Piece feeding and discharging method for hydraulic support cylinder barrel powder spraying line

Abstract

A hydraulic support cylinder barrel powder spraying line piece feeding and discharging method specifically comprises the following steps that S1, a hydraulic support cylinder barrel powder spraying line piece feeding and discharging system is arranged, and the hydraulic support cylinder barrel powder spraying line piece feeding and discharging system comprises an intelligent traveling crane, a transfer tool, a cylinder opening plug stereoscopic warehouse, an automatic tightening mechanical arm, a pressing mechanism, a cylinder barrel piece feeding and discharging device and a control console; a cylinder opening plug tightening station, a cylinder opening plug dismounting station, an external material temporary storage area and a finished product material temporary storage area are arranged below the intelligent travelling crane, and a powder spraying line conveying chain is arranged on the front side of the intelligent travelling crane; s2, the cylinder barrel is transferred to a transfer tool at a cylinder opening plug tightening station; s3, fixing and pressing the cylinder barrel; s4, tightening and assembling the cylinder opening plug; s5, loading the cylinder barrel; s6, discharging the cylinder barrel; s7, disassembling the cylinder opening plug; s8, transferring and caching the cylinder barrel; s9, the empty transfer tool is transferred to a cylinder opening plug tightening station; repeating the steps S2 to S9; wherein the step S4 and the step S7 can be carried out synchronously. Operators can be saved, the efficiency is improved, the labor intensity is reduced, and the quality of the cylinder barrel is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic support cylinder powder spraying, in particular to a hydraulic support cylinder powder spraying line on-off piece method. BACKGROUND

[0002] At present, the on-off piece process of the hydraulic support cylinder powder spraying line is mainly manual operation. First, the operator transfers the cylinder on the tooling frame to the on-piece position near the powder spraying line through the overhead crane hook, then seals the cylinder port with a rubber plug to prevent foreign matter from entering during the shot blasting or powder spraying process, then the operator operates the overhead crane to pass the hook into the cylinder surface lifting ring, and hangs the workpiece on the powder spraying line conveying chain. This operation process can only put one or two pieces of workpiece at a time, and at least two people are needed to work together, which is low in on-piece efficiency, high in labor intensity, and does not meet the future trend of unmanned and less manned development.

[0003] Alternatively, the cylinder port plug is manually carried and assembled with the cylinder before the cylinder is put on. The cylinder port plug has a lifting ring on its surface, which is manually inserted into a wrench for tightening, and then the hook device is connected to the lifting ring on the cylinder port plug. When the cylinder bore is greater than φ400mm, the cylinder port plug needs to be installed with the help of KBK or other lifting mechanism. After the cylinder port plug tooling is installed, the operator operates the overhead crane to lift the hook device to the specified height, adjusts the position of the overhead crane to make the hook device hook into the accumulation and placement chain suspension position of the powder spraying line, and then hangs the lifted cylinder on the accumulation and placement chain suspension position, and the on-piece is completed. The off-piece steps are reversed. This on-off piece method has the following problems: (1) The cylinder port plug is an iron tooling, and the carrying, assembling, tightening and disassembling processes of the cylinder port plug completely rely on manual operation, which is high in labor intensity; (2) When the cylinder bore is large, the weight of the corresponding cylinder port plug is heavy, and it is difficult for the worker to carry and assemble it, so a lifting device is needed for assistance, which is extremely low in efficiency; (3) The carrying, assembling and disassembling of the cylinder port plug and the on-off piece of the cylinder all need to use the overhead crane, which is high in frequency, has the problem of cylinder on-piece waiting, affects the production rhythm, and when the cylinder is hung on the accumulation and placement chain suspension position, manual micro-operation is needed for the overhead crane, which tests the skill level of the worker, is not convenient for personnel adjustment, and has poor production flexibility; (4) The whole process of carrying, assembling, tightening and disassembling of the cylinder port plug and the on-off piece of the cylinder also needs at least two operators, which does not meet the future trend of unmanned and less manned development. SUMMARY

[0004] The present application aims at the shortcomings of the prior art, and provides a hydraulic support cylinder powder spraying line on-off piece method.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a hydraulic support cylinder powder spraying line on-off piece method, specifically comprising the following steps: S1. Arranging a hydraulic support cylinder powder spraying line on-off system, the hydraulic support cylinder powder spraying line on-off system comprising an intelligent crane, a transfer tool, a cylinder port plug three-dimensional warehouse, an automatic tightening mechanical hand, a pressing mechanism, a cylinder on-off device and a control console in a control room; the lower side of the intelligent crane is provided with a cylinder port plug tightening station, a cylinder port plug dismounting station, an external material buffer area and a finished product material buffer area, and the front side of the intelligent crane is provided with a powder spraying line conveying chain; S2. Cylinder transfer to the transfer tool at the cylinder port plug tightening station: the intelligent crane grasps the same group of cylinders to be sprayed powder from the external material buffer area one by one and transfers them to the transfer tool at the cylinder port plug tightening station, while the intelligent crane identifies the information of the grasped cylinders, and the control console determines the on-piece quantity of the cylinders grasped by the intelligent crane according to the cylinder information, wherein the information of the cylinder refers to the cylinder diameter and length, and the same group of cylinders refers to a group of cylinders with the same cylinder diameter and length; S3. Cylinder fixed pressing: the pressing mechanism at the cylinder port plug tightening station fixedly presses each cylinder on the transfer tool; S4. Cylinder port plug tightening assembly: the cylinder port plug three-dimensional warehouse takes out each corresponding cylinder port plug one by one according to the information of the cylinder identified by the intelligent crane, the automatic tightening mechanical hand grasps each corresponding cylinder port plug taken out from the cylinder port plug three-dimensional warehouse one by one, and tightens and assembles each corresponding cylinder port plug in the cylinder port of each corresponding cylinder one by one; S5. Cylinder on-piece: the transfer tool loaded with each cylinder with the assembled cylinder port plug is transferred to the cylinder on-off device by the intelligent crane, and a group of cylinders are hung on the powder spraying line conveying chain by the cylinder on-off device; S6. Cylinder off-piece: the cylinder on-off device takes off a group of sprayed cylinders on the powder spraying line conveying chain to the transfer tool; S7. Cylinder port plug dismounting: the transfer tool loaded with a group of sprayed cylinders is transferred to the cylinder port plug dismounting station by the intelligent crane, each cylinder on the transfer tool is fixedly pressed by the pressing mechanism at the cylinder port plug dismounting station, each cylinder port plug on each cylinder is loosened and removed by the automatic tightening mechanical hand one by one, and each removed cylinder port plug is transferred to the cylinder port plug three-dimensional warehouse one by one for storage; S8. Cylinder transfer buffer: each cylinder with the removed cylinder port plug on the transfer tool is grasped one by one by the intelligent crane, and each cylinder is transferred to the finished product material buffer area; S9. Empty transfer tool transfer to the cylinder port plug tightening station: the empty transfer tool is transferred to the cylinder port plug tightening station by the intelligent crane; Repeat steps S2 to S9 to on-piece the next group of cylinders to be sprayed powder to the powder spraying line conveying chain and off-piece another group of cylinders sprayed on the powder spraying line conveying chain.

[0006] Based on the above, the intelligent crane includes a crane mechanism and a claw mechanism, the crane mechanism is arranged in the front-rear direction, a hoisting device is arranged on the crane mechanism and connected with the claw mechanism, a laser scanning head is arranged on the claw mechanism, the crane mechanism is used to drive the claw mechanism to move forward and backward and left and right, the hoisting device is used to drive the claw mechanism to move up and down, the claw mechanism is used to grab the cylinder and transfer the tooling, and the laser scanning head is used to identify the information of the cylinder grabbed by the claw mechanism and transmit the information of the cylinder to a console; The console is signal connected with the crane mechanism, the hoisting device, the claw mechanism and the laser scanning head respectively.

[0007] Based on the above, the transfer tooling includes a steel frame structure and a plurality of groups of V-shaped rollers, each group of V-shaped rollers is arranged on the steel frame structure and spaced apart left and right, and each group of V-shaped rollers is used for placing each cylinder before or after powder spraying, and round steels are arranged on the left and right sides of the steel frame structure, and the round steels on the two sides are used for clamping and clamping with the claw mechanism on the intelligent crane; The automatic tightening manipulator includes a mechanical arm, a two-finger clamp, a laser scanner and a torque sensor; the mechanical arm is arranged on the front side between the cylinder port plug tightening station and the cylinder port plug dismounting station, the two-finger clamp, the laser scanner and the torque sensor are all installed on the mechanical arm; the two-finger clamp is used to clamp the cylinder port plug; the laser scanner is used to scan the internal profile of the cylinder and calculate the center position of the cylinder; the torque sensor is used to monitor the torque of the mechanical arm when tightening the cylinder port plug; the mechanical arm can drive the two-finger clamp to translate and rotate, thereby carrying, tightening and loosening the cylinder port plug, and when the cylinder port plug is tightened, the mechanical arm automatically centers the cylinder, and when the torque sensor monitors that the torque of the mechanical arm reaches a set torque value during the tightening process of the cylinder port plug, the mechanical arm stops tightening the cylinder port plug; The pressing mechanism is provided with a set at the cylinder port plug tightening station and the cylinder port plug dismounting station respectively; The pressing mechanism includes a lifting platform, a lifting jack, an electric rotary disc, a pressing electric cylinder and a pressing rod; the lifting platform is supported on the ground by a plurality of lifting jacks and can move up and down, and is used to carry the transfer tooling; the electric rotary disc is arranged on one side of the lifting platform, the pressing electric cylinder is vertically installed on the electric rotary disc, the pressing rod is horizontally arranged, one end of the pressing rod is connected with the upper end of the piston rod of the pressing electric cylinder, the other end of the pressing rod is in a cantilever state and can extend above the lifting platform, and the pressing rod is rotatably supported on a support of the electric rotary disc to form a lever mechanism; The cylinder upper and lower device comprises a bottom frame, a translation frame, a turnover frame, a lifting frame, a turnover electric cylinder, a horizontal movement electric cylinder and a lifting electric cylinder, the bottom frame is arranged below the upper and lower part workstations of the powder spraying line conveying chain, the translation frame can move forward and backward on the bottom frame through the horizontal movement electric cylinder, the rear end of the turnover frame is hinged to the translation frame, and the turnover frame can be turned from a horizontal state to a vertical state through the turnover electric cylinder; two groups of rotatable tool holder clamping pieces are arranged on the left and right sides of the turnover frame respectively, and the transfer tool can be clamped and fixed on the turnover frame through the four groups of tool holder clamping pieces; the rear end of the turnover frame is provided with a tool holder baffle, the tool holder baffle is used to block the lower end of the transfer tool when the turnover frame is vertical, so as to support the transfer tool; the lifting frame can slide forward and backward on the front upper side of the turnover frame through the lifting electric cylinder, a plurality of clamping grooves are arranged on the lifting frame, a hanging rod is clamped and matched in the clamping groove, a clamping block capable of being clamped in the front end of the clamping groove is arranged on the hanging rod, hooks are arranged at both ends of the hanging rod, when the turnover frame is vertical, the hanging rod can be hung on the lifting frame through the clamping block and the clamping groove, the hook at the lower end of the hanging rod can hook the cylinder port plug, and the hook at the upper end of the hanging rod can hook the powder spraying line conveying chain, the lifting frame can move up and down under the driving of the lifting electric cylinder, so as to hook the cylinder on the powder spraying line conveying chain through the hanging rod or take off the sprayed cylinder from the powder spraying line conveying chain; The powder spraying line conveying chain is an accumulation and placement chain mainly composed of a driving device, a traction chain, a suspension beam and a conveying track, the conveying track is arranged along the powder spraying path through a suspension frame, the suspension beam moves on the conveying track through the traction chain, the traction chain is driven through the driving device, and a plurality of equally spaced hanging rings are arranged on the suspension beam, the distance between adjacent two hanging rings is the same as the distance between adjacent two clamping grooves; The control console is signal connected with the mechanical arm, the two-finger clamping jaw, the laser scanner, the torque sensor, the lifting jack, the electric rotary disc, the pressing electric cylinder, the turnover electric cylinder, the horizontal movement electric cylinder, the lifting electric cylinder and the driving device respectively.

[0008] Based on the above, step S2 is specifically: the AGV small car transfers the tool holder with the cylinder to be sprayed to the external material buffer area, the intelligent vehicle recognizes the cylinder diameter and length of the cylinder to be grabbed through the laser scanning head, the console determines the number of pieces of the cylinder to be grabbed according to the cylinder diameter and the number of pieces in the console database, and according to the number of pieces of the cylinder, the console matches and adjusts the beat of the powder spraying line conveying chain (when the number of cylinders is large, the cylinder port plug screwing assembly time is long, and the powder spraying line conveying chain waits for the cylinder piece time is long, the beat is long, and vice versa when the number of cylinders is small, the beat is short), these cylinders are the same group of cylinders, the intelligent vehicle clamps each cylinder surface through the jaw mechanism to grab each cylinder, and places each cylinder on the transfer tool at the cylinder port plug screwing station. The transfer tool is located on the lifting platform at the cylinder port plug screwing station, which ensures that all the cylinders to be grabbed have a certain distance beyond the front end of the transfer tool, and after all the cylinders to be grabbed are placed on the transfer tool, the intelligent vehicle is reset.

[0009] Based on the above, step S3 is specifically: the pressing rod at the cylinder port plug screwing station is initially parallel to the cylinder on the transfer tool, the console calculates the height of the lifting platform at the cylinder port plug screwing station (the height of the lifting platform top from the ground when the lifting jack is fully retracted), the height of the transfer tool and the sum of the cylinder diameter, adjusts the extension distance of the lifting jack according to the height of the pressing rod to ensure that the upper side of the cylinder and the lower side of the pressing rod are at the same level, then the control electric rotary disc is rotated by 90°, the pressing rod is rotated to the upper side of each cylinder, and the piston rod of the pressing cylinder is extended to fix and press each cylinder downward.

[0010] Based on the above, step S4 is specifically: when the intelligent vehicle passes through the laser scanning head to identify the information of the cylinder required to be grabbed, the console synchronously sends the information of the cylinder to the cylinder plug three-dimensional warehouse, the cylinder plug three-dimensional warehouse takes out the corresponding cylinder plug from the warehouse according to the information of the cylinder, then the automatic tightening manipulator clamps the lifting ring on the cylinder plug through the two-finger clamp jaw to grab the cylinder plug taken out from the warehouse, carries the cylinder plug to the front of the cylinder port of the corresponding cylinder through the mechanical arm, identifies the outer contour of the cylinder through the laser scanner, and the console calculates the center axis position of the cylinder according to the information identified by the laser scanner, then controls the mechanical arm to center the cylinder plug and the cylinder, pushes the cylinder plug into the cylinder port of the cylinder, and drives the two-finger clamp jaw to rotate, so that the cylinder plug is matched and tightened with the cylinder port of the cylinder, in the tightening process, when the torque sensor monitors that the torque of the mechanical arm reaches the set torque value, the mechanical arm stops driving the two-finger clamp jaw to rotate, and the angle between the two-finger clamp jaw and the horizontal plane at this time is recorded; then the compression cylinder retracts, the compression rod is separated from each cylinder, the electric rotary disc reverses 90° to reset, the compression rod is reset, the mechanical arm drives the two-finger clamp jaw to rotate again, the two-finger clamp jaw drives the cylinder to continue rotating through the cylinder plug by a certain angle, until the lifting ring on the cylinder plug is parallel to the horizontal plane; finally, the lifting jack retracts, and the lifting platform moves down to reset.

[0011] Based on the above, step S5 is specifically: the intelligent vehicle clamps the round steel on both sides of the transfer tool through the claw mechanism, then grabs the transfer tool, and moves the transfer tool to the turnover frame of the cylinder port plugging device, the transfer tool carries each cylinder with the assembled cylinder port plug, in this process, the lifting ring on each cylinder port plug is respectively matched on the hook at the rear end of each lifting rod on the lifting frame, then the claw mechanism releases the transfer tool, and the intelligent vehicle resets; the rotating frame on the turnover frame rotates 90° to clamp and fix the transfer tool, then the piston rod of the turnover cylinder extends, so that the rotating frame drives the transfer tool to turn over from the horizontal state to the vertical state, in this process, the tool holder baffle contacts the lower end of the transfer tool, the lifting rod is hung on the lifting frame through the cooperation of the clamping block and the clamping groove, the hook at the lower end of the lifting rod hooks the cylinder port plug through the lifting ring, so that the cylinder is hung on the lifting frame, then the piston rod of the lifting cylinder extends, so that the lifting frame moves up, the hooks at the upper ends of each lifting rod rise to the same height as each empty hanging ring on the powder spraying line conveying chain, the piston rod of the horizontal moving cylinder extends, so that the horizontal moving frame drives the rotating frame to move towards the powder spraying line conveying chain, so that the hooks at the upper ends of each lifting rod approach and are respectively inserted into each empty hanging ring on the powder spraying line conveying chain, the piston rod of the lifting cylinder retracts, so that each cylinder is respectively hung on each empty hanging ring on the powder spraying line conveying chain through each corresponding lifting rod, and the cylinder loading is completed.

[0012] Based on the above, step S6 is specifically: after completing the cylinder upper part, the piston rod of the horizontal moving electric cylinder is retracted, the translation frame drives the turnover frame to move away from the powder spraying line conveying chain, then the traction chain of the powder spraying line conveying chain moves on the conveying track by driving the suspended cross beam, and then the upper part of each cylinder is conveyed to the powder spraying chamber, at the same time the powder spraying line conveying chain conveys a group of sprayed cylinders to the upper and lower part position corresponding to the front and back of the turnover frame and the lifting frame; at this time the turnover frame is still in the vertical state, the piston rod of the horizontal moving electric cylinder is extended, the translation frame drives the turnover frame to move towards the powder spraying line conveying chain, until each hanging rod on the powder spraying line conveying chain with a sprayed cylinder is respectively clamped into the corresponding clamping groove on the lifting frame, the piston rod of the lifting electric cylinder is extended, the lifting frame is moved up, the lifting frame is in contact with the clamping block on the corresponding hanging rod, then each sprayed cylinder is hung on the lifting frame through the corresponding hanging rod, the lifting frame drives the corresponding hanging rod and the lower end hook of the sprayed cylinder to move up, until the upper end hook of the corresponding hanging rod is separated from the corresponding hanging ring on the powder spraying line conveying chain, then the piston rod of the horizontal moving electric cylinder is retracted, the translation frame drives the turnover frame to move away from the powder spraying line conveying chain, then the lifting frame drives the sprayed cylinders to separate and move away from the powder spraying line conveying chain, the turnover electric cylinder is retracted, the turnover frame is turned from the vertical state to the horizontal state and reset, then each sprayed cylinder is placed horizontally on the transfer tool with the turnover frame, and the cylinder lower part is completed.

[0013] Based on the above, step S7 is specifically: after completing the cylinder lower part, the clamping piece of each tool frame on the turnover frame is rotated 90° in reverse, the fixing of the transfer tool is loosened, then the intelligent crane identifies the cylinder diameter and length of each cylinder through the laser scanning head, and clamps the round steel on both sides of the transfer tool through the clamping jaw mechanism, and then grabs the transfer tool, the intelligent crane moves the transfer tool carrying each sprayed cylinder to the lifting platform at the cylinder port unloading station, the pressing mechanism at the cylinder port unloading station presses each cylinder on the transfer tool, the action of the pressing mechanism here is the same as that of the pressing mechanism at the cylinder port tightening station in step S3, then the automatic tightening manipulator moves the two-fingered clamp through the mechanical arm to the front of the corresponding cylinder port, identifies the lifting ring position of the cylinder port plug on the corresponding cylinder through the laser scanner, clamps the lifting ring on the corresponding cylinder port plug through the two-fingered clamp, rotates the two-fingered clamp through the mechanical arm, rotates the cylinder port plug, when the laser scanner identifies that the distance between the outer end surface of the cylinder port plug and the cylinder port end surface is greater than the length of the cylinder port plug, the two-fingered clamp stops rotating, the automatic tightening manipulator grabs the cylinder port plug through the two-fingered clamp and moves the cylinder port plug to the entrance of the cylinder port plug three-dimensional warehouse through the mechanical arm, and the cylinder port plug three-dimensional warehouse stores the recycled cylinder port plug to the specified position; then the pressing mechanism at the cylinder port unloading station is reset, and all the cylinders are loosened.

[0014] Based on the above, step S8 is specifically: the intelligent traveling crane grasps all the cylinder barrels on the transfer tool one by one through the claw mechanism, and places all the cylinder barrels on the tool rack at the finished material buffer area, waiting for the AGV to transfer the tool rack with the sprayed cylinder barrels to the next process; Step S9 is specifically: after all the cylinder barrels on the transfer tool are transferred, the intelligent traveling crane grasps the empty transfer tool through the claw mechanism and transfers the empty transfer tool to the lifting platform at the cylinder port plug tightening station.

[0015] The present application has outstanding substantial features and significant progress compared with the prior art. Specifically, compared with the existing cylinder barrel powder spraying line upper and lower piece method, the present application has the following advantages: (1) Personnel reduction: from cylinder barrel upper piece transfer to sprayed cylinder barrel lower piece transfer, the whole process is unmanned operation, only 1 person is needed for on-site inspection, which can save operating personnel.

[0016] (2) Efficiency improvement: cylinder port plug handling, assembly, tightening and disassembly are completed by an automatic tightening manipulator, which eliminates the dependence on the overhead crane. At the same time, the cylinder barrel upper and lower piece is completed by a separate cylinder barrel upper and lower piece device, which also eliminates the dependence on the overhead crane, reduces the frequency of use of the overhead crane, and reduces the waiting time of the cylinder barrel upper piece. The cylinder barrel upper and lower piece device can perform upper and lower piece of multiple cylinder barrels in the same group at a time, improving the efficiency of cylinder barrel upper and lower piece, and the cylinder barrel upper piece and cylinder barrel lower piece process is continuous, which can avoid the idle running of the cylinder barrel upper and lower piece device, improve the utilization rate of the cylinder barrel upper and lower piece device. The cylinder port plug tightening and disassembly at the double-station cylinder port plug tightening station and cylinder port plug disassembly station are performed synchronously, which avoids the idle running of the automatic tightening manipulator during the process of storing and taking the cylinder port plug, effectively saves time, reduces the waiting time of the equipment during the assembly and disassembly of the cylinder port plug, and improves the production efficiency. According to the cylinder barrel diameter recognized by the intelligent traveling crane, the control panel can determine the upper piece quantity of the cylinder barrel to be grasped, and according to the upper piece quantity of the cylinder barrel, the control panel matches and adjusts the beat of the powder spraying line conveying chain, which avoids the situation that the powder spraying line conveying chain is still waiting after the upper piece of the cylinder barrel with small upper piece quantity is completed, reduces the waiting time of the powder spraying line conveying chain during the whole process, and has good production flexibility.

[0017] (3) Labor intensity reduction: the whole process realizes mechanized operation without personnel intervention, and the labor intensity is reduced by 90%.

[0018] (4) Cylinder barrel quality improvement: the automatic tightening manipulator can automatically center and tighten the cylinder port plug in the cylinder port of the cylinder barrel through laser scanning, and automatically stop tightening the cylinder port plug when the torque of the manipulator reaches the set torque through the torque sensor, which avoids damaging the cylinder port thread surface of the cylinder barrel due to over-tightening of the cylinder port plug, and also avoids the situation that the steel shot enters the cylinder barrel during shot blasting due to the untightened cylinder port plug, which damages the inner diameter processing surface of the cylinder barrel. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a top view schematic diagram of the hydraulic support cylinder powder spraying line on-off system of the present application.

[0020] Figure 2 is a front view schematic diagram of the hydraulic support cylinder powder spraying line on-off system of the present application.

[0021] Figure 3 is a top view schematic diagram of the transfer tool fixed on the cylinder on-off device of the present application.

[0022] In the figure: 1. Intelligent crane; 2. Transfer tool; 3. Cylinder port plug three-dimensional warehouse; 4. Automatic tightening mechanical hand; 5. Pressing mechanism; 6. Cylinder on-off device; 7. Powder spraying line conveying chain; 8. Cylinder; 11. Crane mechanism; 12. Clamping jaw mechanism; 13. Laser scanning head; 21. Steel frame structure; 22. V-shaped roller; 41. Mechanical arm; 42. Two-finger clamping jaw; 43. Laser scanner; 44. Torque sensor; 51. Lifting platform; 52. Lifting jack; 53. Electric rotary disc; 54. Pressing electric cylinder; 55. Pressing rod; 56. Support; 61. Bottom frame; 62. Translation frame; 63. Flip frame; 64. Lifting frame; 65. Flip electric cylinder; 66. Tool holder clamping piece; 67. Clamping groove; 68. Suspension rod; 69. Suspension hook; 71. Traction chain; 72. Suspension beam; 73. Conveying track; 74. Hanging ring. DETAILED DESCRIPTION

[0023] The technical solutions of the present application are described in further detail below through specific embodiments.

[0024] As shown in Figure 1 , Figure 2 and Figure 3 , a hydraulic support cylinder powder spraying line on-off method, specifically comprising the following steps: S1. Arranging a hydraulic support cylinder powder spraying line on-off system, the hydraulic support cylinder powder spraying line on-off system comprising an intelligent crane 1, a transfer tool 2, a cylinder port plug three-dimensional warehouse 3, an automatic tightening mechanical hand 4, a pressing mechanism 5, a cylinder on-off device 6 and a control console in a control room (not shown in the figure); the intelligent crane 1 is provided below with a cylinder port plug tightening work station, a cylinder port plug dismounting work station, an external material buffer area and a finished product material buffer area, and the front side of the intelligent crane 1 is provided with a powder spraying line conveying chain 7; S2. The cylinder barrel 8 is transferred to the transfer tool 2 at the cylinder port plug tightening station: the intelligent crane 1 grasps the same group of cylinder barrels 8 to be sprayed from the external material buffer area 9 one by one and transfers them to the transfer tool 2 at the cylinder port plug tightening station, and the intelligent crane 1 identifies the information of the grasped cylinder barrels 8, and the console determines the number of pieces of the grasped cylinder barrels 8 by the intelligent crane 1 according to the information of the cylinder barrels 8, wherein the information of the cylinder barrels 8 refers to the cylinder diameter and length of the cylinder barrels 8, and the same group of cylinder barrels 8 refers to a group of cylinder barrels 8 with the same cylinder diameter and length; S3. Cylinder barrel 8 fixed compression: the compression mechanism 5 at the cylinder port plug tightening station fixedly compresses each cylinder barrel 8 on the transfer tool 2; S4. Cylinder port plug tightening assembly: the cylinder port plug three-dimensional warehouse 3 takes out each corresponding cylinder port plug one by one according to the information of the cylinder barrel 8 identified by the intelligent crane 1, and the automatic tightening manipulator 4 grasps each corresponding cylinder port plug taken out from the cylinder port plug three-dimensional warehouse 3 one by one, and tightens and assembles each corresponding cylinder port plug in the cylinder port of each corresponding cylinder barrel 8 one by one; S5. Cylinder barrel 8 piece loading: the transfer tool 2 loaded with each cylinder barrel 8 assembled with the cylinder port plug is transferred to the cylinder barrel loading and unloading device 6 by the intelligent crane 1, and a group of cylinder barrels 8 are hung on the spraying line conveying chain 7 by the cylinder barrel loading and unloading device 6; S6. Cylinder barrel 8 piece unloading: the cylinder barrel loading and unloading device 6 takes off a group of sprayed cylinder barrels 8 on the spraying line conveying chain 7 to the transfer tool 2; S7. Cylinder port plug disassembly: the transfer tool 2 loaded with a group of sprayed cylinder barrels 8 is transferred to the cylinder port plug disassembly station by the intelligent crane 1, each cylinder barrel 8 on the transfer tool 2 is fixedly compressed by the compression mechanism 5 at the cylinder port plug disassembly station, and each cylinder port plug on each cylinder barrel 8 is loosened and removed by the automatic tightening manipulator 4 one by one, and each removed cylinder port plug is transferred to the cylinder port plug three-dimensional warehouse 3 for storage; S8. Cylinder barrel 8 transfer buffer: each cylinder barrel 8 on the transfer tool 2 from which the cylinder port plug has been removed is grasped one by one by the intelligent crane 1, and each cylinder barrel 8 is transferred to the finished material buffer area 10; S9. Empty transfer tool 2 is transferred to the cylinder port plug tightening station: the empty transfer tool 2 is transferred to the cylinder port plug tightening station by the intelligent crane 1; Repeat steps S2 to S9 to load the next group of cylinder barrels 8 to be sprayed on the spraying line conveying chain 7, and unload another group of cylinder barrels 8 sprayed on the spraying line conveying chain 7; The step S4 and the step S7 can be performed synchronously, that is, when the cylinder barrel 8 to be sprayed is assembled with the cylinder port plug at the cylinder port plug tightening station, the sprayed cylinder barrel 8 can be disassembled from the cylinder port plug at the cylinder port plug disassembling station synchronously, and the automatic tightening manipulator 4 can take out one cylinder port plug from the cylinder port plug stereoscopic warehouse 3 to tighten and assemble, and disassemble one cylinder port plug to send back to the cylinder port plug stereoscopic warehouse 3, so that the idle running of the automatic tightening manipulator 4 in the process of taking and storing the cylinder port plug is avoided, time can be effectively saved, the waiting time of the equipment in the process of assembling and disassembling the cylinder port plug is reduced, and the production efficiency is improved.

[0025] Specifically, the intelligent travelling crane 1 comprises a travelling crane mechanism 11 and a claw mechanism 12. The travelling crane mechanism 11 is arranged in the front-rear direction. A hoisting device is arranged on the travelling crane mechanism 11 and connected with the claw mechanism 12. A laser scanning head 13 is arranged on the claw mechanism 12. The travelling crane mechanism 11 is used to drive the claw mechanism 12 to move forward and backward and left and right. The hoisting device is used to drive the claw mechanism 12 to move up and down. The claw mechanism 12 is used to grab the cylinder barrel 8 and the transfer tool 2. The laser scanning head 13 is used to identify the information of the cylinder barrel 8 grabbed by the claw mechanism 12 and transmit the information of the cylinder barrel 8 to a control console. The control console is signal connected with the travelling crane mechanism 11, the hoisting device, the claw mechanism 12 and the laser scanning head 13 respectively.

[0026] Specifically, the transfer tool 2 comprises a steel frame structure 21 and five groups of V-shaped rollers 22. Each group of V-shaped rollers 22 is arranged on the steel frame structure 21 and spaced apart left and right. Each group of V-shaped rollers 22 is used to place each cylinder barrel 8 before or after spraying. The steel frame structure 21 is provided with round steels on the left and right sides. The round steels on the two sides are used to be clamped and tightened with the claw mechanism 12 on the intelligent travelling crane 1. The arrangement of the V-shaped rollers 22 can avoid the sliding friction of the sprayed cylinder barrel 8 placed on the transfer tool 2, which can damage the surface coating of the cylinder barrel 8.

[0027] The automatic tightening manipulator 4 comprises a mechanical arm 41, a two-finger clamp 42, a laser scanner 43 and a torque sensor 44; the mechanical arm 41 is arranged on the front side between the cylinder port plug tightening station and the cylinder port plug dismounting station, the two-finger clamp 42, the laser scanner 43 and the torque sensor 44 are all installed on the mechanical arm 41; the two-finger clamp 42 is used for clamping the cylinder port plug; the laser scanner 43 is used for scanning the internal profile of the cylinder 8 and calculating the center position of the cylinder 8; the torque sensor 44 is used for monitoring the torque of the mechanical arm 41 when tightening the cylinder port plug; the mechanical arm 41 can drive the two-finger clamp 42 to translate and rotate, thereby carrying, tightening and loosening the cylinder port plug, and automatically centering the cylinder port plug to the cylinder 8 when tightening the cylinder port plug; when the torque sensor 44 monitors that the torque of the mechanical arm 41 reaches the set torque value during the tightening process of the cylinder port plug, the mechanical arm 41 stops tightening the cylinder port plug. The set torque value is the tightening torque corresponding to different cylinder diameters in the database of the control console (for example, the torque value of the φ320mm cylinder is 680N*m); when the laser scanning head 13 of the intelligent traveling crane 1 identifies the cylinder diameter of the grasped cylinder 8, the control console automatically retrieves the tightening torque corresponding to the cylinder 8 as the set torque value, and controls the action of the mechanical arm 41 tightening the cylinder port plug according to the monitoring value of the torque sensor 44.

[0028] The pressing mechanism 5 is provided with a set at the cylinder port plug tightening station and the cylinder port plug dismounting station respectively. The pressing mechanism 5 comprises a lifting platform 51, lifting jacks 52, an electric rotating disc 53, a pressing electric cylinder 54 and a pressing rod 55; the lifting platform 51 is supported on the ground by the lifting jacks 52 and can move up and down, and is used for carrying the transfer tool 2; the electric rotating disc 53 is arranged on one side of the lifting platform 51, the pressing electric cylinder 54 is vertically installed on the electric rotating disc 53, the pressing rod 55 is horizontally arranged, one end of the pressing rod 55 is connected with the upper end of the piston rod of the pressing electric cylinder 54, the other end of the pressing rod 55 is in a cantilever state and can extend above the lifting platform 51, and the pressing rod 55 is rotatably supported on a support 56 of the electric rotating disc 53 to form a lever mechanism.

[0029] The cylinder upper and lower device 6 comprises a bottom frame 61, a translation frame 62, a turnover frame 63, a lifting frame 64, a turnover electric cylinder 65, a horizontal movement electric cylinder and a lifting electric cylinder, the bottom frame 61 is arranged below the upper and lower work stations of the powder spraying line conveying chain 7, the translation frame 62 is movable forward and backward on the bottom frame 61 through the horizontal movement electric cylinder, the rear end of the turnover frame 63 is hinged on the translation frame 62, and the turnover frame 63 is rotatable from a horizontal state to a vertical state through the turnover electric cylinder 65; two groups of rotatable tool holder clamping pieces 66 are arranged on the left and right sides of the turnover frame 63 respectively, and the transfer tool 2 can be clamped and fixed on the turnover frame 63 through the four groups of tool holder clamping pieces 66; a tool holder baffle is arranged at the rear end of the turnover frame 63, and the tool holder baffle is used for blocking the lower end of the transfer tool 2 when the turnover frame 63 is vertical, so as to support the transfer tool 2; the lifting frame 64 is slidable forward and backward on the front upper side of the turnover frame 63 through the lifting electric cylinder, five clamping grooves 67 are arranged on the lifting frame 64, a hanging rod 68 is clamped and matched in the clamping groove 67, a clamping block capable of being clamped in the front end of the clamping groove 67 is arranged on the hanging rod 68, hooks 69 are arranged at both ends of the hanging rod 68, when the turnover frame 63 is vertical, the hanging rod 68 can be hung on the lifting frame 64 through the clamping block and the clamping groove 67, the hook 69 at the lower end of the hanging rod 68 can hook the cylinder port plug, and the hook 69 at the upper end of the hanging rod 68 can hook the powder spraying line conveying chain 7, and the lifting frame 64 is movable up and down under the drive of the lifting electric cylinder, so as to hook or take off the sprayed cylinder 8 from the powder spraying line conveying chain 7 through the hanging rod 68.

[0030] The powder spraying line conveying chain 7 is an accumulation chain mainly composed of a driving device, a traction chain 71, a suspension beam 72 and a conveying track 73, the conveying track 73 is arranged along the powder spraying path through a suspension frame, the suspension beam 72 is movable on the conveying track 73 through the traction chain 71, the traction chain 71 is driven through the driving device, a plurality of equally spaced hanging rings 74 are arranged on the suspension beam 72, the distance between adjacent two hanging rings 74 is the same as the distance between adjacent two clamping grooves 67, so that when the upper end hook 69 of the suspension hanging rod 68 is hung on the hanging ring 74, the hook 69 and the hanging ring 74 can be aligned.

[0031] The control console is signal connected with the mechanical arm 41, the two-finger clamp jaw 42, the laser scanner 43, the torque sensor 44, the lifting jack 52, the electric rotary disc 53, the compression electric cylinder 54, the turnover electric cylinder 65, the horizontal movement electric cylinder, the lifting electric cylinder and the driving device respectively.

[0032] The step S2 is specifically: the AGV small car transfers the tool holder provided with the cylinder barrel 8 to be sprayed powder in the external material buffer area 9, the intelligent traveling crane 1 identifies the cylinder diameter and length of the cylinder barrel 8 to be grabbed through the laser scanning head 13, the console determines the number of pieces of the cylinder barrel 8 to be grabbed according to the cylinder diameter and the number of pieces of the cylinder barrel 8 in the console database (the cylinder diameter is 63-280 mm, the number of pieces of the cylinder barrel is 5; the cylinder diameter is 320-480 mm, the number of pieces of the cylinder barrel is 3, and the cylinder diameter is 500-630 mm, the number of pieces of the cylinder barrel is 1), and the console adjusts the beat of the powder spraying line conveying chain 7 according to the cylinder diameter and the number of pieces of the cylinder barrel 8 (for example, when the number of pieces of the cylinder barrel is 1, the beat is 6 min; when the number of pieces of the cylinder barrel is 3, the beat is 8 min; and when the number of pieces of the cylinder barrel is 5, the beat is 9 min). These cylinder barrels are the same group of cylinder barrels, the intelligent traveling crane 1 clamps the surface of each cylinder barrel 8 by the jaw mechanism 12 to grab each cylinder barrel 8, and places each cylinder barrel 8 on the transfer tool 2 at the cylinder port plug tightening station. The transfer tool 2 is located on the lifting platform 51 at the cylinder port plug tightening station, so that the cylinder ports of all the cylinder barrels 8 to be grabbed exceed the front end of the transfer tool 2 by a certain distance. After all the cylinder barrels 8 to be grabbed are placed on the transfer tool 2, the intelligent traveling crane 1 is reset.

[0033] The step S3 is specifically: the pressing rod 55 at the cylinder port plug tightening station is parallel to the cylinder barrel 8 on the transfer tool 2 at the beginning, the console calculates the height of the lifting platform 51 at the cylinder port plug tightening station (the height of the top of the lifting platform 51 from the ground when the lifting jack 52 is completely retracted), the height of the transfer tool 2 and the sum of the cylinder diameter of the cylinder barrel 8, adjusts the extension distance of the lifting jack 52 according to the height of the pressing rod 55 to ensure that the upper side of the cylinder barrel 8 and the lower side of the pressing rod 55 are at the same level, then the electric rotating disc 53 is controlled to rotate 90°, so that the pressing rod 55 rotates to the upper side of each cylinder barrel 8 in a cantilevered section, and the piston rod of the pressing cylinder 54 is extended to fix and press each cylinder barrel 8 downward.

[0034] The step S4 is specifically: when the intelligent truck 1 identifies the information of the cylinder 8 to be grabbed by the laser scanning head 13, the console synchronously sends the information of the cylinder 8 to the cylinder port plug stereoscopic warehouse 3, the cylinder port plug stereoscopic warehouse 3 takes out the corresponding cylinder port plug from the warehouse according to the information of the cylinder 8 to the entrance, then the automatic tightening manipulator 4 clamps the lifting ring on the cylinder port plug by the two-fingered gripper 42 to grab the cylinder port plug taken out from the warehouse, carries the cylinder port plug to the front of the cylinder port of the corresponding cylinder 8 by the mechanical arm 41, identifies the outer contour of the cylinder 8 by the laser scanner 43, the console calculates the center axis position of the cylinder 8 according to the information identified by the laser scanner 43, then controls the mechanical arm 41 to center the cylinder port plug with the cylinder 8, pushes the cylinder port plug into the cylinder port of the cylinder 8, and rotates the two-fingered gripper 42 to make the cylinder port plug cooperate with the cylinder port of the cylinder 8 to tighten, during the tightening process, when the torque sensor 44 monitors that the torque of the mechanical arm 41 reaches the set torque value, the mechanical arm 41 stops rotating the two-fingered gripper 42, and records the angle between the two-fingered gripper 42 and the horizontal plane at this time; then the pressing cylinder 54 retracts to separate the pressing rod 55 from each cylinder 8, the electric rotary disc 53 reverses 90° to reset, the pressing rod 55 resets, the mechanical arm 41 rotates the two-fingered gripper 42 again, the two-fingered gripper 42 rotates the cylinder 8 through the cylinder port plug by a certain angle, until the lifting ring on the cylinder port plug is parallel to the horizontal plane; finally, the lifting jack 52 retracts to make the lifting platform 51 move down to reset.

[0035] The step S5 is specifically: the intelligent crane 1 clamps the round steel on both sides of the transfer tool 2 through the claw mechanism 12, then grabs the transfer tool 2, and moves the transfer tool 2 to the turnover frame 63 of the cylinder barrel upper and lower tool device 6, each cylinder barrel 8 loaded with the assembled cylinder port plug on the transfer tool 2, in this process, the lifting eyes on each cylinder port plug are respectively matched with the hooks 69 at the rear end of each lifting rod 68 on the lifting frame 64, then the claw mechanism 12 releases the transfer tool 2, and the intelligent crane 1 resets; the rotating frame 63 on each tool frame clamping piece 66 rotates 90° to clamp and fix the transfer tool 2, then the piston rod of the turnover electric cylinder 65 extends, the rotating frame 63 drives the transfer tool 2 to rotate from the horizontal state to the vertical state, in this process, the tool frame baffle contacts the lower end of the transfer tool 2, the lifting rod 68 is hung on the lifting frame 64 through the cooperation of the clamping block and the clamping groove 67, the hook 69 at the lower end of the lifting rod 68 hooks the cylinder port plug through the lifting eye, and then the cylinder barrel 8 is hung on the lifting frame 64, then the piston rod of the lifting electric cylinder extends, the lifting frame 64 moves upwards, the hooks 69 at the upper end of each lifting rod 68 rise to the same height as each corresponding empty hanging ring 4 on the powder spraying line conveying chain 7, the piston rod of the transverse moving electric cylinder extends, the moving frame 62 drives the rotating frame 63 to move towards the powder spraying line conveying chain 7, so that the hooks 69 at the upper end of each lifting rod 68 approach and are respectively inserted into each corresponding empty hanging ring 4 on the powder spraying line conveying chain 7, the piston rod of the lifting electric cylinder retracts, so that each cylinder barrel 8 is respectively hooked on each corresponding empty hanging ring 4 on the powder spraying line conveying chain 7 through each corresponding lifting rod 68, and the cylinder barrel 8 upper piece is completed.

[0036] Step S6 is specifically: after the completion of the cylinder 8 on the piece, the piston rod of the horizontal moving cylinder is retracted, so that the translation frame 62 drives the turnover frame 63 to move away from the powder spraying line conveying chain 7, then the traction chain 71 of the powder spraying line conveying chain 7 moves on the conveying track 73 by driving the suspension beam 72, and then the cylinder 8 of each piece is conveyed to the powder spraying chamber, while the powder spraying line conveying chain 7 conveys a group of sprayed cylinder 8 to the upper and lower piece work station corresponding to the turnover frame 63 and the lifting frame 64 front and back; At this time, the turnover frame 63 is still in the vertical state, the piston rod of the horizontal moving cylinder is extended, so that the translation frame 62 drives the turnover frame 63 to move towards the powder spraying line conveying chain 7, until each hanger 68 on the powder spraying line conveying chain 7 with a sprayed cylinder 8 is respectively clamped into the corresponding each clamping groove 67 on the lifting frame 64, the piston rod of the lifting cylinder is extended, so that the lifting frame 64 moves up, the lifting frame 64 contacts the clamping block on the corresponding each hanger 68, then each sprayed cylinder 8 is hung on the lifting frame 64 through the corresponding each hanger 68, the lifting frame 64 drives the corresponding each hanger 68 and the sprayed cylinder 8 hung by the lower hook 69 of the corresponding each hanger 68 to move up, until the upper hook 69 of the corresponding each hanger 68 is separated from the corresponding each hanging ring 4 on the powder spraying line conveying chain 7, then the piston rod of the horizontal moving cylinder is retracted, so that the translation frame 62 drives the turnover frame 63 to move away from the powder spraying line conveying chain 7, then the lifting frame 64 drives the sprayed each cylinder 8 to separate and move away from the powder spraying line conveying chain 7, the turnover cylinder 65 is retracted, so that the turnover frame 63 is turned from the vertical state to the horizontal state to reset, then each sprayed cylinder 8 falls with the turnover frame 63 and is placed horizontally on the transfer tool 2, completing the cylinder 8 unloading.

[0037] Step S7 is specifically: after the cylinder 8 is disassembled, each tooling frame clamp 66 on the turnover frame 63 is reversely rotated by 90 degrees, the fixing of the transfer tool 2 is loosened, then the intelligent crane 1 identifies the cylinder diameter and length of each cylinder 8 through the laser scanning head 13, and clamps the round steel on both sides of the transfer tool 2 through the jaw mechanism 12, so as to grab the transfer tool 2, the intelligent crane 1 transfers the transfer tool 2 loaded with the sprayed cylinders 8 to the lifting platform 51 at the cylinder port plug disassembly station, the pressing mechanism 5 at the cylinder port plug disassembly station presses the cylinders 8 on the transfer tool 2, the pressing mechanism 5 at the cylinder port plug disassembly station is the same as the pressing mechanism 5 at the cylinder port plug tightening station in step S3, then the automatic tightening manipulator 4 moves the two-finger clamp 42 to the front of the corresponding cylinder 8 cylinder port through the mechanical arm 41, identifies the lifting ring position of the cylinder port plug on the corresponding cylinder 8 through the laser scanner 43, clamps the lifting ring on the corresponding cylinder port plug through the two-finger clamp 42, rotates the two-finger clamp 42 through the mechanical arm 41, and rotates the cylinder port plug, when the laser scanner 43 identifies that the distance between the outer end face of the cylinder port plug and the cylinder port end face of the cylinder 8 is greater than the length of the cylinder port plug, the two-finger clamp 42 stops rotating, the automatic tightening manipulator 4 grabs the cylinder port plug through the two-finger clamp 42 and moves the cylinder port plug to the entrance of the cylinder port plug stereoscopic warehouse 3 through the mechanical arm 41, and the cylinder port plug stereoscopic warehouse 3 stores the cylinder port plug in the specified position; then the pressing mechanism 5 at the cylinder port plug disassembly station is reset, and all the cylinders 8 are loosened.

[0038] Step S8 is specifically: the intelligent crane 1 grabs all the cylinders 8 on the transfer tool 2 one by one through the jaw mechanism 12, and places all the cylinders 8 on the tooling frame at the finished material buffer area 10, waits for the AGV trolley to transfer the tooling frame on which the sprayed cylinders 8 are placed to the next process.

[0039] Step S9 is specifically: after all the cylinders 8 on the transfer tool 2 are transferred, the intelligent crane 1 grabs the empty transfer tool 2 through the jaw mechanism 12 and transfers the empty transfer tool 2 to the lifting platform 51 at the cylinder port plug tightening station.

[0040] Compared with the existing cylinder 8 powder spraying line dismounting method, the present application has the following advantages: (1) Personnel reduction: from the cylinder 8 mounting to the cylinder 8 dismounting, the whole process is unmanned operation, only one person is needed for on-site inspection, and the operation personnel can be saved.

[0041] (2) Efficiency improvement: The handling, assembly, tightening and disassembly of the cylinder port plug are completed by the automatic tightening manipulator 4, which eliminates the dependence on the overhead crane. At the same time, the upper and lower parts of the cylinder barrel 8 are completed by the separate cylinder barrel upper and lower part device 6, which also eliminates the dependence on the overhead crane, reduces the frequency of use of the overhead crane, and reduces the waiting time for the upper part of the cylinder barrel 8. The cylinder barrel upper and lower part device 6 can simultaneously perform the upper and lower parts of multiple cylinder barrels 8 in the same group, improving the efficiency of the upper and lower parts of the cylinder barrel 8, and the process of the upper part of the cylinder barrel 8 and the lower part of the cylinder barrel 8 is continuous, which can avoid the idling of the cylinder barrel upper and lower part device 6 and improve the utilization rate of the cylinder barrel upper and lower part device 6. The cylinder port plug tightening and disassembly are synchronized at the double-station cylinder port plug tightening and disassembly station, which can avoid the idling of the automatic tightening manipulator 4 during the process of accessing the cylinder port plug, effectively save time, reduce the waiting time of the equipment during the assembly and disassembly of the cylinder port plug, and improve the production efficiency. According to the identification of the required cylinder barrel 8 diameter by the intelligent crane 1, the control panel can determine the number of upper parts of the cylinder barrel 8 to be grabbed, and according to the number of upper parts of the cylinder barrel 8, the control panel can match and adjust the beat of the powder spraying line conveying chain 7, so that the powder spraying line conveying chain 7 can be avoided after the completion of the upper part of the cylinder barrel 8 with a small number of upper parts. The waiting time of the powder spraying line conveying chain 7 during the entire process can be reduced, and the production flexibility is good.

[0042] (3) Labor intensity reduction: The entire process is realized by mechanization operation without personnel intervention, and the labor intensity is reduced by 90%.

[0043] (4) Cylinder barrel 8 quality improvement: The automatic tightening manipulator 4 scans the cylinder barrel 8 by laser, which can automatically center and tighten the cylinder port plug in the cylinder port of the cylinder barrel 8, and monitors the torque of the mechanical arm 41 to reach the set torque by the torque sensor 44, so that the automatic tightening manipulator 4 automatically stops tightening the cylinder port plug, avoids damaging the cylinder port thread surface of the cylinder barrel 8 due to excessive tightening of the cylinder port plug, and avoids the damage to the inner diameter processing surface of the cylinder barrel 8 caused by the entry of steel balls into the cylinder barrel 8 during the shot blasting due to the untightening of the cylinder port plug.

[0044] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application and not to limit them; although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present application.

Claims

1. A hydraulic support cylinder powder spraying on-line assembly and disassembly method, characterized in that: Specifically comprising the following steps: S1. Arranging a hydraulic support cylinder powder spraying line on-off system, the hydraulic support cylinder powder spraying line on-off system comprising an intelligent crane, a transfer tool, a cylinder port plug three-dimensional warehouse, an automatic tightening mechanical hand, a pressing mechanism, a cylinder on-off device and a control console in a control room; the lower side of the intelligent crane is provided with a cylinder port plug tightening station, a cylinder port plug dismounting station, an external material buffer area and a finished product material buffer area, and the front side of the intelligent crane is provided with a powder spraying line conveying chain; S2. The cylinder is transferred to the transfer tool at the cylinder port plug tightening station: the intelligent crane grasps the same group of cylinders to be sprayed powder from the external material buffer area one by one and transfers them to the transfer tool at the cylinder port plug tightening station, while the intelligent crane identifies the information of the grasped cylinders, and the control console determines the on-piece quantity of the grasped cylinders according to the cylinder information, wherein the information of the cylinder refers to the cylinder diameter and length, and the same group of cylinders refers to a group of cylinders with the same cylinder diameter and length; S3. Cylinder fixed pressing: the pressing mechanism at the cylinder port plug tightening station fixedly presses each cylinder on the transfer tool; S4. Cylinder port plug tightening assembly: the cylinder port plug three-dimensional warehouse takes out each corresponding cylinder port plug according to the information of the cylinder identified by the intelligent crane, the automatic tightening mechanical hand grasps each corresponding cylinder port plug taken out from the cylinder port plug three-dimensional warehouse one by one, and each corresponding cylinder port plug is tightened and assembled in the cylinder port of each corresponding cylinder one by one; S5. Cylinder on-piece: the transfer tool loaded with each cylinder with the assembled cylinder port plug is transferred to the cylinder on-off device by the intelligent crane, and a group of cylinders are hung on the powder spraying line conveying chain by the cylinder on-off device; S6. Cylinder off-piece: the cylinder on-off device takes off a group of sprayed cylinders on the powder spraying line conveying chain to the transfer tool; S7. Cylinder port plug dismounting: the transfer tool loaded with a group of sprayed cylinders is transferred to the cylinder port plug dismounting station by the intelligent crane, each cylinder on the transfer tool is fixedly pressed by the pressing mechanism at the cylinder port plug dismounting station, each cylinder port plug on each cylinder is untightened and removed by the automatic tightening mechanical hand one by one, and each removed cylinder port plug is transferred to the cylinder port plug three-dimensional warehouse one by one for storage; S8. Cylinder transfer buffer: each cylinder with the removed cylinder port plug on the transfer tool is grasped by the intelligent crane one by one, and each cylinder is transferred to the finished product material buffer area; S9. Empty transfer tool is transferred to the cylinder port plug tightening station: the empty transfer tool is transferred to the cylinder port plug tightening station by the intelligent crane; Repeat steps S2 to S9 to on-piece the next group of cylinders to be sprayed powder to the powder spraying line conveying chain and off-piece another group of sprayed cylinders on the powder spraying line conveying chain; Wherein, step S4 and step S7 can be performed synchronously.

2. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 1, characterized in that: The intelligent travelling crane comprises a travelling mechanism and a claw mechanism, the travelling mechanism is arranged in the front-rear direction, a hoisting device is arranged on the travelling mechanism and connected with the claw mechanism, a laser scanning head is arranged on the claw mechanism, the travelling mechanism is used to drive the claw mechanism to move forward and backward and left and right, the hoisting device is used to drive the claw mechanism to move up and down, the claw mechanism is used to grab a cylinder and transfer a tooling, and the laser scanning head is used to identify information of the cylinder grabbed by the claw mechanism and transmit the information of the cylinder to a control console; The control console is signal connected with the travelling mechanism, the hoisting device, the claw mechanism and the laser scanning head respectively.

3. The hydraulic support cylinder powder spraying on-line assembly and disassembly method according to claim 2, characterized in that: The transfer tooling comprises a steel frame structure and a plurality of groups of V-shaped rollers, each group of V-shaped rollers is arranged on the steel frame structure in a left-right interval, and each group of V-shaped rollers is used for placing each cylinder before or after powder spraying, and round steels are arranged on left and right sides of the steel frame structure, and the round steels on the two sides are used for clamping and clamping with the claw mechanism on the intelligent travelling crane; The automatic tightening manipulator comprises a mechanical arm, a two-finger clamp, a laser scanner and a torque sensor, the mechanical arm is arranged on the front side between a cylinder port plug tightening station and a cylinder port plug dismounting station, the two-finger clamp, the laser scanner and the torque sensor are all mounted on the mechanical arm, the two-finger clamp is used for clamping the cylinder port plug, the laser scanner is used for scanning the internal profile of the cylinder and calculating the center position of the cylinder, the torque sensor is used for monitoring the torque of the mechanical arm when the cylinder port plug is tightened, and the mechanical arm can drive the two-finger clamp to translate and rotate, thereby carrying, tightening and loosening the cylinder port plug, and when the cylinder port plug is tightened, the cylinder port plug is automatically centered on the cylinder, and when the torque sensor monitors that the torque of the mechanical arm reaches a set torque value during the tightening of the cylinder port plug, the mechanical arm stops tightening the cylinder port plug; A set of the pressing mechanism is arranged at the cylinder port plug tightening station and the cylinder port plug dismounting station respectively; The pressing mechanism comprises a lifting platform, a lifting jack, an electric rotary disc, a pressing electric cylinder and a pressing rod, the lifting platform is supported on the ground by a plurality of lifting jacks and can move up and down, and is used to carry the transfer tooling, the electric rotary disc is arranged on one side of the lifting platform, the pressing electric cylinder is vertically mounted on the electric rotary disc, the pressing rod is horizontally arranged, one end of the pressing rod is connected with the upper end of the piston rod of the pressing electric cylinder, the other end of the pressing rod is in a cantilever state and can extend above the lifting platform, and the pressing rod is rotatably supported on a support of the electric rotary disc to form a lever mechanism. The cylinder upper and lower device comprises a bottom frame, a translation frame, a turnover frame, a lifting frame, a turnover electric cylinder, a horizontal movement electric cylinder and a lifting electric cylinder, the bottom frame is arranged below the upper and lower workstations of the powder spraying line conveying chain, the translation frame is movable forward and backward on the bottom frame through the horizontal movement electric cylinder, the rear end of the turnover frame is hinged to the translation frame, and the turnover frame is rotatable from a horizontal state to a vertical state through the turnover electric cylinder; two groups of rotatable tool holder clamping members are arranged on the left and right sides of the turnover frame respectively, and four groups of tool holder clamping members are used to clamp and fix the transfer tool on the turnover frame; a tool holder baffle is arranged at the rear end of the turnover frame, and the tool holder baffle is used to block the lower end of the transfer tool when the turnover frame is vertical, so as to support the transfer tool; the lifting frame is slidable forward and backward on the front upper side of the turnover frame through the lifting electric cylinder, a plurality of clamping grooves are arranged on the lifting frame, a hanging rod is clamped and matched in the clamping groove, a clamping block capable of being clamped in the front end of the clamping groove is arranged on the hanging rod, hooks are arranged at both ends of the hanging rod, when the turnover frame is vertical, the hanging rod is hung on the lifting frame through the clamping block and the clamping groove, the hook at the lower end of the hanging rod can hook the cylinder port plug, and the hook at the upper end of the hanging rod can hook the powder spraying line conveying chain, and the lifting frame is movable up and down under the driving of the lifting electric cylinder, so that the cylinder is hung on or taken off the powder spraying line conveying chain through the hanging rod. The powder spraying line conveying chain is an accumulation chain mainly comprising a driving device, a traction chain, a suspension beam and a conveying track, the conveying track is arranged along the powder spraying path through a suspension frame, the suspension beam is movable on the conveying track through the traction chain, the traction chain is driven through the driving device, and a plurality of equally spaced hanging rings are arranged on the suspension beam, the distance between adjacent two hanging rings is the same as the distance between adjacent two clamping grooves. The control console is signal connected with the mechanical arm, the two-finger clamp, the laser scanner, the torque sensor, the lifting jack, the electric rotary disc, the pressing electric cylinder, the turnover electric cylinder, the horizontal movement electric cylinder, the lifting electric cylinder and the driving device.

4. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: Step S2 is specifically: the AGV car transfers the tool holder provided with the cylinders to be sprayed in the external material buffer area, the intelligent crane identifies the cylinder diameter and length of the cylinders to be grabbed through the laser scanning head, the control console determines the upper number of the cylinders to be grabbed according to the cylinder diameter and the upper number standard in the control console database, and adjusts the beat of the powder spraying line conveying chain according to the upper number of the cylinders, these cylinders are the same group of cylinders, the intelligent crane clamps the surface of each cylinder to be grabbed through the claw mechanism to grab each cylinder, and places each cylinder on the transfer tool at the cylinder port plug tightening workstation, the transfer tool is located on the lifting platform at the cylinder port plug tightening workstation, ensures that the cylinder ports of all the cylinders to be grabbed exceed the front end of the transfer tool by a certain distance, and after all the cylinders to be grabbed are placed on the transfer tool, the intelligent crane is reset.

5. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: The step S3 is specifically: the pressing rod at the cylinder port plug screwing station is parallel to the cylinder at the beginning, the control table calculates the height of the lifting platform at the cylinder port plug screwing station (the height of the lifting platform top from the ground when the lifting jack is fully retracted), the height of the transfer tooling and the sum of the cylinder diameter, adjusts the extension distance of the lifting jack according to the height of the pressing rod to ensure that the upper side of the cylinder and the lower side of the pressing rod are at the same level, then the control electric rotary disc is rotated by 90°, the cantilever of the pressing rod is rotated to the upper side of each cylinder, and the pressing rod is fixed and pressed downward to each cylinder through the piston rod extension of the pressing cylinder.

6. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: The step S4 is specifically: when the intelligent vehicle passes through the laser scanning head to identify the information of the cylinder to be grabbed, the control table synchronously sends the information of the cylinder to the cylinder port plug stereoscopic warehouse, the cylinder port plug stereoscopic warehouse takes out the corresponding cylinder port plug from the warehouse to the entrance according to the information of the cylinder, then the automatic screwing manipulator clamps the lifting ring on the cylinder port plug through the two-fingered gripper to grab the cylinder port plug taken out from the warehouse, carries the cylinder port plug to the front of the cylinder port of the corresponding cylinder through the mechanical arm, identifies the outer contour of the cylinder through the laser scanner, the control table calculates the center axis position of the cylinder according to the information identified by the laser scanner, then controls the mechanical arm to center the cylinder port plug and the cylinder, pushes the cylinder port plug into the cylinder port, and rotates the two-fingered gripper to screw the cylinder port plug and the cylinder port, during the screwing process, when the torque sensor monitors that the torque of the mechanical arm reaches the set torque value, the mechanical arm stops rotating the two-fingered gripper, and records the angle between the two-fingered gripper and the horizontal plane at this time; then the pressing cylinder is retracted, the pressing rod is separated from each cylinder, the electric rotary disc is reversely rotated by 90° to reset, the pressing rod is reset, the mechanical arm rotates the two-fingered gripper again, the two-fingered gripper rotates the cylinder through the cylinder port plug by a certain angle until the lifting ring on the cylinder port plug is parallel to the horizontal plane; finally, the lifting jack is retracted, and the lifting platform is lowered to reset.

7. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: Step S5 is specifically: the intelligent crane clamps the round steel on both sides of the transfer tool through the claw mechanism, then grabs the transfer tool, and moves the transfer tool to the turnover frame of the cylinder barrel mounting and demounting device. The transfer tool is loaded with each cylinder barrel assembled with the cylinder port plug. In this process, the lifting ring on each cylinder port plug is respectively matched with the hook at the rear end of each lifting rod on the lifting frame. Then, the claw mechanism releases the transfer tool, and the intelligent crane resets. Each tool holder clamp on the turnover frame is rotated by 90° to clamp and fix the transfer tool. Then, the piston rod of the turnover cylinder extends, so that the turnover frame drives the transfer tool to turn from the horizontal state to the vertical state. In this process, the tool holder baffle contacts the lower end of the transfer tool. The lifting rod is hung on the lifting frame through the cooperation of the clamping block and the clamping groove. The hook at the lower end of the lifting rod hooks the cylinder port plug through the lifting ring. Then, the cylinder barrel is hung on the lifting frame. Then, the piston rod of the lifting cylinder extends, so that the lifting frame moves upward. The hooks at the upper end of each lifting rod rise to the same height as each empty hanging ring on the powder spraying line conveying chain. The piston rod of the horizontal moving cylinder extends, so that the translation frame drives the turnover frame to move towards the powder spraying line conveying chain, so that the hooks at the upper end of each lifting rod are close to and respectively inserted into each empty hanging ring on the powder spraying line conveying chain. The piston rod of the lifting cylinder retracts, so that each cylinder barrel is respectively hung on each empty hanging ring on the powder spraying line conveying chain through each corresponding lifting rod, and the cylinder barrel mounting is completed.

8. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: Step S6 is specifically: after the cylinder barrel mounting is completed, the piston rod of the horizontal moving cylinder retracts, so that the translation frame drives the turnover frame away from the powder spraying line conveying chain. Then, the traction chain of the powder spraying line conveying chain drives the suspended cross beam to move on the conveying track, and then conveys each cylinder barrel mounted to the powder spraying chamber. At the same time, the powder spraying line conveying chain conveys a group of sprayed cylinder barrels to the mounting and demounting station corresponding to the turnover frame and the lifting frame. At this time, the turnover frame is still in the vertical state. The piston rod of the horizontal moving cylinder extends, so that the translation frame drives the turnover frame to move towards the powder spraying line conveying chain, until each lifting rod with the sprayed cylinder barrel on the powder spraying line conveying chain is respectively clamped into each corresponding clamping groove on the lifting frame. The piston rod of the lifting cylinder extends, so that the lifting frame moves upward. The lifting frame contacts the clamping block on each corresponding lifting rod, so that each sprayed cylinder barrel is hung on the lifting frame through each corresponding lifting rod. The lifting frame drives each corresponding lifting rod and the sprayed cylinder barrel hung on the lower end of the hook to move upward, until the upper end hook of each corresponding lifting rod is separated from each corresponding hanging ring on the powder spraying line conveying chain. Then, the piston rod of the horizontal moving cylinder retracts, so that the translation frame drives the turnover frame away from the powder spraying line conveying chain. Then, the lifting frame drives the sprayed cylinder barrel to separate and move away from the powder spraying line conveying chain. The turnover cylinder retracts, so that the turnover frame turns from the vertical state to the horizontal state and resets. Each sprayed cylinder barrel falls with the turnover frame and is horizontally placed on the transfer tool, and the cylinder barrel demounting is completed.

9. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: Step S7 is specifically: after the cylinder is disassembled, the reverse rotation of each tooling frame clamp on the turnover frame is 90°, the fixing of the transfer tool is loosened, then the intelligent crane identifies the cylinder diameter and length of each cylinder through the laser scanning head, and clamps the round steel on both sides of the transfer tool through the jaw mechanism, and then grabs the transfer tool, the intelligent crane transfers the transfer tool carrying the sprayed cylinders to the lifting platform at the cylinder port plug disassembly station, the pressing mechanism at the cylinder port plug disassembly station presses each cylinder on the transfer tool, the pressing mechanism at this position acts the same as the pressing mechanism at the cylinder port plug tightening station in step S3, then the automatic tightening manipulator moves the two-finger clamp to the front of the corresponding cylinder port through the mechanical arm, identifies the lifting ring position of the cylinder port plug on the corresponding cylinder through the laser scanner, clamps the lifting ring on the corresponding cylinder port plug with the two-finger clamp, rotates the two-finger clamp with the mechanical arm, and rotates the cylinder port plug. When the laser scanner identifies that the distance between the outer end face of the cylinder port plug and the cylinder port end face is greater than the length of the cylinder port plug, the two-finger clamp stops rotating, the automatic tightening manipulator grabs the cylinder port plug through the two-finger clamp and moves the cylinder port plug to the entrance of the cylinder port plug three-dimensional warehouse through the mechanical arm, and the cylinder port plug three-dimensional warehouse stores the cylinder port plug at the specified position; then the pressing mechanism at the cylinder port plug disassembly station resets and loosens all the cylinders.

10. The hydraulic support cylinder powder spraying on-line putting-in and taking-out method according to claim 3, characterized in that: Step S8 is specifically: the intelligent crane grabs all the cylinders on the transfer tool one by one through the jaw mechanism, and places all the cylinders on the tooling frame at the finished material buffer area, waiting for the AGV to transfer the tooling frame with sprayed cylinders to the next process; Step S9 is specifically: after all the cylinders on the transfer tool are transferred, the intelligent crane grabs the empty transfer tool through the jaw mechanism and transfers the empty transfer tool to the lifting platform at the cylinder port plug tightening station.

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