Intelligent spiral roller tooth holder welding method

Abstract

The invention provides an intelligent spiral roller tooth holder welding method which comprises the following steps: S1, lifting a semi-finished roller product through a lifting device, placing the semi-finished roller product on a transport vehicle, and controlling the transport vehicle to move the semi-finished roller product to a specified position; s2, fixing the roller semi-finished product by using a material fixing table on a three-axis rotating positioner, and adjusting the placement direction of the roller semi-finished product; s3, a three-dimensional model of the roller semi-finished product is obtained through laser locating equipment and a 3D camera, and the three-dimensional model is compared with the imported theoretical three-dimensional model to determine a welding plane of the tooth holder; s4, the tooth holder is carried to the welding plane through a carrying device; and S5, intelligent welding is conducted on the tooth holder. The whole welding process of the toothholder is intelligent, manual control is not needed, and the mounting precision of the toothholder is improved; and compared with a previous manual method, the labor intensity is greatly reduced, the welding time is shortened, and the welding efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining machines, and particularly relates to an intelligent spiral drum gear seat welding method. Background Art

[0002] The spiral drum of the coal mining machine is a cutting device used in coal mines, in which the tooth seat is welded to the drum. The cutting teeth are installed on the tooth seat to achieve rock breaking and cutting by the drum. In the past, the tooth seat welding was done manually or by lifting with a lifting device. After manually placing the tooth seat installation angle, one person fixed the tooth seat while another person spot welded the tooth seat. After the tooth seat was firmly fixed, the tooth seat welding surface was improved by welding. At present, this method requires high manual labor intensity, and the overall processing process has poor accuracy. It is entirely up to the workers to ensure the welding and installation accuracy, which is time-consuming and labor-intensive, and seriously affects the welding and installation efficiency of the tooth seat. Summary of the Invention

[0003] The purpose of the present invention is to address the shortcomings of the existing technology and provide an intelligent spiral drum gear seat welding method, which solves the problem of low efficiency caused by welding only through manual operation in the existing technology. By performing welding in an intelligent manner, the labor intensity is greatly reduced, the welding time is shortened, and the welding efficiency is improved.

[0004] The present invention provides an intelligent spiral drum gear seat welding method, comprising the following steps:

[0005] S1. Lift the semi-finished roller by the lifting device and place it on the transport vehicle, and control the transport vehicle to move it to the designated location;

[0006] S2. Use the material fixing table on the three-axis rotary positioner to fix the semi-finished roller and adjust the placement direction of the semi-finished roller;

[0007] S3. Obtain a 3D model of the semi-finished drum using a laser positioning device and a 3D camera, and compare it with the imported theoretical 3D model to determine the welding plane of the gear seat;

[0008] S4, using a transport device to transport the gear holder to the welding plane;

[0009] S5. Perform intelligent welding on the gear seat.

[0010] Preferably, in step S2, the square hole of the material fixing table is connected to the square hole of the connecting plate, and the bottom fixing block is further controlled to move up and down and the top fixing block is controlled to rotate and move to fix the semi-finished roller.

[0011] Preferably, in step S2, the placement direction of the semi-finished product on the roller is changed by controlling the two rotating devices and the longitudinal moving device of the three-axis rotary positioner.

[0012] Preferably, in step S3, the laser positioning device is controlled to find at least three positioning holes on the end plate plane of the semi-finished roller, and then the overall structure of the semi-finished roller is photographed by the 3D camera, thereby constructing a three-dimensional model of the semi-finished roller.

[0013] Preferably, in step S4, a plurality of gear holders are respectively placed on a preset gear holder fixing platform, a robotic arm is used as a transport device, and precise transport is achieved through a computer control system.

[0014] Preferably, in step S5, the gear seat welding robot is controlled to move the welding head of the welding assembly to the gear seat welding point for spot welding, and then full welding is performed after the gear seat is fixed.

[0015] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0016] The positive progress effect of the present invention is:

[0017] According to the intelligent spiral drum gear seat welding method involved in the present invention, first, the semi-finished drum is lifted by a lifting device and placed on a transport vehicle, and the transport vehicle is controlled to move it to a designated position; then, the material fixing table on the three-axis rotary positioner is used to fix the semi-finished drum, and the placement direction of the semi-finished drum is adjusted; further, a three-dimensional model of the semi-finished drum is obtained by a laser positioning device and a 3D camera, and compared with the imported theoretical three-dimensional model to determine the welding plane of the gear seat; finally, a transport device is used to transport the gear seat to the welding plane and the gear seat is intelligently welded. The entire gear seat welding process of the present invention is intelligent, does not require human control, and improves the installation accuracy of the gear seat; compared with the previous manual method, it greatly reduces labor intensity, shortens welding time, and improves welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flow chart of the intelligent spiral drum gear seat welding method in an embodiment of the present invention.

[0019] Figure 2 It is a structural diagram of related equipment involved in the intelligent spiral drum gear seat welding method in an embodiment of the present invention.

[0020] Figure 3 Schematic diagram of lifting a semi-finished drum in an embodiment of the present invention.

[0021] Figure 4 Schematic diagram of transporting a semi-finished drum in an embodiment of the present invention.

[0022] Figure 5(a) is a schematic structural diagram of a semi-finished drum in an embodiment of the present invention.

[0023] Figure 5 (b) is a schematic structural diagram of a material fixing platform in an embodiment of the present invention.

[0024] Figure 6 Schematic diagram of the fixation of the three-axis rotary positioner and the semi-finished roller in an embodiment of the present invention.

[0025] Figure 7 Schematic diagram of the positioning of the laser positioning device and the semi-finished roller in an embodiment of the present invention.

[0026] Figure 8 Schematic diagram of the gear holder fixing platform and the transport device in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0028] <Example>

[0029] As attached Figure 1 As shown, this embodiment discloses an intelligent spiral drum tooth seat welding method for welding multiple tooth seats 200 to a drum semi-finished product 100. Specifically, the method controls multiple devices to coordinate actions to complete the intelligent welding process through a control platform (not shown in the figure). Figure 2 As shown, the equipment involved in the intelligent welding process includes:

[0030] The transport equipment 10 includes a transport vehicle 11 and a lifting device 12 (such as a bridge crane, etc.).

[0031] The fixing equipment 20 includes: a three-axis rotary positioner 21 and a material fixing table 22 .

[0032] The 3D positioning device 30 includes a 3D camera 31 and a laser positioning device 32 .

[0033] The gear seat installation device 40 includes: a gear seat fixing platform 41 and a gear seat transporting robot 42.

[0034] The gear seat welding equipment 50 includes: a gear seat welding robot 51, and a welding assembly 52 (including a gun head, a welding machine, a wire feeder, and a water tank).

[0035] Based on the above related equipment, such as Figure 1 As shown, the welding method of this embodiment includes the following steps:

[0036] S1. Lift the semi-finished roller 100 by a lifting device and place it on a transport vehicle, and control the transport vehicle to move it to a designated location.

[0037] Specifically, if Figure 3 and Figure 4 As shown, the semi-finished drum product 100 is lifted by a lifting device 12 through a lifting hole 101 on the side thereof and placed on a transport vehicle 11 , and the transport vehicle 11 is controlled by a control platform to transport the semi-finished drum product 100 to a designated location.

[0038] S2. Use the material fixing table 22 on the three-axis rotary positioner 21 to fix the semi-finished roller 100 and adjust the placement direction of the semi-finished roller 100.

[0039] Specifically, if Figure 5 (a), 5(b) and Figure 6 As shown, in step S2, the material fixing platform 22 is installed on the three-axis rotary positioner 21, and the square hole 221 of the material fixing platform 22 is connected to the square hole 103 of the connecting plate 102 of the roller semi-finished product 100. The bottom fixing block 222 of the material fixing platform 22 is further controlled by the control platform to move up and down and the top fixing block 223 is controlled to rotate, thereby fixing the roller semi-finished product 100. In addition, as Figure 6 As shown, the placement direction of the semi-finished drum product 100 is changed by controlling the two rotating devices 211 and 212 and the longitudinal moving device 213 of the three-axis rotary positioner 21 through the control platform.

[0040] S3. Obtain the three-dimensional model of the semi-finished drum through the laser positioning equipment and the 3D camera, and compare it with the imported theoretical three-dimensional model to determine the welding plane of the gear seat.

[0041] Specifically, if Figure 7 As shown, in step S3, the laser positioning device 32 is controlled by the control platform to find at least three positioning holes 104 on the plane of the end plate 103 of the semi-finished roller 100, and then the overall structure of the semi-finished roller 100 is photographed by the 3D camera 31, thereby realizing the construction of a three-dimensional model of the semi-finished roller.

[0042] Here, it should be noted that, in actual applications, the plane where the positioning is located can be achieved through three positioning holes. Of course, the number of positioning holes can be more than three to achieve higher positioning accuracy.

[0043] In addition, the drawn theoretical three-dimensional model of the roller semi-finished product 100 needs to be imported into the control platform. By overlapping the models, a three-dimensional coordinate system is established to determine the plane on the connecting disk where the gear seat needs to be welded.

[0044] S4. Use a transport device to move the gear holder to the welding surface.

[0045] Specifically, if Figure 8As shown, in step S4, the gear holder transporting robot 42 is controlled by the control platform to transport the gear holder 200, and all the gear holders 200 are placed on the preset gear holder fixing platform 41, that is, each gear holder 200 is placed in a fixed position. In this way, the three-dimensional coordinates of the gear holder 200 are known, and the coordinates of the cutting plane are also known. The robot arm (that is, the gear holder transporting robot 42) is used as a transporting device to transport the gear holder 200 to the designated position to wait for welding.

[0046] S5. Perform intelligent welding on the gear seat.

[0047] Specifically, if Figure 7 As shown, in step S5, the gear seat welding robot 51 is controlled to move the welding nozzle of the welding assembly 52 to the gear seat welding point for spot welding, and then full welding is performed after the gear seat is fixed.

[0048] After completing the above steps S1 to S5, the rotating device 211 of the three-axis rotary positioner 21 is controlled by the control platform to rotate the roller semi-finished product 100, and steps S3 to S5 are repeated to weld the tooth seat of the next cutting surface until all the tooth seats of the roller semi-finished product 100 are welded.

[0049] Based on the intelligent spiral roller gear seat welding method of the above embodiment, the three-dimensional model of the gear seat is first built and transported to the control platform, and then the transportation equipment and fixing equipment are controlled by the control platform to fix the roller semi-finished product. The three-dimensional model of the physical roller semi-finished product is constructed using a 3D camera and a laser positioning device. The three-axis coordinate system is constructed through the positioning holes, thereby obtaining the spatial position points of all the water holes of the gear seat and determining the welding plane. The subsequent work is to control the manipulator to move the gear seat at the spatial point to the specified point, control the welding manipulator to weld the gear seat at the specified point, and control the three-axis rotary positioner to change the welding position point of the roller semi-finished product to achieve spot welding of each gear seat welding position point. Then, the adjacent position points only need to be welded along the line to complete the current welding operation, thus completing the welding of the roller semi-finished product gear seat. The whole process of gear seat welding is realized to be intelligent, without the need for human control, and the installation accuracy of the gear seat is improved. Compared with the previous manual method, the labor intensity is greatly reduced, the welding time is shortened, and the welding efficiency is improved.

[0050] The scope of protection of the present invention is not limited to the above-described embodiments. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the scope and spirit of the present invention. If such modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. An intelligent spiral drum gear seat welding method, characterized in that: The following steps are involved: S1. Lift the semi-finished roller by the lifting device and place it on the transport vehicle, and control the transport vehicle to move it to the designated location; S2. Use the material fixing table on the three-axis rotary positioner to fix the semi-finished roller and adjust the placement direction of the semi-finished roller; S3. Obtain a 3D model of the semi-finished drum using a laser positioning device and a 3D camera, and compare it with the imported theoretical 3D model to determine the welding plane of the gear seat; S4, using a transport device to transport the gear holder to the welding plane; S5. Perform intelligent welding on the gear seat.

2. The method according to claim 1, characterized in that In step S2, the square hole of the material fixing table is connected to the square hole of the connecting plate, and the bottom fixing block is further controlled to move up and down and the top fixing block is controlled to rotate and move to fix the semi-finished roller.

3. The method according to claim 1, characterized in that In step S2, the placement direction of the semi-finished drum product is changed by controlling the two rotating devices and the longitudinal moving device of the three-axis rotary positioner.

4. The method according to claim 1, wherein In step S3, the laser positioning device is controlled to find at least three positioning holes on the end plate plane of the semi-finished roller, and the overall structure of the semi-finished roller is photographed by the 3D camera, thereby constructing a three-dimensional model of the semi-finished roller.

5. The method according to claim 1, wherein In step S4, a plurality of gear holders are placed on a preset gear holder fixing platform, a robotic arm is used as a transport device, and precise transport is achieved through a computer control system.

6. The method according to claim 1, characterized in that In step S5, the gear seat welding robot is controlled to move the welding nozzle of the welding assembly to the gear seat welding point for spot welding, and then full welding is performed after the gear seat is fixed.

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