Automatic detection and conveying device and method for large arc-shaped structural parts

Abstract

The invention relates to the technical field of large component transportation, in particular to an automatic detection and conveying device and method for a large arc-shaped structural component, and the device comprises a plurality of groups of guiding devices which are distributed in a symmetrical angle diverging manner; the material supporting device is arranged on the guiding device in a sliding mode, and the material supporting device comprises a vehicle body, a jacking oil cylinder, a material supporting roller, a servo motor, a horizontal variable frequency motor and a rotary variable frequency motor; and the detection device comprises a servo electric cylinder arranged on the vehicle body and a laser distance measuring sensor connected to the servo electric cylinder. The technical problem that in the prior art, the detection and conveying efficiency of the large arc-shaped structural part is low is solved, the procedures of online detection, rapid conveying, accurate correction machining and the like of the large arc-shaped structural part are achieved, and the detection and conveying quality and efficiency of the large arc-shaped structural part are improved.

Description

Technical Field

[0001] This invention relates to the field of large component transportation technology, and in particular to an automatic detection and conveying device and method for large arc-shaped structural components. Background Technology

[0002] Currently, the inspection of large curved structural components in heavy industry generally relies on manual visual inspection, template measurement, or inspection using fixed equipment. Conveying these components depends on multiple adjustments to the workpiece position using discrete equipment such as gantry cranes and railcars. This inspection and conveying process is fragmented, inefficient, physically demanding for operators, and contains blind spots, posing a high risk of structural component impact and safety hazards. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides an automatic detection and conveying device and method for large arc-shaped structural components, solving the technical problem of low detection and conveying efficiency of large arc-shaped structural components in the prior art. It realizes online detection and rapid conveying of large arc-shaped structural components, facilitating precise correction and processing, and improving the detection and conveying quality and efficiency of large arc-shaped structural components.

[0004] This invention provides an automatic inspection and conveying device for large arc-shaped structural components, comprising: A guiding device, wherein several groups of the guiding devices are arranged in a symmetrically divergent manner; A material support device is slidably mounted on a guide device. The material support device includes a vehicle body, a lifting cylinder, a material support roller, a servo motor, a horizontal variable frequency motor, and a rotary variable frequency motor. The servo motor drives the vehicle body to move along the guide device. The lifting cylinder is vertically mounted on the vehicle body. A frame top plate is mounted on the top of the piston of the lifting cylinder. A connecting frame is rotatably connected to the frame top plate. The material support roller is rotatably connected to the connecting frame. A sleeve is fitted on the material support roller. The horizontal variable frequency motor is driven and connected to the connecting frame. The rotary variable frequency motor is driven and connected to the material support roller. The detection device includes a servo electric cylinder disposed on the vehicle body and a laser rangefinder connected to the servo electric cylinder. The servo electric cylinder is used to adjust the height of the laser rangefinder, and the laser rangefinder is used to detect and verify the radius of a large arc-shaped structural component.

[0005] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention lies in using an automatic detection and conveying device for large arc-shaped structural components as described above to perform the automatic detection and conveying method for large arc-shaped structural components, including the following steps: S1, large arc-shaped structural components are automatically positioned by the material support device; A standard digital model is established based on the distribution of several guiding devices, the size of the large arc-shaped structural component, and the processing requirements of the large arc-shaped structural component. The lifting height of the lifting cylinder, the moving position of the servo motor-driven vehicle body, and the horizontal rotation angle of the material support roller are determined based on the standard digital model in order to lift the large arc-shaped structural component. During the lifting process, the laser rangefinder sensor detects the actual position of the sleeve and then adjusts the position of the material support device so that the large arc-shaped structural component is in the center of the material support roller in real time. At the same time, the horizontal deviation angle between the material support roller and the vehicle body is adjusted to ensure that the rotation direction of the large arc-shaped structural component is consistent with that of the material support roller, thereby realizing the flexible detection and conveying of the large arc-shaped structural component. S2, Online inspection of large curved structural components; The rotary variable frequency motor is equipped with a rotary encoder, which measures the rotation arc length of the large arc-shaped structural component, thereby controlling the conveying speed and rotary feed of the large arc-shaped structural component. The actual specifications of the large arc-shaped structural component are measured by a laser rangefinder to improve the actual digital model of the large arc-shaped structural component, and then the large arc-shaped structural component is processed.

[0006] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that the guiding device is provided in three sets. When the extension directions of the moving paths of the material support devices intersect and the intersection point is located on the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically angled material support devices intersect the inner circle of the large arc-shaped structural component at two points. S1 includes the following steps: S101. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as the reference point. The included angle between the moving paths of the two symmetrically distributed sets of material support devices is... ; S102. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the large arc-shaped structural component and the moving paths of the symmetrically distributed material support devices as A and B. S103. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance D of the material support device. PA D PB Calculate the horizontal rotation angle of the material support roller. ; when At that time, points A and B coincide. ; when At that time, points A and B do not coincide. .

[0007] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that it further includes: S201, Define the moving distance of symmetrically distributed support rollers as... The relative distance for detecting large curved structural components by a laser rangefinder is defined as... The standard distance for laser rangefinders to detect large curved structural components is defined as follows: ; S202. Calculate the triangle formed by points A, B, and P. The side lengths of PA, PB, and AB are: ; The real-time measured value R of the radius of the large arc-shaped structural component is calculated as follows: .

[0008] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that three sets of guiding devices are provided. When the extension directions of the moving paths of the material-supporting devices intersect and the intersection point is located inside the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material-supporting devices intersect the inner circle of the large arc-shaped structural component at two points. A first auxiliary guiding device is provided along the extension line of the horizontally set guiding device, and an auxiliary material-supporting device is slidably mounted on the first auxiliary guiding device. S1 includes the following steps: S111. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as reference point P, and the included angle between the moving paths of two symmetrically distributed sets of material support devices is... Define the distance between the reference point P and the inner circle of the large arc-shaped structure as f, and the intersection of the movement path of the first auxiliary device and the large arc-shaped structure as Q; S112. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the large arc-shaped structural component and the moving paths of the symmetrically distributed material support devices as A and B. S113. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance D of the material support device. PA D PB Calculate the horizontal rotation angle of the material support rollers of the symmetrically distributed material support device. .

[0009] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that when At that time, points A and B coincide. ; when At that time, points A and B do not coincide. , .

[0010] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that it further includes: S211. Define the vehicle body movement distance of the symmetrically distributed material support device as... The vehicle body movement distance of the auxiliary material support device is defined as... The relative distance detected by a laser rangefinder for a large curved structural component is defined as... The standard distance for laser rangefinders to detect large curved structural components is defined as follows: ; S212. Calculate the triangle formed by points A, B, and Q. Side length: Calculate the triangle formed by points A, B, and Q. Area: Calculate the real-time detection value of the radius of large arc-shaped structural components. .

[0011] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that the guiding device is provided in three sets. When the extension directions of the moving paths of the material support devices intersect and the intersection point is located outside the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically angled material support devices intersect the inner circle of the large arc-shaped structural component at four points. S1 includes the following steps: S121. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as the reference point. The included angle between the moving paths of the two symmetrically distributed sets of material support devices is... Define the reference point The distance between the material support device and the inner circle of the large arc-shaped structural component is f, and the intersection of the moving path of the horizontally extending material support device and the large arc-shaped structural component is Q. S122. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the moving paths of the large arc-shaped structural component and the symmetrically distributed material support devices as A1, B1, A2, and B2. S123. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance of the material support device. Calculate the horizontal rotation angle of the material support rollers of the symmetrically distributed material support device. .

[0012] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that when hour, Two overlaps ; when hour, They do not overlap. ; ; ; .

[0013] A further improvement of the automatic detection and conveying method for large arc-shaped structural components of the present invention is that the laser ranging sensor adopts a single-point measurement method, and S2 includes the following steps: S221. Define the vehicle body movement distance of a symmetrically distributed material support device as... The distance the vehicle body of the horizontally positioned material-carrying device moves is defined as... The relative distance detected by a laser rangefinder for a large curved structural component is defined as... The horizontal rotation angle of the material support roller is detected in real time. ; S222. Define the standard distance for laser rangefinders to detect large curved structural components as follows: ; calculate The side length of the triangle formed by any three points in the triangle is given by... For example: calculate The half perimeter is ; calculate The area is Calculate the real-time measured value R of the radius of large arc-shaped structural components. .

[0014] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: 1. This invention enables flexible conveying of large arc-shaped structural components. The material support device adopts position adaptive control, which reduces the risk of collision and wear caused by workpiece placement deviation, and realizes the lifting and conveying of large arc-shaped structural components of different specifications.

[0015] 2. This invention achieves precise feeding of large arc-shaped structural components. It uses a rotary encoder to measure the arc length of the large arc-shaped structural components, ensuring accurate feeding position. The height of the material support device can be adjusted synchronously by controlling it with a proportional valve as required, so as to achieve synchronous lifting of arc-shaped structural components of different heights.

[0016] 3. This invention enables online inspection of large arc-shaped structural components. The material support device functions as an inspection platform, enabling online measurement of parameters such as the radius at different heights of large arc-shaped structural components, thereby improving measurement efficiency and reducing workpiece handling.

[0017] 4. The adaptive technology for conveying large arc-shaped structural components in this invention enables automatic adjustment of the conveying parameters. Supported by automated detection technology, the workpiece process database is improved; simultaneously, similar process formulas can be retrieved from the process database based on workpiece standard parameters, and adjusted according to the detected values ​​to form new process parameter formulas, thereby achieving automatic conveying of large arc-shaped structural components.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an automatic detection and conveying device for large arc-shaped structural components provided by the present invention.

[0021] Figure 2 This is a schematic diagram of the material support device in an automatic detection and conveying device for large arc-shaped structural components provided by the present invention.

[0022] Figure 3 This is a schematic diagram of Example 1.

[0023] Figure 4 This is a schematic diagram of Example 2.

[0024] Figure 5 This is a schematic diagram of Example 3.

[0025] Figure label: 1. Large arc-shaped structural components; 2. Guiding device; 3. Material support device; 31. Car body; 32. Lifting cylinder; 33. Material support roller; 34. Servo motor; 35. Horizontal variable frequency motor; 36. Rotary variable frequency motor; 41. Laser rangefinder sensor; 42. Servo electric cylinder. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but should not be used to limit the scope of this invention.

[0027] The following is combined with Figure 1 and Figure 2 The present invention describes an automatic inspection and conveying device for large arc-shaped structural components, comprising: Guide device 2, wherein several groups of guide devices 2 are provided, and the several groups of guide devices 2 are distributed in a symmetrical angular divergent manner; A material support device 3 is slidably mounted on the guide device 2. The material support device 3 includes a vehicle body 31, a lifting cylinder 32, a material support roller 33, a servo motor 34, a horizontal variable frequency motor 35, and a rotary variable frequency motor 36. The servo motor 34 drives the vehicle body 31 to move along the guide device 2. The lifting cylinder 32 is vertically mounted on the vehicle body 31. A frame top plate is mounted on the top of the plunger of the lifting cylinder 32. A connecting frame is rotatably connected to the frame top plate. The material support roller 33 is rotatably connected to the connecting frame. A sleeve is fitted on the material support roller 33. A large arc-shaped structural component 1 is placed on the sleeve. The sleeve can slide on the material support roller 33, thereby achieving passive position fine adjustment of the large arc-shaped structural component 1 during rotational conveying, avoiding wear on the large arc-shaped structural component 1, and ensuring measurement or conveying accuracy. The horizontal variable frequency motor 35 is driven and connected to the connecting frame, and the rotary variable frequency motor 36 is driven and connected to the material support roller 33. The detection device includes a servo electric cylinder 42 disposed on the vehicle body 31 and a laser rangefinder 41 connected to the servo electric cylinder 42. The servo electric cylinder 42 is used to adjust the height of the laser rangefinder 41, and the laser rangefinder 41 is used to detect and verify the radius of the large arc-shaped structural component 1.

[0028] Preferably, the flat-type variable frequency motor 35 is equipped with an angle encoder to achieve precise horizontal angle control of the material support roller 33 relative to the car body 31, thereby reducing or avoiding slippage during the rotation of the large arc-shaped structural component 1 and ensuring measurement or conveying accuracy.

[0029] Preferably, the rotary variable frequency motor 36 is equipped with a rotary encoder. When the material support roller 33 rotates actively, it realizes the rotational conveying of the large arc-shaped structural component 1. When the material support roller 33 rotates passively, it realizes the detection of the rotational arc length of the large arc-shaped structural component 1.

[0030] Preferably, the large arc-shaped structural component 1 includes structural components with cross-sections of circular, semi-circular, or 1 / 3 circle shapes. In one specific embodiment, the parameters of the large arc-shaped structural component 1 are: diameter of 4~10.5 mm, thickness of 24~60 mm, and height of 80~160 mm.

[0031] Preferably, the servo electric cylinder 42 can drive the laser rangefinder 41 to lift 200mm, enabling reciprocating detection of the large arc-shaped structural component 1 within a height range of 200mm.

[0032] This invention provides an automatic inspection and conveying method for large arc-shaped structural components. The method utilizes an automatic inspection and conveying device for large arc-shaped structural components as described above, and includes the following steps: S1, the large arc-shaped structural component 1 is automatically positioned by the material support device 3; A standard digital model is established based on the distribution of several guiding devices 2, the size of the large arc-shaped structural component 1, and the processing requirements of the large arc-shaped structural component 1. The lifting height of the lifting cylinder 32, the moving position of the servo motor 34 driving the vehicle body 31, and the horizontal rotation angle of the material support roller 33 are determined based on the standard digital model in order to lift the large arc-shaped structural component 1. During the lifting process, the laser rangefinder 41 detects the actual position of the sleeve and then adjusts the position of the material support device 3 to ensure that the large arc-shaped structural component 1 is in the center of the material support roller 33 in real time. At the same time, it adjusts the horizontal deviation angle between the material support roller 33 and the vehicle body 31 to ensure that the rotation direction of the large arc-shaped structural component 1 and the material support roller 33 is consistent, so as to realize the flexible detection and conveying of the large arc-shaped structural component 1. S2, Online inspection of large arc-shaped structural components; The rotary variable frequency motor 36 is equipped with a rotary encoder, which measures the rotation arc length of the large arc-shaped structural component 1, thereby controlling the conveying speed and rotary feed of the large arc-shaped structural component 1. The actual specifications of the large arc-shaped structural component 1 are measured using a laser rangefinder 41 and a single-point or three-point measurement method, so as to improve the actual digital model of the large arc-shaped structural component 1 and then process the large arc-shaped structural component 1.

[0033] Preferably, by automatically positioning the large arc-shaped structural component 1 on the material support device 3, precise control of the large arc-shaped structural component 1 during the conveying process is achieved, ensuring that the large arc-shaped structural component 1 always maintains the correct position and posture on the conveying line, providing a solid foundation for subsequent inspection and processing. Through the coordinated work of the rotary frequency conversion motor 36 and the rotary encoder, the precise measurement of the rotation arc length of the large arc-shaped structural component 1 is achieved, thereby further improving the accuracy of inspection and processing.

[0034] Online inspection of the large arc-shaped structural component 1 ensures processing quality. The actual specifications of the large arc-shaped structural component 1 can be measured in real time, further improving the actual digital model. By comparing it with the preset theoretical digital model, deviations can be detected and corrected in a timely manner, ensuring the processing accuracy of the large arc-shaped structural component 1.

[0035] Preferably, the guide device 2 is provided in three sets, one set is set in the horizontal direction, and the other two sets are set symmetrically with the horizontal guide device 2 as the line of symmetry. In order to prevent the three sets of guide devices 2 from interfering with each other, the horizontally set guide device 2 is located inside the two symmetrically set guide devices 2. In order to stably support the large arc-shaped structural component 1, a first auxiliary guide device 2 can be set on the extension line or vertical line of the horizontally set guide device 2. An auxiliary material support device 3 is slidably provided on the first auxiliary guide device 2. The mechanism of the auxiliary material support device 3 is the same as the structure of the material support device 3, which can stably support the large arc-shaped structural component 1.

[0036] Preferably, the guide device can also be set with 4, 5, or 6 groups as needed. This application does not impose a specific limit on the number of guide devices.

[0037] The following specific implementation case illustrates the automatic detection and conveying method for large arc-shaped structural components under different working conditions.

[0038] Example 1 like Figure 3 As shown, the guiding device is provided in three sets. When the extending directions of the moving paths of the material support devices intersect and the intersection point is located on the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material support devices intersect the inner circle of the large arc-shaped structural component at two points. S1 includes the following steps: S101. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as reference point P, and the included angle between the moving paths of two symmetrically distributed sets of material support devices is... ; S102. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the large arc-shaped structural component and the moving paths of the symmetrically distributed material support devices as A and B. S103. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance D of the material support device. PA D PB Calculate the horizontal rotation angle of the material support roller. .

[0039] when At that time, points A and B coincide. ; when At that time, points A and B do not coincide. .

[0040] When the laser ranging sensor uses a single-point measurement method, S2 includes the following steps: S201, Define the moving distance of symmetrically distributed support rollers as... The relative distance for detecting large curved structural components by a laser rangefinder is defined as... The standard distance for laser rangefinders to detect large curved structural components (i.e., the distance from the center of the variable frequency motor to the rangefinder's reference point) is defined as follows: ; S202. Calculate the triangle formed by points A, B, and P. The side lengths of PA, PB, and AB are: ; Wherein, the side length of PA is the moving distance D of a material support device. PA The side length of PB is the moving distance D of the other material support device. PB The real-time measured value R of the radius of the large arc-shaped structural component is calculated as follows: .

[0041] Example 2 like Figure 4 As shown, the guiding device is provided in three sets. When the extending directions of the moving paths of the material support devices intersect and the intersection point is located inside the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material support devices intersect the inner circle of the large arc-shaped structural component at two points. S1 includes the following steps: S111. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as reference point P, and the included angle between the moving paths of two symmetrically distributed sets of material support devices is... Define the distance between the reference point P and the inner circle of the large arc-shaped structural component as f. Set the first auxiliary guide device on the extension line of the horizontally set guide device. The first auxiliary guide device is equipped with an auxiliary material support device. The intersection of the movement path of the first auxiliary device and the large arc-shaped structural component is Q. S112. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection point of the large arc-shaped structural component and the moving paths of the symmetrically distributed material support devices as... ; S113. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance D of the material support device. PA D PB Calculate the horizontal rotation angle of the material support rollers of the symmetrically distributed material support device. ; when At that time, points A and B coincide. ; when At that time, points A and B do not coincide. , .

[0042] The laser ranging sensor uses a single-point measurement method, and S2 includes the following steps: S211. Define the moving distance of the symmetrically distributed material handling device (the distance from the center of the variable frequency motor to point P) as follows: The vehicle body movement distance of the auxiliary material support device is defined as... The relative distance detected by a laser rangefinder for a large curved structural component is defined as... The standard distance for laser rangefinders to detect large curved structural components (i.e., the distance from the center of the variable frequency motor to the ranging reference point of the laser rangefinder) is defined as follows: ; S212. Calculate the triangle formed by points A, B, and Q. Side length: Wherein, the side length of PA is the moving distance D of a material support device. PA The side length of PB is the moving distance D of the other material support device. PB ; Calculate the triangle formed by points A, B, and Q. Area: Calculate the real-time detection value of the radius of large arc-shaped structural components. .

[0043] Example 3 like Figure 5 As shown, the guiding device is provided in three sets. When the extending directions of the moving paths of the material support devices intersect and the intersection point is located outside the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material support devices intersect the inner circle of the large arc-shaped structural component at four points. S1 includes the following steps: S121. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as reference point P, and the included angle between the moving paths of two symmetrically distributed sets of material support devices is... Define the distance between the reference point P and the inner circle of the large arc-shaped structural component as f, and the intersection of the moving path of the horizontally extending material support device and the large arc-shaped structural component as Q. S122. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the moving paths of the large arc-shaped structural component and the symmetrically distributed material support devices as A1, B1, A2, and B2. S123. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance of the material support device. Calculate the horizontal rotation angle of the material support rollers of the symmetrically distributed material support device. ; when hour, Two overlaps ; when hour, They do not overlap. ; ; ; .

[0044] S221. Define the vehicle body movement distance of the symmetrically distributed material handling device (defined as the distance from the center position of the variable frequency motor to point P). The distance the vehicle body of the horizontally positioned material-carrying device moves is defined as... The relative distance detected by a laser rangefinder for a large curved structural component is defined as... The horizontal rotation angle of the material support roller is detected in real time. ; S222. Define the standard distance for laser ranging sensors to detect large curved structural components (i.e., the distance from the center of the variable frequency motor to the ranging reference point of the laser ranging sensor) as follows: ; calculate The side length of the triangle formed by any three points in the triangle is given by... For example: The moving distance of one of the material support devices can be The moving distance of another material support device can be ; calculate The half perimeter is ; calculate The area is Calculate the real-time measured value R of the radius of large arc-shaped structural components. .

[0045] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: 1. This invention enables flexible conveying of large arc-shaped structural components. The material support device adopts position adaptive control, which reduces the risk of collision and wear caused by workpiece placement deviation, and realizes the lifting and conveying of large arc-shaped structural components of different specifications.

[0046] 2. This invention achieves precise feeding of large arc-shaped structural components. It uses a rotary encoder to measure the arc length of the large arc-shaped structural components, ensuring accurate feeding position. The height of the material support device can be adjusted synchronously by controlling it with a proportional valve as required, so as to achieve synchronous lifting of arc-shaped structural components of different heights.

[0047] 3. This invention enables online inspection of large arc-shaped structural components. The material support device functions as an inspection platform, enabling online measurement of parameters such as the radius at different heights of large arc-shaped structural components, thereby improving measurement efficiency and reducing workpiece handling.

[0048] 4. The adaptive technology for conveying large arc-shaped structural components in this invention enables automatic adjustment of the conveying parameters. Supported by automated detection technology, the workpiece process database is improved; simultaneously, similar process formulas can be retrieved from the process database based on workpiece standard parameters, and adjusted according to the detected values ​​to form new process parameter formulas, thereby achieving automatic conveying of large arc-shaped structural components.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic inspection and conveying device for large arc-shaped structural components, characterized in that, include: A guiding device, wherein several groups of the guiding devices are arranged in a symmetrically divergent manner; A material support device is slidably mounted on a guide device. The material support device includes a vehicle body, a lifting cylinder, a material support roller, a servo motor, a horizontal variable frequency motor, and a rotary variable frequency motor. The servo motor drives the vehicle body to move along the guide device. The lifting cylinder is vertically mounted on the vehicle body. A frame top plate is mounted on the top of the piston of the lifting cylinder. A connecting frame is rotatably connected to the frame top plate. The material support roller is rotatably connected to the connecting frame. A sleeve is fitted on the material support roller. The horizontal variable frequency motor is driven and connected to the connecting frame. The rotary variable frequency motor is driven and connected to the material support roller. The detection device includes a servo electric cylinder disposed on the vehicle body and a laser rangefinder connected to the servo electric cylinder. The servo electric cylinder is used to adjust the height of the laser rangefinder, and the laser rangefinder is used to detect and verify the radius of a large arc-shaped structural component.

2. An automatic detection and conveying method for large arc-shaped structural components, characterized in that, The automatic inspection and conveying method for large arc-shaped structural components using the automatic inspection and conveying device for large arc-shaped structural components as described in claim 1 includes the following steps: S1, large arc-shaped structural components are automatically positioned by the material support device; A standard digital model is established based on the distribution of several guiding devices, the size of the large arc-shaped structural component, and the processing requirements of the large arc-shaped structural component. The lifting height of the lifting cylinder, the moving position of the servo motor-driven vehicle body, and the horizontal rotation angle of the material support roller are determined based on the standard digital model in order to lift the large arc-shaped structural component. During the lifting process, the laser rangefinder sensor detects the actual position of the sleeve and then adjusts the position of the material support device so that the large arc-shaped structural component is in the center of the material support roller in real time. At the same time, the horizontal deviation angle between the material support roller and the vehicle body is adjusted to ensure that the rotation direction of the large arc-shaped structural component is consistent with that of the material support roller, thereby realizing the flexible detection and conveying of the large arc-shaped structural component. S2, Online inspection of large curved structural components; The rotary variable frequency motor is equipped with a rotary encoder, which measures the rotation arc length of the large arc-shaped structural component, thereby controlling the conveying speed and rotary feed of the large arc-shaped structural component. The actual specifications of the large arc-shaped structural component are measured by a laser rangefinder to improve the actual digital model of the large arc-shaped structural component, and then the large arc-shaped structural component is processed.

3. The automatic detection and conveying method for large arc-shaped structural components according to claim 2, characterized in that, The guide device is provided in three sets. When the extending directions of the moving paths of the material support devices intersect and the intersection point is located on the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material support devices intersect the inner circle of the large arc-shaped structural component at two points. S1 includes the following steps: S101. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as the reference point. The included angle between the moving paths of the two symmetrically distributed sets of material support devices is... ; S102. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the large arc-shaped structural component and the moving paths of the symmetrically distributed material support devices as A and B. S103. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance D of the material support device. PA D PB Calculate the horizontal rotation angle of the material support roller. ; when At that time, points A and B coincide. ; when At that time, points A and B do not coincide. 。 4. The automatic detection and conveying method for large arc-shaped structural components according to claim 3, characterized in that, Also includes: S201, Define the moving distance of symmetrically distributed support rollers as... The relative distance for detecting large curved structural components by a laser rangefinder is defined as... The standard distance for laser rangefinders to detect large curved structural components is defined as follows: ; S202. Calculate the triangle formed by points A, B, and P. The side lengths of PA, PB, and AB are: ； The real-time measured value R of the radius of the large arc-shaped structural component is calculated as follows: 。 5. The automatic detection and conveying method for large arc-shaped structural components according to claim 2, characterized in that, The guide device is provided in three sets. When the extension directions of the moving paths of the material support devices intersect and the intersection point is located inside the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material support devices intersect the inner circle of the large arc-shaped structural component at two points. A first auxiliary guide device is provided along the extension line of the horizontally set guide device, and an auxiliary material support device is slidably mounted on the first auxiliary guide device. S1 includes the following steps: S111. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as reference point P, and the included angle between the moving paths of two symmetrically distributed sets of material support devices is... Define the distance between the reference point P and the inner circle of the large arc-shaped structure as f, and the intersection of the movement path of the first auxiliary device and the large arc-shaped structure as Q; S112. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the large arc-shaped structural component and the moving paths of the symmetrically distributed material support devices as A and B. S113. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance D of the material support device. PA D PB Calculate the horizontal rotation angle of the material support rollers of the symmetrically distributed material support device. .

6. The automatic detection and conveying method for large arc-shaped structural components according to claim 5, characterized in that, when At that time, points A and B coincide. ; when At that time, points A and B do not coincide. ， 。 7. The automatic detection and conveying method for large arc-shaped structural components according to claim 6, characterized in that, Also includes: S211. Define the vehicle body movement distance of the symmetrically distributed material support device as... The vehicle body movement distance of the auxiliary material support device is defined as... The relative distance detected by a laser rangefinder for a large curved structural component is defined as... The standard distance for laser rangefinders to detect large curved structural components is defined as follows: ; S212. Calculate the triangle formed by points A, B, and Q. Side length: Calculate the triangle formed by points A, B, and Q. Area: Calculate the real-time detection value of the radius of large arc-shaped structural components. .

8. The automatic detection and conveying method for large arc-shaped structural components according to claim 2, characterized in that, The guide device is provided in three sets. When the extending directions of the moving paths of the material support devices intersect and the intersection point is located outside the inner circle of the large arc-shaped structural component, the moving paths of the symmetrically distributed material support devices intersect the inner circle of the large arc-shaped structural component at four points. S1 includes the following steps: S121. Define the intersection of the extension directions of the moving paths of symmetrically distributed material support devices as the reference point. The included angle between the moving paths of the two symmetrically distributed sets of material support devices is... Define the reference point The distance between the material support device and the inner circle of the large arc-shaped structural component is f, and the intersection of the moving path of the horizontally extending material support device and the large arc-shaped structural component is Q. S122. Define the standard radius of the large arc-shaped structural component as R0 and the standard thickness as W0. Define the intersection points of the moving paths of the large arc-shaped structural component and the symmetrically distributed material support devices as A1, B1, A2, and B2. S123. Obtain the automatic positioning position and angle of the material support device, and calculate the moving distance of the material support device. Calculate the horizontal rotation angle of the material support rollers of the symmetrically distributed material support device. .

9. The automatic detection and conveying method for large arc-shaped structural components according to claim 8, characterized in that, when hour, Two overlaps ； when hour, They do not overlap. ； ； ； 。 10. The automatic detection and conveying method for large arc-shaped structural components according to claim 9, characterized in that, The laser ranging sensor uses a single-point measurement method, and S2 includes the following steps: S221. Define the vehicle body movement distance of a symmetrically distributed material support device as... The distance the vehicle body of the horizontally positioned material-carrying device moves is defined as... The relative distance detected by a laser rangefinder for a large curved structural component is defined as... The horizontal rotation angle of the material support roller is detected in real time. ; S222. Define the standard distance for laser rangefinders to detect large curved structural components as follows: ; calculate The side length of the triangle formed by any three points in the triangle is given by... For example: calculate The half perimeter is ; calculate The area is Calculate the real-time measured value R of the radius of large arc-shaped structural components. 。

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