements. In addition, during manual operation, flames are dangerous to humans. The existing technology cannot meet the automation requirements of workpiece correction processing.

[0004] Therefore, it is necessary to develop a teaching-free automatic correction device and a working method thereof to solve the above-mentioned technical problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a teaching-free automatic correction device and a working method thereof to solve the deficiencies mentioned in the background technology. The present invention has a robot intelligent heating correction unit specially developed and designed for correction application after welding of sheet metal structural parts, and can also be applied to heating correction processing after welding of other structural parts.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A teaching-free automatic correction device comprises a rotating C-shaped column located in a passage of a workshop working area, and a robot is mounted upside down on the rotating C-shaped column, the robot comprises a mechanical arm, an anti-collision device, a numerically controlled flame heating gun and a binocular camera, and the anti-collision device, the numerically controlled flame heating gun and the binocular camera are all mounted at the end of the mechanical arm;

[0008] A translation track is arranged in the working area channel, and a plurality of tooling racks are arranged in the working area channel along the length direction of the translation track. The rotating C-shaped column moves on the translation track to perform orthopedic processing on workpieces placed on different tooling racks.

[0009] Preferably, the rotating C-shaped column comprises a column, a rotating shaft and a supporting arm, the rotating shaft and the supporting arm are respectively fixed at the top and bottom ends of the column, and the mechanical arm is installed at one end of the supporting arm away from the column;

[0010] A rail car is slidably connected to the translation track, and the rotating shaft is rotatably connected to the top of the rail car through a positioning seat and a flange plate. A first driving motor is fixedly connected to the bottom of one side of the column, and the output shaft of the first driving motor is transmission-connected to the first gear. An annular gear plate is arranged on the outer side of the positioning seat, and the first gear is meshed with the annular gear plate for transmission;

[0011] Preferably, support plates are provided at both ends of the inner side of the translation track, and limiting rollers are installed on the support plates, and the limiting rollers match the side walls of the grooves opened on the upper surface of the translation track;

[0012] A second driving motor is fixedly connected to the top of the translation track, and its output shaft passes through the translation track and is transmission-connected to the second gear. A rack is fixedly connected to the inner wall of the groove, and the second gear meshes with the rack for transmission.

[0013] Preferably, the tooling stand comprises a platform and equal-height columns, wherein the platform is made by welding steel plates and channel steels;

[0014] The number of the equal height columns is set to be multiple, and a plurality of threaded holes are drilled on the platform, which are unevenly distributed. The bottom ends of the equal height columns are detachably connected to the platform through the threaded holes, which are used for positioning and fixing the workpiece.

[0015] Preferably, a lifting gate type fence door is arranged outside the working area passage, and the number thereof is set to multiple groups, each group is set to two, and the two lifting gate type fence doors in each group are relatively hinged to open and close;

[0016] The barrier box of the lifting barrier gate is provided with a reservation button and an indicator light corresponding to each workstation, wherein the indicator light is used to indicate the shutdown state, reservation state and working state of the workstation.

[0017] Preferably, isolation fences are provided at both ends of the working area channel and are made of transparent acrylic glass.

[0018] Preferably, the numerically controlled flame heating gun comprises an automatic igniter, a flame detector and a leak detector, and the automatic igniter, the flame detector and the leak detector are all communicatively connected to the control host;

[0019] The automatic igniter is used for igniting the working end of the numerically controlled flame heating gun;

[0020] The flame detector is used to detect the ignition condition of the working end of the numerically controlled flame heating gun;

[0021] The leak detector is used to detect the gas flow in the working state and the standby state.

[0022] The orthopedic equipment also includes an operating table, a connection end of which is electrically connected to a control host, wherein the built-in software of the control host integrates a control algorithm with the actual deformation of the workpiece as an independent variable and a corresponding process database. A laser displacement sensor and a non-contact infrared temperature sensor are also installed on the robot, and the laser displacement sensor and the non-contact infrared temperature sensor are both communicatively connected to the control host. The laser displacement sensor is used to obtain the actual deformation of the workpiece, and the non-contact infrared temperature sensor is used to obtain the heating orthopedic temperature, and the actual deformation and heating orthopedic temperature obtained are fed back to the control host in real time.

[0023] Preferably, the operating console has an online parameter modification and fault self-diagnosis display module, which is used for starting, pausing, emergency stopping and editing locking of the robot, and the plurality of reservation buttons are electrically connected to the control host.

[0024] A working method of a teaching-free automatic orthopedic device comprises the following steps:

[0025] S1. The operator uses a crane to lift the welded workpiece onto the tooling rack, and fixes the workpiece on the tooling rack at each station by adjusting the position of the equal height columns;

[0026] S2. Click Start on the console to send the command "This station can start correction" to the control host. The robot will transfer to the first reserved station after completing the current operation according to the reservation order to perform the correction operation of the selected workpiece model. The indicator light of the corresponding station switches from the reservation state to the working state;

[0027] S3. After the robot moves to the corresponding workpiece to be corrected, it uses a binocular camera to take a picture of the workpiece and performs the following operations:

[0028] S3.1, determine whether the actual workpiece model matches the previously input workpiece model. If so, proceed to S3.2, otherwise proceed to S3.3;

[0029] S3.2, the alarm reminds the operator to find the cause, and the operator eliminates the fault until the actual workpiece model matches the workpiece model entered in advance, and then enters S3.3;

[0030] S3.3, the control host automatically determines the precise position of the target workpiece on the tooling stand using the binocular camera's photographic data to determine the orthopedic heating trajectory;

[0031] S4, the control host uses a binocular camera to automatically measure the actual deformation of the target workpiece after welding, and determines the process parameters of each point on the heating and correction trajectory of the workpiece and the entire correction process according to a specific algorithm and data in the database;

[0032] S5. Through the control host, the CNC flame heating gun automatically ignites, and the control host controls the robot to perform heating and correction operations on the workpiece according to the predetermined trajectory and parameters;

[0033] S6. When the workpiece is heated and corrected, the host computer controls the CNC flame heating gun to turn off, and the robot automatically switches to a safe posture, waiting for the next work instruction or performing heating and correction operations on the workpiece at another station according to the appointment. At this time, the indicator light corresponding to this station switches to the correction completion state;

[0034] S7. Manually lift the workpiece that has been corrected and lift a new workpiece to be corrected, or turn the workpiece over. Press the reservation button on the operating table to reserve the system to correct the new workpiece or the other side of the corrected workpiece, and realize the continuous correction operation of the workpiece in a cycle.

[0035] The present invention has the following beneficial effects:

[0036] 1. By adopting an anthropomorphic operation method, robots replace manual clamping of heating tools to heat and correct welded sheet metal structural parts, thereby improving operation efficiency and correction quality. Users mark on the 3D model or 2D CAD drawing as required, and the system will automatically generate a running program based on the marking. When marking the heating trajectory during heating and correction, the system automatically generates a running program. The configured high-precision sensor accurately measures the deformation amount. The system software has its own algorithm to automatically adjust the heating parameters. Compared with the correction process of "detection, heating, effect detection, reheating..." during manual correction, the correction process is carried out in a progressive cycle, which greatly improves the operation efficiency;

[0037] 2. By adopting a multi-station operation mode, the track travel mechanism and the rotating C-shaped column cooperate to improve the working posture of the orthopedic parts and expand their coverage. Together with the multi-station placement mechanism and the positioning reservation system, an automated orthopedic production line is formed. The structural parts to be orthopedic are placed on the tooling stand. According to the reservation order, orthopedic operations are performed on multiple workpieces in sequence, or multiple stations are used to perform orthopedic operations on the front and back sides of the target workpiece, which facilitates loading and unloading operations and effectively ensures the safety of personnel and equipment;

[0038] 3. By installing an anti-collision device on the robot, when it feedbacks a collision signal, the robot will stop suddenly, quickly and effectively reducing the impact, better protecting the robot and CNC flame heating gun from damage, with a high degree of automation and intelligence, and high operating safety of the automated orthopedic production line, reducing safety hazards and maintenance costs caused by equipment damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A first-view stereoscopic diagram of the overall structure of the automatic correction device provided by the present invention;

[0040] Figure 2 A second-view stereoscopic diagram of the overall structure of the automatic correction device provided by the present invention;

[0041] Figure 3 A top view of the overall structure of the automatic correction device provided by the present invention;

[0042] Figure 4 It is a schematic diagram of the matching structure of the combined structure of the robot and the rotating C-shaped column on the translation track in the present invention;

[0043] Figure 5 For the present invention Figure 4 a right side view of the structure shown;

[0044] Figure 6 For the present invention Figure 5 Schematic diagram of the AA section structure;

[0045] Figure 7 It is a schematic diagram of the rotating transmission component of the rotating C-shaped column in the present invention;

[0046] Figure 8 It is a structural schematic diagram of the tooling stand in the present invention.

[0047] Among them are:

[0048] Robot-1; rotating C-shaped column-2; control host-3; tooling stand-4; operating table-5; workpiece-6; robotic arm-7; anti-collision device-8; CNC flame heating gun-9; binocular camera-10; column-11; rotating axis-12; support arm-13; platform-14; equal height column-15; translation track-16; rail car-17; positioning seat-18; flange-19; first drive motor-20; first gear-21; support plate-22; limit roller-23; second drive motor-24; second gear-25; threaded hole-26; lifting gate-27; appointment button-28; indicator light-29; isolation fence-30. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0050] In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.

[0051] like Figure 1-8 As shown, a teaching-free automatic orthopedic device includes a rotating C-shaped column 2 located in a passage in a workshop work area, and a robot 1 is mounted upside down on the rotating C-shaped column 2, wherein the rotating C-shaped column 2 can change the working angle of the robot 1 by rotating, improve the working posture of the orthopedic component, and expand its coverage, the robot 1 includes a mechanical arm 7, an anti-collision device 8, a CNC flame heating gun 9, and a binocular camera 10, and the anti-collision device 8, the CNC flame heating gun 9, and the binocular camera 10 are all installed at the end of the mechanical arm 7, and the mechanical arm 7 can carry the anti-collision device 8, the CNC flame heating gun 9, and the binocular camera 10 to work through flexible movement, and the anti-collision device 8 immediately stops the operation of the robot 1 when a collision occurs, quickly and effectively reduces the impact, and provides protection for the robot 1 and the CNC flame heating gun 9;

[0052] A translation track 16 is arranged in the working area channel, and a plurality of tooling racks 4 are arranged in the working area channel along the length direction of the translation track 16 . The rotating C-shaped column 2 moves on the translation track 16 to perform orthopedic processing on the workpieces 6 placed on different tooling racks 4 .

[0053] Further, in the above technical solution, the rotating C-shaped column 2 includes a column 11, a rotating shaft 12 and a support arm 13, the rotating shaft 12 and the support arm 13 are respectively fixed at the top and bottom ends of the column 11, and the mechanical arm 7 is installed at one end of the support arm 13 away from the column 11;

[0054] A rail car 17 is slidably connected to the translation track 16, and the rotating shaft 12 is rotatably connected to the top of the rail car 17 through a positioning seat 18 and a flange 19. A first drive motor 20 is fixedly connected to the bottom of one side of the column 11, and the output shaft of the first drive motor 20 is transmission-connected to a first gear 21. An annular gear plate is arranged on the outer side of the positioning seat 18, and the first gear 21 is meshed with the annular gear plate for transmission. The translation track 16 and the rail car 17 are both designed with high rigidity, and their transmission components adopt precision RV reducers, linear guides, high-precision racks and slewing bearings, and the operation process is stable and reliable;

[0055] Furthermore, in the above technical solution, support plates 22 are provided at both ends of the inner side of the translation track 16, and limit rollers 23 are installed on the support plates 22, and the limit rollers 23 match the side walls of the grooves opened on the upper surface of the translation track 16;

[0056] A second driving motor 24 is fixedly connected to the top of the translation track 16, and its output shaft passes through the translation track 16 and is transmission-connected to a second gear 25. A rack is fixedly connected to the inner wall of the groove, and the second gear 25 meshes with the rack for transmission.

[0057] Furthermore, in the above technical solution, the tooling stand 4 includes a platform 14 and equal-height columns 15, wherein the platform 14 is made of steel plate and channel steel welded together, and as a rough positioning device, it requires that the loading plane positioning error of the workpiece 6 is ≤±50mm, and the height positioning error is ≤±5mm;

[0058] The number of the equal height columns 15 is set to be multiple, and a number of threaded holes 26 are drilled on the platform 14, which are unevenly distributed. The bottom end of the equal height column 15 is detachably connected to the platform 14 through the threaded hole 26, which is used for positioning and fixing the workpiece 6. A tooling stand 4 specially designed for frame-type workpieces is used to support the workpiece 6 to be corrected. It is suitable for frame structural parts of various specifications and is placed in various workstations. A test reference point is designed on the tooling stand 4 as a reference for the intelligent correction system sensor to accurately detect the actual deformation of the workpiece 6. According to the size and contour of the workpiece 6, the position of the equal height column 15 is adjusted to adapt to the placement of different workpieces 6. Multiple tooling stands 4 are distributed on multiple workstations. When the workpiece 6 is too long, multiple adjacent workstations can be combined, such as combining workstations 1 and 2 (or workstations 3 and 4) to correct the overlong workpiece.

[0059] Further, in the above technical solution, a lifting gate type fence door 27 is arranged outside the working area channel, and the number thereof is set to multiple groups, each group is set to two, and the two lifting gate type fence doors 27 in each group are relatively hinged to open and close, so as to facilitate the loading and unloading operation of large workpieces;

[0060] The gate chassis of the lifting gate type fence door 27 is provided with a reservation button 28 and an indicator light 29 corresponding to each workstation, wherein the indicator light 29 is used to indicate the shutdown state, reservation state and working state of the workstation, which is convenient for the operator to distinguish. The gate chassis is also equipped with a corresponding control host and a workstation barcode scanner, which is convenient for the operator to complete the opening and closing of the gate, loading and unloading of workpieces, barcode scanning of workpieces, and reservation heating operations as needed. When the lifting gate type fence door 27 corresponding to a certain workstation is not in a completely closed state, the robot 1 will not be able to perform the orthopedic operation of the corresponding workstation, but it will not affect the orthopedic operation of other workstations. In order to ensure the safety of the equipment and loading and unloading operations, the support arm 13 of the robot 1 is always in a parallel state when it moves between the workstations.

[0061] Furthermore, in the above technical solution, isolation fences 30 are provided at both ends of the working area channel, which are made of transparent acrylic glass material to achieve safe isolation of the working area, ensure the personal safety of the operators, and facilitate observation of the working conditions.

[0062] Further, in the above technical solution, the CNC flame heating gun 9 includes an automatic igniter, a flame detector and a leak detector, and the automatic igniter, the flame detector and the leak detector are all connected to the control host 3 for communication;

[0063] The automatic igniter is used for igniting the working end of the numerically controlled flame heating gun 9;

[0064] The flame detector is used to detect the ignition condition of the working end of the numerically controlled flame heating gun 9;

[0065] The leak detector is used to detect the gas flow in working state and standby state;

[0066] The automatic igniter cooperates with the control software to continuously ignite within the predetermined time to ensure the ignition success rate. When the flame detector detects that the CNC flame heating gun 9 fails to ignite within the specified ignition times, it will automatically send out an alarm signal and close the gas circuit to ensure the safety of personnel and equipment. If abnormal fluctuations in gas flow in the working state and standby state are detected, an alarm signal will be automatically sent out and the gas circuit will be closed to ensure the safety of personnel and equipment.

[0067] The orthopedic equipment also includes an operating table 5, the connection end of the operating table 5 is electrically connected to a control host 3, wherein the built-in software of the control host 3 integrates a control algorithm and a corresponding process database with the actual deformation of the workpiece as an independent variable, and the control algorithm and the database can be developed according to the ideas and experience provided by the user, and only teaching programming is used in the initial stage, and each workpiece only needs to be programmed once, and the program can be universal for each station, reducing the programming workload. When conditions are ripe, the function of teaching-free programming can be added, and the user only needs to mark the heating trajectory on the three-dimensional model or two-dimensional CAD drawing as required in advance, and the control host 3 can automatically generate the running program. The control host 3 can automatically adjust the heating process parameters according to the actual deformation of the target workpiece 6 (in the initial stage, only the operating speed of the CNC flame heating gun 9 is adjusted, and the temperature, time, gas pressure and other variables can be added in the long term), realizing intelligent orthopedic operations and the automation of frame orthopedic operations. The entire heating and orthopedic process does not require manual intervention, and manual intervention only requires simple loading and unloading auxiliary operations.

[0068] The robot 1 is also equipped with a laser displacement sensor and a non-contact infrared temperature sensor, and both the laser displacement sensor and the non-contact infrared temperature sensor are connected to the control host 3 for communication. The laser displacement sensor is used to obtain the actual deformation of the workpiece, and the non-contact infrared temperature sensor is used to obtain the heating and correction temperature. The actual deformation and heating and correction temperature obtained are fed back to the control host 3 in real time. By using the laser displacement sensor, the deformation detection accuracy can reach ≤±1mm. The present invention can realize closed-loop control of the heating and correction temperature.

[0069] Furthermore, in the above technical solution, the operating console 5 has an online parameter modification and fault self-diagnosis display module, which is used for starting, pausing, emergency stopping and editing locking of the robot 1. It is easy to operate and has online parameter modification and fault self-diagnosis display functions. The teaching points can be added, deleted or corrected. Inching operation can be realized. Multiple reservation buttons 28 are electrically connected to the control host 3. When the workpiece is hoisted or turned over, press the corresponding reservation button 28, and the corresponding indicator light 29 lights up, indicating that the reservation is successful. The robot 1 will automatically perform the heating and correction operation of the reserved station after completing the current operation.

[0070] A working method of a teaching-free automatic orthopedic device comprises the following steps:

[0071] S1. The operator uses a crane to lift the welded workpiece 6 onto the tooling stand 4, and fixes the workpiece 6 on the tooling stand 4 at each station by adjusting the position of the equal height column 15;

[0072] S2, click start on the operating table 5. Specifically, due to the heating trajectory of the workpiece 6, the model of the target workpiece 6 to be corrected has been input into the correction unit control of the control host 3 in advance. Send the "this station can start correction" command to the control host 3, the robot 1 will transfer to the first reserved station after completing the current operation according to the reservation order, and perform the correction operation of the selected workpiece model. The indicator light 29 of the corresponding station switches from the reservation state to the working state. Specifically, the control host 3 controls the movement of the rail car 17, and makes the rotating C-shaped column 2 adjust the position of the mechanical arm 7 to automatically move the robot 1 to the corresponding station above the workpiece 6 to be corrected. The rotating C-shaped column 2 can realize the operation of a radius of 2 meters through the rotating axis 12, which can meet the correction of different workpieces to the maximum extent.

[0073] S3, after the robot 1 moves to the corresponding station above the workpiece 6 to be corrected, the workpiece 6 is photographed by the binocular camera 10, and the following operations are performed:

[0074] S3.1, determine whether the actual workpiece model matches the previously input workpiece model. If so, proceed to S3.2, otherwise proceed to S3.3;

[0075] S3.2, the alarm reminds the operator to find the cause, and the operator eliminates the fault until the actual workpiece model matches the workpiece model entered in advance, and then enters S3.3;

[0076] S3.3, controlling the host 3 to automatically determine the precise position of the target workpiece 6 on the tooling stand 4 using the photographic data of the binocular camera 10 to determine the orthopedic heating trajectory;

[0077] S4, the control host 3 uses the binocular camera 10 to automatically measure the actual deformation of the target workpiece 6 after welding, and determines the process parameters of each point on the heating and orthopedic trajectory of the workpiece 6 and the entire orthopedic process according to a specific algorithm and data in the database. The algorithm is implemented based on the existing program and can be implemented through software and programming, which will not be described in detail here;

[0078] In actual correction, flame correction selects different heating temperatures according to different conditions such as material, plate thickness and heating method. It can be divided into low temperature heating, medium temperature heating and high temperature heating.

[0079] ⒈ Low temperature heating, heating temperature is 500-600℃. Suitable for heating steel plates with thickness less than 6mm.

[0080] ⒉ Medium temperature heating, the heating temperature is 600-700℃, suitable for heating steel plates with a thickness of 6-12mm.

[0081] ⒊ High temperature heating, the heating temperature is 723-850℃, suitable for heating thick plates, the heating temperature for plates with a thickness of 14-16mm is 750-800℃, and the heating temperature for plates thicker than 20mm is 850℃.

[0082] S5. By controlling the host computer 3, the CNC flame heating gun 9 is automatically ignited, and the host computer 3 controls the robot 1 to perform heating and correction operations on the workpiece 6 according to the predetermined trajectory and parameters. Specifically, the anti-collision device 8 installed on the robot 1 can feedback a signal when a collision occurs, so that the host computer 3 issues an instruction to immediately stop the operation of the robot 1, quickly and effectively reduce the impact, and better protect the robot 1 and the CNC flame heating gun 9 from damage;

[0083] S6, when the workpiece 6 is heated and corrected, the control host 3 controls the CNC flame heating gun 9 to turn off, and the robot 1 automatically switches to a safe posture, waiting for the next work instruction or performing heating and correction operation on the workpiece at another station according to the appointment. At this time, the indicator light 29 corresponding to this station switches to the correction completion state;

[0084] S7, manually lift the workpiece 6 that has been corrected, and lift a new workpiece to be corrected, or turn the workpiece over, press the reservation button 28 on the operating table 5, and the reservation system will correct the new workpiece 6 or the other side of the corrected workpiece 6, and the continuous correction operation of the workpiece will be realized in a cycle.

[0085] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A teaching-free automatic correction device, comprising a rotating C-shaped column (2) located in a passage in a workshop working area, and a robot (1) is mounted upside down on the rotating C-shaped column (2), characterized in that: The robot (1) comprises a mechanical arm (7), an anti-collision device (8), a numerically controlled flame heating gun (9) and a binocular camera (10), and the anti-collision device (8), the numerically controlled flame heating gun (9) and the binocular camera (10) are all installed at the end of the mechanical arm (7); A translation track (16) is arranged in the working area channel, and a plurality of tooling racks (4) are arranged in the working area channel along the length direction of the translation track (16). The rotating C-shaped column (2) moves on the translation track (16) to perform orthopedic processing on workpieces (6) placed on different tooling racks (4).

2. The teaching-free automatic correction device according to claim 1, characterized in that: The rotating C-shaped column (2) comprises a column (11), a rotating shaft (12) and a supporting arm (13), wherein the rotating shaft (12) and the supporting arm (13) are respectively fixed at the top and bottom ends of the column (11), and the mechanical arm (7) is installed at one end of the supporting arm (13) away from the column (11); A rail car (17) is slidably connected to the translation track (16), and the rotating shaft (12) is rotatably connected to the top of the rail car (17) through a positioning seat (18) and a flange (19). A first drive motor (20) is fixedly connected to the bottom of one side of the column (11), and the output shaft of the first drive motor (20) is transmission-connected to a first gear (21). An annular gear plate is arranged on the outer side of the positioning seat (18), and the first gear (21) is meshed with the annular gear plate for transmission.

3. The teaching-free automatic correction device according to claim 1, characterized in that: Support plates (22) are provided at both ends of the inner side of the translation track (16), and a limiting roller (23) is installed on the support plate (22), and the limiting roller (23) matches the side wall of the groove opened on the upper surface of the translation track (16); A second driving motor (24) is fixedly connected to the top of the translation track (16), and its output shaft passes through the translation track (16) and is transmission-connected to a second gear (25). A rack is fixedly connected to the inner wall of the groove, and the second gear (25) is meshed with the rack for transmission.

4. The teaching-free automatic correction device according to claim 1, characterized in that: The tooling stand (4) comprises a platform (14) and equal-height columns (15), wherein the platform (14) is made by welding a steel plate and a channel steel; The number of the equal height columns (15) is set to be multiple, and a plurality of threaded holes (26) are drilled on the platform (14) and are unevenly distributed. The bottom ends of the equal height columns (15) are detachably connected to the platform (14) through the threaded holes (26) for positioning and fixing the workpiece (6).

5. The teaching-free automatic correction device according to claim 1, characterized in that: The outside of the working area passage is provided with a lifting gate type fence door (27), the number of which is set in multiple groups, each group is provided with two, and the two lifting gate type fence doors (27) in each group are relatively hinged to open and close; The barrier box of the lifting barrier gate (27) is provided with a reservation button (28) and an indicator light (29) corresponding to each workstation, wherein the indicator light (29) is used to indicate the shutdown state, reservation state and working state of the workstation.

6. The teaching-free automatic correction device according to claim 1, characterized in that: Isolation fences (30) are provided at both ends of the working area channel and are made of transparent acrylic glass.

7. The teaching-free automatic correction device according to claim 1, characterized in that: The numerically controlled flame heating gun (9) comprises an automatic igniter, a flame detector and a leak detector, and the automatic igniter, the flame detector and the leak detector are all communicatively connected to the control host (3); The automatic igniter is used for igniting the working end of the numerically controlled flame heating gun (9); The flame detector is used to detect the ignition condition of the working end of the numerically controlled flame heating gun (9); The leak detector is used to detect the gas flow in the working state and the standby state.

8. The teaching-free automatic correction device according to claim 5, characterized in that: The robot (1) further comprises an operating table (5), wherein a connection end of the operating table (5) is electrically connected to a control host (3), wherein the control host (3) has built-in software integrated with a control algorithm with the actual deformation of the workpiece as an independent variable and a corresponding process database, and a laser displacement sensor and a non-contact infrared temperature sensor are also installed on the robot (1), and both the laser displacement sensor and the non-contact infrared temperature sensor are connected to the control host (3) for communication, the laser displacement sensor is used to obtain the actual deformation of the workpiece, and the non-contact infrared temperature sensor is used to obtain the heating and correction temperature, and the obtained actual deformation and heating and correction temperature are fed back to the control host (3) in real time.

9. The teaching-free automatic correction device according to claim 8, characterized in that: The operating console (5) has an online parameter modification and fault self-diagnosis display module, which is used for starting, pausing, emergency stopping and editing locking of the robot (1), and the plurality of reservation buttons (28) are electrically connected to the control host (3).

10. A method for operating a teaching-free automatic correction device according to any one of claims 1 to 9, characterized in that: The steps include: S1. An operator uses a crane to lift the welded workpiece (6) onto the tooling stand (4), and fixes the workpiece (6) on the tooling stand (4) at each workstation by adjusting the position of the equal height column (15); S2. Click "Start" on the operation console (5) to send a "this station can start correction" command to the control host (3). The robot (1) will transfer to the first reserved station after completing the current operation according to the reservation order to perform the correction operation of the selected workpiece model. The indicator light (29) of the corresponding station will switch from the reservation state to the working state; S3. After the robot (1) moves to the corresponding workpiece (6) to be corrected, it uses a binocular camera (10) to take a picture of the workpiece (6) and performs the following operations: S3.1, determine whether the actual workpiece model matches the previously input workpiece model. If so, proceed to S3.2, otherwise proceed to S3.3; S3.2, the alarm reminds the operator to find the cause, and the operator eliminates the fault until the actual workpiece model matches the workpiece model entered in advance, and then enters S3.3; S3.3, the control host (3) automatically determines the precise position of the target workpiece (6) on the tooling stand (4) using the photographic data of the binocular camera (10) to determine the orthopedic heating trajectory; S4, the control host (3) uses a binocular camera (10) to automatically measure the actual deformation of the target workpiece (6) after welding, and determines the process parameters of each point on the heating and correction trajectory of the workpiece (6) and the entire correction process according to a specific algorithm and data in a database; S5, by controlling the host computer (3), the numerically controlled flame heating gun (9) is automatically ignited, and the host computer (3) controls the robot (1) to perform heating and correction operations on the workpiece (6) according to predetermined trajectories and parameters; S6, when the workpiece (6) is heated and corrected, the control host (3) controls the CNC flame heating gun (9) to turn off the flame, and the robot (1) automatically switches to a safe posture, waiting for the next work instruction or performing heating and correction operations on the workpiece at another workstation according to the appointment. At this time, the indicator light (29) corresponding to the workstation switches to the correction completion state; S7, manually lift the workpiece (6) that has been corrected, and lift a new workpiece to be corrected, or turn the workpiece over, press the reservation button (28) on the operating table (5), and the reservation system will correct the new workpiece (6) or the other side of the corrected workpiece (6), and the continuous correction operation of the workpiece is realized in a cycle.

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