Mining hydraulic cylinder laser cladding automation system and method

Abstract

A mining hydraulic cylinder laser cladding automation system comprises a carrying truss mechanical arm, a blank piece feeding trolley, a finished product piece discharging trolley, a six-axis robot system and a four-axis position changing machine. The carrying truss mechanical arm is used for grabbing and carrying incoming materials on the blank piece feeding trolley at all the feeding and discharging stations to the four-axis position changing machine, and after machining is completed, machined finished products at the four-axis position changing machine are grabbed and carried to the finished product piece discharging trolley. The six-axis robot systems and the four-axis position changing machines jointly form a plurality of laser cladding work stations, and in each laser cladding work station, the four-axis position changing machines are located on the side close to the blank feeding trolley and the finished product discharging trolley and used for feeding and discharging operation. The six-axis robot system is used for automatically recognizing the appearance of supplied materials, automatically calculating cladding starting and ending position values and completing an automatic machining task. Full-automatic large-batch feeding and discharging and temporary storage of materials, automatic positioning, clamping and fixing of supplied materials and full-automatic machining can be achieved.

Description

Technical Field

[0001] This invention relates to the field of cladding production technology for cylinder-type parts, and in particular to an automated laser cladding system for mining hydraulic cylinders, as well as a method for using the aforementioned automated laser cladding system for mining hydraulic cylinders. Background Technology

[0002] Currently, in most domestic production workshops, laser cladding of mining hydraulic cylinders commonly uses the following production method: the cylinder barrel is manually hoisted onto a positioner, the workpiece is manually aligned, and the cladding process is performed manually or semi-automatically. After completion, the cylinder is manually hoisted and unloaded, and then cleaned and inspected. However, this method involves a lot of manual intervention, uses semi-automatic small-batch logistics, has low loading and unloading efficiency, and low automation of the cladding process, resulting in low logistics efficiency and slow production cycle. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a fully automated laser cladding system for mining hydraulic cylinders that can realize fully automated large-scale loading and unloading, material storage, automatic material positioning and clamping, and fully automated processing.

[0004] Another technical problem to be solved by the present invention is to provide a method for using the above-mentioned automated laser cladding system for mining hydraulic cylinders.

[0005] The technical problem to be solved by this invention is achieved through the following technical solution. This invention is an automated system for laser cladding of hydraulic cylinders in mining applications, comprising a handling gantry robot, a blank loading trolley, a finished product unloading trolley, a six-axis robot system, and a four-axis positioner; The transport gantry robot is used to grab and transport the incoming materials from the blank loading car at each loading and unloading station to the four-axis positioner. After processing is completed, the processed finished products at the four-axis positioner are grabbed and transported to the finished parts unloading car. The blank loading trolley is located on one side of the handling gantry robot and is used to move along the x-axis of the handling gantry robot to buffer the blanks. The finished part unloading trolley is located on the other side of the handling gantry robot and is used to move along the x-axis of the handling gantry robot to buffer the finished products. The six-axis robot system and the four-axis positioner together form several laser cladding workstations. The laser cladding workstations are arranged side by side along the x-axis of the handling gantry robot. In each laser cladding workstation, the six-axis robot system and the four-axis positioner are arranged along the y-axis of the handling gantry robot. The four-axis positioner is located near the blank loading trolley and the finished part unloading trolley for loading and unloading operations. The six-axis robot system is used to automatically identify the appearance of the incoming material, automatically calculate the cladding start and end position values, and complete the automatic processing task.

[0006] The technical problem to be solved by the present invention can also be further achieved by the following technical solution: For the above-mentioned automated system for laser cladding of mining hydraulic cylinders, the handling truss manipulator includes an x-axis crossbeam, a y-axis longitudinal beam, a z-axis lifting beam, a support column, an x-axis servo system, a y-axis servo system, a z-axis servo system, and a handling manipulator; The supporting column is fixed to the ground with anchor bolts, and the x-axis crossbeam is fixedly installed on the top of the supporting column with positioning screws. The y-axis longitudinal beam is connected to the x-axis crossbeam through a guide rail slider assembly, and the y-axis longitudinal beam is driven to move along the x-axis direction by the x-axis servo system. The z-axis lifting beam is connected to the y-axis longitudinal beam through a guide rail slider assembly, and the z-axis lifting beam is driven to move along the y-axis direction by the y-axis servo system. The handling robot is connected to the z-axis lifting beam through a guide rail slider assembly, and the z-axis lifting beam is driven to move along the z-axis direction by the z-axis servo system, for automatic clamping and lifting operations of products.

[0007] The technical problem to be solved by the present invention can also be further achieved through the following technical solution: For the above-mentioned automated system for laser cladding of mining hydraulic cylinders, the blank loading car includes a frame, supporting fixtures, transmission device, driving wheel, and driven wheel; The support fixture is fixed to the top of the frame with positioning screws, and the transmission device is fixed to the bottom of the frame with positioning screws. The drive wheel is connected to the output end of the transmission device through the transmission shaft. The transmission device is used to drive the drive wheel to rotate forward and backward, thereby driving the blank loading trolley to move forward and backward. The driven wheel is fixed to the bottom of the frame with positioning screws to keep the blank loading trolley moving smoothly as a whole.

[0008] The technical problem to be solved by the present invention can also be further achieved through the following technical solution: For the above-mentioned automated system for laser cladding of mining hydraulic cylinders, the finished part unloading car includes a frame, supporting fixtures, transmission device, driving wheel, and driven wheel; The supporting fixture is fixed to the top of the frame with positioning screws, and the transmission device is fixed to the bottom of the frame with positioning screws. The drive wheel is connected to the output end of the transmission device via a drive shaft. The transmission device is used to drive the drive wheel to rotate forward and backward, thereby driving the blank loading trolley forward and backward. The driven wheel is fixed to the bottom of the frame with positioning screws to keep the blank loading trolley moving smoothly as a whole.

[0009] The technical problem to be solved by the present invention can also be further achieved through the following technical solutions: For the above-mentioned automated system for laser cladding of mining hydraulic cylinders, the six-axis robot system includes an industrial six-axis robotic arm, a cladding processing head, a positioning and detection camera, a robot base, and a drive device. The robot base is fixed to the ground by anchor screws, the industrial six-axis robotic arm is fixed to the robot base by positioning screws, and the drive device is installed at the rear of the industrial six-axis robotic arm by positioning screws to drive the movement of the industrial six-axis robotic arm; the cladding head and the positioning and detection camera are fixed to the end of the industrial six-axis robotic arm by positioning screws. During the processing, the industrial six-axis robotic arm first drives the positioning and detection camera to scan the entire surface of the workpiece and locate the processing points. At the same time, it automatically generates the cladding processing path. Subsequently, the industrial six-axis robotic arm drives the cladding processing head to automatically complete the processing action according to the generated path.

[0010] The technical problem to be solved by the present invention can also be further achieved by the following technical solution: For the above-mentioned automated system for laser cladding of mining hydraulic cylinders, the four-axis positioner includes a base, a spindle box, a power spindle, a tailstock, a pin assembly mechanism, a lifting mechanism, a spindle box hydraulic clamping device, and a tailstock hydraulic clamping device. The base is fixed to the ground by anchor bolts. The lifting mechanism is installed on the center of the upper surface of the base by positioning screws, with its centerline aligned with the axes of the spindle box and tailstock. This mechanism is used to automatically lift and center the workpiece based on its diameter information. The spindle box is mounted on the left side of the upper surface of the base via two sets of symmetrically arranged guide rail slider assemblies, allowing it to slide above the base along the axial direction. The power spindle is connected to the output end of the spindle box via an internal drive mechanism, enabling unidirectional 360° rotation under drive. The tailstock is mounted on the right side of the upper surface of the base via two sets of symmetrically arranged guide rail slider assemblies, allowing it to slide above the base along the axial direction. Sliding; the ejector assembly mechanism is fixed to the upper surface of the tailstock by positioning screws; the spindle box hydraulic clamping device is fixed to the upper surface of the tailstock by positioning screws, located between the spindle box and the spindle box, and its output end is fixed to the lower surface of the spindle box by screws; the tailstock hydraulic clamping device is fixed to the upper surface of the tailstock by positioning screws, located between the tailstock and the spindle box, and its output end is fixed to the lower surface of the tailstock by screws; the spindle box hydraulic clamping device and the tailstock hydraulic clamping device are used to drive the spindle box and the tailstock to move along the axial direction respectively, to clamp and release the power spindle and the ejector assembly mechanism, that is, to realize the clamping and releasing of the cylinder product.

[0011] The technical problem to be solved by the present invention can also be further achieved through the following technical solution: For the above-mentioned automated laser cladding system for mining hydraulic cylinders, an automated method for laser cladding of mining hydraulic cylinders comprises the following steps: (1) Material preparation stage: The blanks of the mining hydraulic cylinders to be processed are neatly placed on the support fixture of the blank loading trolley. Start the transmission device of the blank loading trolley, drive the drive wheel to rotate, and move the blank loading trolley along the x-axis of the handling gantry robot to the designated loading and unloading station; (2) Raw material handling stage: The x-axis, y-axis, and z-axis servo systems of the handling gantry robot work together. The x-axis servo system drives the y-axis longitudinal beam to move along the x-axis direction, so that the handling robot is directly above the blank loading trolley. The y-axis servo system drives the z-axis lifting beam to move along the y-axis direction, adjusting the vertical position of the handling robot. The z-axis servo system drives the handling robot to descend along the z-axis direction to accurately grasp the blank. After grabbing the blank, the transport gantry robot moves the blank to the four-axis positioner in the reverse order; (3) Workpiece clamping stage: The lifting mechanism of the four-axis positioner automatically adjusts its height based on the diameter information of the blank to achieve preliminary centering of the blank. The hydraulic clamping device of the spindle box and the hydraulic clamping device of the tailstock drive the spindle box and the tailstock to move along the axial direction, so that the power spindle and the ejector assembly mechanism clamp the blank and complete the clamping and fixing of the workpiece. (4) Processing path planning stage: The industrial six-axis robotic arm of the six-axis robot system drives the positioning and detection camera to perform a full-surface scan of the clamped blank; The positioning and detection camera transmits the scanned data to the control system. The control system accurately locates the processing point based on the preset algorithm and parameters, and automatically generates the cladding processing path. (5) Laser cladding process stage: The industrial six-axis robotic arm moves the cladding head to the starting point of the process according to the generated processing path; Start the laser cladding equipment, and the cladding head performs laser cladding on the blank according to the predetermined path and parameters. During the processing, the power spindle of the four-axis positioner can drive the blank to rotate 360° in one direction as needed to ensure the uniformity and integrity of the cladding. (6) Finished product unloading stage: After processing, the hydraulic clamping devices of the spindle box and tailstock of the four-axis positioner drive the spindle box and tailstock to loosen respectively, so that the finished product is separated from the power spindle and the ejector assembly mechanism. The handling truss robot moves again, following the same principle as handling the blank, to grab the finished product from the four-axis positioner and move it to the support fixture of the finished product unloading car; (7) Finished product caching and transportation stage: When the finished products on the unloading trolley reach a certain quantity or meet the transportation conditions, the transmission device of the unloading trolley is activated. The transmission device drives the drive wheel to rotate, causing the unloading trolley to move along the x-axis of the handling gantry robot to the designated position for subsequent transportation and processing.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention adopts a fully automatic material storage mechanism and transfer mechanism, which can realize the simultaneous feeding of multiple products, as well as the classified temporary storage of incoming products and finished products; (2) The present invention adopts a cladding production method that automatically identifies the appearance of incoming materials, automatically calculates the starting and ending position values ​​of cladding, and completes the automatic processing task, thereby realizing one-stop, fully automatic product identification and detection, clamping and fixing, and cladding. (3) The entire production process of the present invention does not require manual intervention, which improves production efficiency and helps to ensure production safety. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the handling gantry robot of the present invention; Figure 3 This is a bottom view of the blank loading trolley of the present invention; Figure 4 This is a three-dimensional structural schematic diagram of the blank loading cart of the present invention; Figure 5 This is a bottom view of the finished part unloading cart of the present invention; Figure 6 This is a three-dimensional structural schematic diagram of the finished part unloading cart of the present invention; Figure 7 This is a three-dimensional structural diagram of the six-axis robot system of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the four-axis positioner of the present invention. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] An automated system for laser cladding of hydraulic cylinders in mining applications includes a handling gantry robot 1; a blank loading trolley 2; a finished product unloading trolley 3; a six-axis robot system 4; and a four-axis positioner 5. Combination Figure 1 The transport gantry robot 1 is used to pick up incoming materials from the blank loading carriage 2 at each loading and unloading station and transfer them to the four-axis positioner 5, and to pick up the finished products from the four-axis positioner 5 and transfer them to the finished product unloading carriage 3. The blank loading carriage 2 and the finished product unloading carriage 3 are located below the transport gantry robot 1 and move along the x-axis. The left side of the blank loading carriage 2 buffers the blanks, and the right side of the finished product unloading carriage 3 buffers the finished products. The six-axis robot system 4 and the four-axis positioner 5 form a laser cladding workstation. Multiple workstations are arranged side by side along the x-axis on the other side below the transport gantry robot 1. Within each workstation, the two are arranged along the y-axis. The four-axis positioner 5 is close to the loading and unloading carriages for easy operation. The six-axis robot system 4 can automatically identify the appearance of the incoming materials, calculate the cladding position, and complete the processing. This invention can realize fully automatic loading and unloading, shape recognition, and laser cladding processing.

[0016] Combination Figure 1 and Figure 2 The handling gantry robot 1 consists of an x-axis crossbeam 101, a y-axis longitudinal beam 102, a z-axis lifting beam 103, a support column 104, an x-axis servo system 105, a y-axis servo system 106, a z-axis servo system 107, and a handling robot 108. The support column 104 is fixed to the ground with anchor bolts; the x-axis crossbeam 101 is fixed above the support column 104; the y-axis longitudinal beam 102 is connected to the x-axis crossbeam 101 via a guide rail slider assembly and is driven to move along the x-axis by the x-axis servo system 105; the z-axis lifting beam 103 is connected to the y-axis longitudinal beam 102 via a guide rail slider assembly and is driven to move along the y-axis by the y-axis servo system 106; the handling robot 108 is connected to the z-axis lifting beam 103 via a guide rail slider assembly and is driven to move along the z-axis by the z-axis servo system 107. Power components and sensors at these points enable automatic opening and closing.

[0017] Combination Figure 1 and Figure 3 The blank loading carriage 2 consists of a frame 201, a support fixture 202, a transmission device 203, a drive wheel 204, and a driven wheel 205. The support fixture 202 is fixed to the upper surface of the frame 201; the transmission device 203 is fixed to the lower surface of the frame 201; the drive wheel 204 is connected to the output end of the transmission device 203 through a drive shaft, and the transmission device 203 drives it to rotate forward and backward, making the carriage move forward and backward. Preferably, the transmission device 203 can be a geared motor; the driven wheel 205 is fixed to the lower surface of the frame 201 to maintain stable movement.

[0018] Combination Figure 1 and Figure 4The finished parts unloading carriage 3 consists of a frame 301, a support fixture 302, a transmission device 303, a drive wheel 304, and a driven wheel 305. The support fixture 302 is fixed to the upper surface of the frame 301; the transmission device 303 is fixed to the lower surface of the frame 301; the drive wheel 304 is connected to the output end of the transmission device 303 through a drive shaft, and the transmission device 303 drives it to rotate forward and backward, making the carriage move forward and backward. Preferably, the transmission device 303 can be a geared motor; the driven wheel 305 is fixed to the lower surface of the frame 301 to maintain stable movement.

[0019] Combination Figure 1 and Figure 5 The six-axis robot system 4 consists of an industrial six-axis robotic arm 401, a cladding head 402, a positioning and detection camera 403, a robot base 404, and a drive unit 405. The robot base 404 is fixed to the ground by anchor bolts. The industrial six-axis robotic arm 401 is fixed to the upper surface of the robot base 404. The drive unit 405 is installed behind the industrial six-axis robotic arm 401 to drive its movement. Preferably, the drive unit 405 can be a servo motor. The cladding head 402 and the positioning and detection camera 403 are fixed to the end of the industrial six-axis robotic arm 401. During processing, the industrial six-axis robotic arm 401 first drives the positioning and detection camera 403 to scan the workpiece to locate the processing points and generate a path, and then drives the cladding head 402 to complete the processing.

[0020] Combination Figure 1 and Figure 6 The four-axis positioner 5 consists of a base 501, a spindle box 502, a power spindle 503, a tailstock 504, an ejector pin assembly mechanism 505, a lifting mechanism 506, a spindle box hydraulic clamping device 507, and a tailstock hydraulic clamping device 508. The base is fixed to the ground by anchor bolts. The lifting mechanism 506 is installed in the middle of the upper surface of the base 501 to realize automatic lifting and centering of the workpiece. The spindle box 502 is installed on the left side of the upper surface of the base 501 and can slide. The power spindle 503 is connected to the output end of the spindle box and can rotate 360° in one direction. The tailstock 504 is installed on the right side of the upper surface of the base 501 and can slide. The ejector pin assembly mechanism 505 is fixed on the upper surface of the tailstock 504. The spindle box hydraulic clamping device 507 and the tailstock hydraulic clamping device 508 drive the spindle box 502 and the tailstock 504 to move respectively to realize the clamping and loosening of the cylinder product.

[0021] An automated method for laser cladding of mining hydraulic cylinders comprises the following steps: 1. Material preparation stage: The blanks of the mining hydraulic cylinders to be processed are neatly placed on the support fixture 202 of the blank loading trolley 2; the transmission device 203 of the blank loading trolley 2 is started, and the drive wheel 204 is driven to rotate, so that the trolley moves along the x-axis of the handling gantry robot 1 to the designated loading and unloading station. 2. Raw material handling stage: The x-axis servo system 105, y-axis servo system 106 and z-axis servo system 107 of the handling gantry robot 1 work together to make the handling robot 108 reach directly above the blank loading car 2, adjust its position and accurately grab the blank, and then transport it to the four-axis positioner 5 in the reverse order. 3. Workpiece clamping stage: The lifting mechanism 506 of the four-axis positioner 5 automatically adjusts the height for initial alignment based on the blank diameter information; the spindle box hydraulic clamping device 507 and the tailstock hydraulic clamping device 508 drive the spindle box 502 and the tailstock 504 to move respectively, so that the power spindle 503 and the ejector assembly mechanism 505 clamp the blank to complete the clamping and fixing. 4. Processing path planning stage: The industrial six-axis robotic arm 401 of the six-axis robot system 4 drives the positioning and detection camera 403 to move and perform a full-surface scan of the clamped blank; the positioning and detection camera 403 transmits the data to the control system, and the control system accurately locates the processing point and automatically generates the cladding processing path. 5. Laser cladding process stage: The industrial six-axis robotic arm 401 moves the cladding head 402 to the processing starting point according to the processing path; the laser cladding equipment is started, and the cladding head 402 performs laser cladding processing on the blank according to the predetermined path and parameters. The power spindle 503 of the four-axis positioner 5 can drive the blank to rotate 360° in one direction as needed. 6. Finished product unloading stage: After processing is completed, the hydraulic clamping device 507 of the spindle box and the hydraulic clamping device 508 of the tailstock of the four-axis positioner 5 drive the spindle box 502 and the tailstock 504 to release respectively; the handling gantry robot 1 grabs the finished product from the four-axis positioner 5 and transports it to the support fixture 302 of the finished product unloading car 3. 7. Finished product caching and transportation stage: When the finished products on the finished parts unloading cart 3 reach a certain quantity or meet the transportation conditions, the transmission device 303 of the finished parts unloading cart 3 is activated, driving the drive wheel 304 to rotate, so that the cart moves along the x-axis direction of the handling gantry robot 1 to the designated position for subsequent transportation processing.

[0022] This invention features an ingenious design and a rational structure, effectively achieving controllable cost management. Its innovative fully automated loading and unloading system and material temporary storage and transfer mechanism not only handle the loading of multiple products simultaneously but also possess intelligent classification and temporary storage capabilities for incoming and finished products, greatly enhancing the flexibility and efficiency of material management. By integrating a handling gantry robot and a fully automated cladding workstation, this invention constructs a one-stop fully automated production line, covering the entire process from product loading and unloading, precise temporary storage, stable clamping and fixing to efficient laser cladding, significantly improving production efficiency. The entire production process achieves unmanned operation, completely eliminating human intervention, thereby greatly improving production safety and the stability of the working environment.

[0023] In summary, this invention is specifically designed for mining hydraulic cylinder products, integrating fully automatic loading and unloading, intelligent shape recognition, and laser cladding processing, perfectly meeting the high standards required for modern automated production.

Claims

1. An automated laser cladding system for mining hydraulic cylinders, characterized in that: Includes a handling gantry robot (1), a blank loading trolley (2), a finished part unloading trolley (3), a six-axis robot system (4), and a four-axis positioner (5); The transport gantry robot (1) is used to pick up and transport the incoming materials from the blank loading car (2) at each loading and unloading station to the four-axis positioner (5). After processing is completed, the processed finished products at the four-axis positioner (5) are picked up and transported to the finished product unloading car (3). The blank loading trolley (2) is located on one side of the handling gantry robot (1) and is used to move along the x-axis of the handling gantry robot (1) to buffer the blank material. The finished product unloading trolley (3) is located on the other side of the handling gantry robot (1) and is used to move along the x-axis of the handling gantry robot (1) to buffer the finished product. The six-axis robot system (4) and the four-axis positioner (5) together form several laser cladding workstations. The laser cladding workstations are arranged side by side on the side of the handling gantry manipulator (1) along the x-axis direction. In each laser cladding workstation, the six-axis robot system (4) and the four-axis positioner (5) are arranged along the y-axis direction of the handling gantry manipulator (1). The four-axis positioner (5) is located on the side close to the blank loading car (2) and the finished part unloading car (3) for loading and unloading operations. The six-axis robot system (4) is used for automatic identification of the appearance of the incoming material, automatic calculation of the cladding start and end position values, and automatic processing tasks.

2. The automated laser cladding system for mining hydraulic cylinders according to claim 1, characterized in that: The transport truss robot (1) includes an x-axis crossbeam (101), a y-axis longitudinal beam (102), a z-axis lifting beam (103), a support column (104), an x-axis servo system (105), a y-axis servo system (106), a z-axis servo system (107), and a transport robot (108). The support column (104) is fixed to the ground by anchor bolts, and the x-axis crossbeam (101) is fixedly installed on the top of the support column (104) by positioning screws; the y-axis longitudinal beam (102) is connected to the x-axis crossbeam (101) by a guide rail slider assembly, and the y-axis longitudinal beam (102) is driven to move along the x-axis direction by the x-axis servo system (105); the z-axis lifting beam (103) is connected to the y-axis longitudinal beam (102) by a guide rail slider assembly, and the z-axis lifting beam (103) is driven to move along the y-axis direction by the y-axis servo system (106); the handling robot (108) is connected to the z-axis lifting beam (103) by a guide rail slider assembly, and the z-axis lifting beam (103) is driven to move along the z-axis direction by the z-axis servo system (107), for automatic clamping and lifting operations of products.

3. The automated laser cladding system for mining hydraulic cylinders according to claim 1, characterized in that: The blank loading trolley (2) includes a frame (201), a support fixture (202), a transmission device (203), a drive wheel (204), and a driven wheel (205); The support fixture (202) is fixed to the top of the frame (201) by positioning screws, the transmission device (203) is fixed to the bottom of the frame (201) by positioning screws, the drive wheel (204) is connected to the output end of the transmission device (203) through the transmission shaft, the transmission device (203) is used to drive the drive wheel (204) to rotate forward and backward, thereby driving the blank loading cart (2) to move forward and backward, and the driven wheel (205) is fixed to the bottom of the frame (201) by positioning screws to keep the blank loading cart (2) moving smoothly as a whole.

4. The automated laser cladding system for mining hydraulic cylinders according to claim 1, characterized in that: The finished part unloading trolley (3) includes a frame (301), a support fixture (302), a transmission device (303), a drive wheel (304), and a driven wheel (305); The support fixture (302) is fixed to the top of the frame (301) by positioning screws, and the transmission device (303) is fixed to the bottom of the frame (301) by positioning screws. The drive wheel (304) is connected to the output end of the transmission device (303) through the drive shaft. The transmission device (303) is used to drive the drive wheel (304) to rotate forward and backward, thereby driving the blank loading trolley (3) to move forward and backward. The driven wheel (305) is fixed to the bottom of the frame (301) by positioning screws to keep the blank loading trolley (3) moving smoothly as a whole.

5. The automated laser cladding system for mining hydraulic cylinders according to claim 1, characterized in that: The six-axis robot system (4) includes an industrial six-axis robotic arm (401), a cladding head (402), a positioning and detection camera (403), a robot base (404), and a drive device (405). The robot base (404) is fixed to the ground by anchor screws, and the industrial six-axis robotic arm (401) is fixed to the robot base (404) by positioning screws. The drive device (405) is installed at the rear of the industrial six-axis robotic arm (401) by positioning screws and is used to drive the industrial six-axis robotic arm (401) to move. The cladding head (402) and the positioning detection camera (403) are fixed to the end of the industrial six-axis robotic arm (401) by positioning screws. During the processing, the industrial six-axis robotic arm (401) first drives the positioning and detection camera (403) to scan the entire surface of the workpiece to be processed, locate the processing points, and automatically generate the cladding processing path. Then, the industrial six-axis robotic arm (401) drives the cladding processing head (402) to automatically complete the processing action according to the generated path.

6. The automated laser cladding system for mining hydraulic cylinders according to claim 1, characterized in that: The four-axis positioner (5) includes a base (501), a spindle box (502), a power spindle (503), a tailstock (504), a pin assembly mechanism (505), a lifting mechanism (506), a spindle box hydraulic clamping device (507), and a tailstock hydraulic clamping device (508). The base is fixed to the ground by anchor screws. The lifting mechanism (506) is installed on the middle of the upper surface of the base (501) by positioning screws. The center line is consistent with the axis of the spindle box (502) and the tailstock (504). It is used to realize the automatic lifting and centering operation of the workpiece according to the workpiece diameter information. The spindle box (502) is installed on the left side of the upper surface of the base (501) by two sets of symmetrically arranged guide rail slider assemblies. It is used to slide above the base (501) along the axial direction. The power spindle (503) is connected to the output end of the spindle box (502) via an internal drive mechanism, and is used for unidirectional 360° rotation under drive; the tailstock (504) is mounted on the right side of the upper surface of the base (501) via two sets of symmetrically arranged guide rail slider assemblies, and is used for sliding above the base (501) along the axial direction; the ejector pin assembly mechanism (505) is fixed to the upper surface of the tailstock (504) by positioning screws; the spindle box hydraulic clamping device (507) is fixed to the upper surface of the tailstock (504) by positioning screws, located between the spindle box (502) and the spindle box (502), and its output... The end is fixed to the lower surface of the spindle box (502) by screws; the tailstock hydraulic clamping device (508) is fixed to the upper surface of the tailstock (504) by positioning screws, located between the tailstock (504) and the spindle box (502), and its output end is fixed to the lower surface of the tailstock (504) by screws; the spindle box hydraulic clamping device (507) and the tailstock hydraulic clamping device (508) are used to drive the spindle box (502) and the tailstock (504) to move along the axial direction respectively, to clamp and release the power spindle (503) and the ejector assembly mechanism (505), that is, to realize the clamping and releasing of the cylinder product.

7. An automated method for laser cladding of mining hydraulic cylinders, characterized in that: This method uses the automated laser cladding system for mining hydraulic cylinders as described in any one of claims 1-6, and its steps are as follows: (1) Material preparation stage: The blanks of the mining hydraulic cylinders to be processed are neatly placed on the support fixture (202) of the blank loading car (2); Start the transmission device (203) of the blank loading trolley (2) and drive the drive wheel (204) to rotate, so that the blank loading trolley (2) moves along the x-axis direction of the handling gantry robot (1) to the designated loading and unloading station; (2) Raw material handling stage: The x-axis servo system (105), y-axis servo system (106), and z-axis servo system (107) of the handling gantry robot (1) work together. The x-axis servo system (105) drives the y-axis longitudinal beam (102) to move along the x-axis direction, so that the handling robot (108) reaches directly above the blank loading trolley (2). The y-axis servo system (106) drives the z-axis lifting beam (103) to move along the y-axis direction, adjusting the position of the handling robot (108) in the vertical direction. The z-axis servo system (107) drives the handling robot (108) to descend along the z-axis direction, accurately grabbing the blank. After grabbing the blank, the handling gantry robot (1) moves the blank to the four-axis positioner (5) in the reverse order; (3) Workpiece clamping stage: The lifting mechanism (506) of the four-axis positioner (5) automatically adjusts its height according to the diameter information of the blank to achieve preliminary alignment of the blank; The hydraulic clamping device (507) of the spindle box and the hydraulic clamping device (508) of the tailstock drive the spindle box (502) and the tailstock (504) to move along the axial direction, so that the power spindle (503) and the ejector assembly mechanism (505) clamp the blank and complete the clamping and fixing of the workpiece. (4) Processing path planning stage: The industrial six-axis robotic arm (401) of the six-axis robot system (4) drives the positioning and detection camera (403) to move and perform full surface scanning on the clamped blank; The positioning and detection camera (403) transmits the scanned data to the control system. The control system accurately locates the processing point according to the preset algorithm and parameters, and automatically generates the cladding processing path. (5) Laser cladding process stage: The industrial six-axis robotic arm (401) moves the cladding head (402) to the processing starting point according to the generated processing path; Start the laser cladding equipment, and the cladding head (402) performs laser cladding on the blank according to the predetermined path and parameters. During the processing, the power spindle (503) of the four-axis positioner (5) can drive the blank to rotate 360° in one direction as needed to ensure the uniformity and integrity of the cladding. (6) Finished product unloading stage: After processing, the hydraulic clamping device (507) of the spindle box and the hydraulic clamping device (508) of the tailstock of the four-axis positioner (5) drive the spindle box (502) and the tailstock (504) to loosen, so that the finished product is separated from the power spindle (503) and the ejector assembly mechanism (505); The handling truss robot (1) moves again, and according to the same principle as handling the blank, it grabs the finished product from the four-axis positioner (5) and moves it to the support fixture (302) of the finished product unloading car (3); (7) Finished product caching and transportation stage: When the finished products on the finished parts unloading cart (3) reach a certain quantity or meet the transportation conditions, the transmission device (303) of the finished parts unloading cart (3) is started, and the drive wheel (304) is driven to rotate through the transmission device (303), so that the finished parts unloading cart (3) moves to the designated position along the x-axis direction of the handling gantry robot (1) for subsequent transportation and processing.

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