Transfer system and method for symmetric structural parts

Abstract

The invention discloses a transfer system and method for symmetrical structural parts, and relates to the technical field of coal mine mechanical equipment production, the transfer system comprises a transfer device, a hoisting device and a calibration device, and the transfer device is used for conveying the structural parts; the hoisting device is used for hoisting the structural part; the calibration device is used for calibrating the posture of the structural part, so that the hoisting of the hoisting device is facilitated; wherein the hoisting device is an intelligent crane; the loading and transporting device comprises an AGV (Automatic Guided Vehicle) for carrying a structural member to a hoisting position of the intelligent crane; the calibration device comprises a pushing mechanism used for pushing the structural part to move and a detection system used for detecting the position of the structural part. The system has the beneficial effects that transfer automation and efficiency can be improved, and manual dependence is reduced; accurate hoisting is guaranteed, and multi-equipment collaboration is achieved; safety protection is enhanced, and risks are avoided; and structural parts of different specifications can be adapted, the stability is enhanced, the traditional transfer bottleneck is broken through in an assisted mode, and the production requirement is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine mechanical equipment production, in particular to a symmetrical structural part transfer system and method. BACKGROUND

[0002] The top beam, the shield beam and the base are three important components of the hydraulic support of the fully mechanized mining equipment in the coal mine, and have symmetry in structure, and the shape size and the weight change range are large. In production, the three structural parts need to be transferred in different processes and different workshops. The conventional operation is to manually decide the interaction and working mode of the crane, the forklift, the rail car and other transfer equipment, and in the specific operation, the lifting rope and the lifting belt need to be manually hung and removed, and the position of the base plate for placing the transferred structural part needs to be adjusted.

[0003] The current situation is summarized as follows:

[0004] 1. The lifting chain and the lifting rope are manually hung and removed, the placement of the transferred structural part is manually controlled, different base plates are replaced according to different specifications and sizes of the workpiece, which not only is low in efficiency, time-consuming and laborious, but also threatens the safety of the operator;

[0005] 2. The workpiece transfer efficiency in the workshop is low, the transfer material priority in different processes cannot be coordinated, and there are problems such as long waiting time;

[0006] 3. The transferred structural part needs to be operated by multiple devices in different processes, and the process cannot be uniformly scheduled and scientifically managed;

[0007] 4. The coal mine mechanical equipment manufacturing enterprise reduces the dependence on manual work by introducing intelligent cranes, AGVs and other intelligent devices and machines, reduces the labor intensity and improves the production efficiency. Since the size of the hanging part such as the lifting lug on the structural part is larger than the size of the hooking component of the crane, and the front and rear positions can be aligned by the cooperation of the intelligent crane and the AGV, the front and rear (X-axis) position error has little effect on the automatic hooking of the crane. The main influence is whether the left and right (Y-axis) positions are centered. If the structural part is not centered in the left and right (Y-axis) positions before lifting, the difficulty of the automatic hooking of the intelligent crane will be greatly increased.

[0008] Therefore, there is an urgent need for a symmetrical structural part transfer system and method to assist the intelligent crane and the AGV in interactive transfer and realize the automation of the transfer. SUMMARY

[0009] The purpose of the present application is to provide a symmetrical structural part transfer system and method to solve the above problems.

[0010] The present application achieves the above-mentioned purpose by the following technical solutions:

[0011] The application discloses a transfer system for symmetrical structural members, which comprises a transfer device, a lifting device and a calibration device, wherein the transfer device is arranged in a process / workshop before the structural members are transferred and is used for conveying the structural members; the lifting device is arranged between the process / workshop before and after the structural members are transferred and is used for lifting the structural members; and the calibration device is arranged in the process / workshop before the structural members are transferred and is used for calibrating the posture of the structural members, so as to facilitate the lifting of the lifting device; wherein the lifting device is an intelligent crane; the transfer device comprises an AGV used for carrying the structural members to a lifting position of the intelligent crane; and the calibration device comprises a pushing mechanism used for pushing the structural members to move and a detection system used for detecting the position of the structural members.

[0012] Preferably, the calibration device is arranged in two ground subsidence grooves arranged on the left and right sides of the starting position of the intelligent crane, and the top surface of the calibration device in the retracted state is not higher than the ground; and the detection system is arranged on the pushing mechanism.

[0013] Preferably, the pushing mechanism comprises a sliding table, the sliding table comprises a sliding table seat, a telescopic fork and an electric push rod, the telescopic fork is clamped on the sliding table seat and moves, the electric push rod is installed on the sliding table seat, and the moving end of the electric push rod is fixedly connected with the telescopic fork; and the pushing mechanism of each calibration device comprises at least two sliding tables.

[0014] Preferably, the pushing mechanism further comprises a jacking assembly used for adjusting the height of the sliding table and a translation assembly used for adjusting the front and back positions.

[0015] Preferably, the jacking assembly comprises a base, a screw lifter and a jacking motor used for driving the screw lifter are fixedly installed on the upper surface of the base; the translation assembly comprises a lifting frame fixedly installed on the upper end of the screw lifter, a screw rod is arranged on the upper surface of the lifting frame in the middle, the screw rod is connected with the lifting frame through a bearing seat, a clamping motor used for driving the screw rod to rotate is further installed on the lifting frame, and the sliding table seat is connected with the screw rod through threads.

[0016] Preferably, the detection system comprises a distance measuring sensor arranged on the telescopic fork, and the distance measuring sensors arranged on the two calibration devices respectively measure the distance between the distance measuring sensors and the structural members.

[0017] Preferably, the detection system further comprises an obstacle avoidance sensor and a proximity sensor, the obstacle avoidance sensor is installed on the lower surface of the telescopic fork close to the AGV, and the proximity sensor is installed at the limit positions of the sliding table in the front and back, left and right and high and low directions.

[0018] Preferably, a safety protection system is arranged outside the calibration device, which comprises a rigid fence and a signal lamp installed on the top of the rigid fence, the rigid fence is provided with a notch corresponding to the AGV access position, and a grating sensor for detecting the AGV access is installed at the notch position of the rigid fence.

[0019] Preferably, a PLC system is further included, the detection system is electrically connected with the PLC system, and the PLC system is electrically connected with the transfer device, the lifting device and the calibration device respectively.

[0020] A transfer method of a symmetrical structural member using the hydraulic support structural member transfer system, comprising the following steps:

[0021] Standby state: in the initial state, the sliding table, the jacking assembly and the translation assembly are in the retracted state, the top of the calibration device is flush with the ground, the signal lamp on the rigid fence displays green constant light, indicating that the equipment is standby and safe to approach;

[0022] Receiving instructions and preparation: the upper computer system sends a transfer task instruction to the PLC system, which contains the specifications, source and interaction equipment information of the transferred structural member, and the PLC system plans the action path of the pushing mechanism according to the instruction;

[0023] Jacking operation: the PLC system controls the jacking motor to start and drive the spiral elevator, which is driven by the jacking motor to vertically lift the lifting frame, and the sliding table mechanism is jacked to the specified height, the encoder built-in in the jacking motor feeds back the position information of the lifting frame to the PLC system in real time, realizing closed-loop control, and the proximity sensor is installed at the upper and lower stroke limit positions to ensure that the lifting does not exceed the stroke;

[0024] Sliding table positioning and structural member receiving or delivery: the PLC system controls the clamping motor to start and drive the screw to rotate, which drives the sliding table seat cooperating with the screw to move along the direction of the structural member access, so as to adjust the position of the sliding table mechanism in the direction of the structural member access, and the encoder built-in in the clamping motor feeds back the position information in real time; the PLC system controls the electric push rod to act, which drives the telescopic fork to extend or retract on the sliding table seat along the direction perpendicular to the AGV access direction, and the encoder built-in in the electric push rod feeds back the position information of the telescopic fork in real time; when receiving the transferred structural member from the AGV or other equipment is needed, the PLC system controls the sliding table to move to the preset receiving position according to the instruction, and the telescopic fork extends to the predetermined position to prepare to receive the transferred structural member; when the structural member needs to be delivered to the intelligent crane or other equipment, the PLC system controls the sliding table to accurately position the structural member to the delivery point, and the telescopic fork retracts according to the instruction after the interaction is completed.

[0025] Automatic alignment of transport components: The three main components of the hydraulic support are symmetrical. When receiving transport components, the distance sensors installed at the front end of the telescopic forks of the calibration devices on both sides are used to detect the distance to both sides of the component in real time. The PLC system compares the readings of the sensors on both sides. If the difference exceeds the tolerance range, the electric push rod is controlled to fine-tune the position of the telescopic fork, pushing the component to move until the distance on both sides is equal, thus achieving automatic alignment of the component.

[0026] Obstacle avoidance and safety protection: The obstacle avoidance sensor monitors the space environment under and around the telescopic fork in real time. If an obstacle is detected during the descent of the slide mechanism, a signal is immediately sent to the PLC system. The PLC system adjusts the action command to prevent collision. The grating sensor forms an invisible safety barrier in the entire working area. Once a person or object enters the beam area during equipment operation, the grating signal is interrupted, the PLC system immediately triggers an emergency stop, the system cuts off power and brakes, and controls the indicator lights to flash red at a high frequency to alarm.

[0027] Interactive Collaboration: The PLC system communicates with the host computer system, AGV scheduling system, intelligent crane control system, etc. through industrial bus or wireless network. During the transfer process, the PLC system exchanges status information with the control systems of other equipment to achieve seamless collaborative operation among various intelligent devices.

[0028] Task completion and reset: After the transfer task is completed, the PLC system controls the slide to retract to the initial point, the translation component to return to the initial point, and the lifting component to retract to the lowest point. The indicator light switches back to a solid green, waiting for the next task instruction.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. The system integrates AGVs, intelligent cranes and PLC control systems to replace manual operations such as attaching and detaching lifting ropes and adjusting pads. It automatically completes the entire process of receiving, aligning and delivering structural components, eliminating process waiting time, greatly improving workshop transfer efficiency, and reducing reliance on manual labor and labor intensity.

[0031] 2. The calibration device uses a distance sensor to detect the position of structural components in real time, and the PLC system drives the pushing mechanism to achieve automatic Y-axis alignment, solving the hooking problem of intelligent cranes; at the same time, the PLC system communicates in real time with the host computer and AGV scheduling system to achieve seamless collaboration of multiple devices and avoid scheduling chaos.

[0032] 3. In the safety protection system, rigid fences form physical isolation, grating sensors build safety barriers, and emergency shutdown is triggered immediately upon intrusion; signal lights provide real-time feedback on equipment status, and obstacle avoidance sensors prevent collisions during lifting, ensuring the safety of personnel and equipment from multiple dimensions and mitigating the risks of manual operation;

[0033] 4. The pushing mechanism supports multi-directional adjustment along the X, Y, and Z axes to adapt to different specifications of structural components; each motor integrates overload protection and thermal sensors, and the detection system achieves closed-loop control to ensure stable equipment operation, reduce malfunctions, and meet the diverse transfer needs of structural components in coal mine machinery production. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the transfer system of a symmetrical structural component according to the present invention.

[0036] Figure 2 This is a schematic diagram of the pushing mechanism of a symmetrical structural component transfer system according to the present invention.

[0037] Figure 3 This is a schematic diagram of the translation component of a symmetrical structural transfer system according to the present invention.

[0038] Figure 4 This is a schematic diagram of the slide of a symmetrical structural component transfer system according to the present invention.

[0039] Figure 5 This is a schematic diagram of the lifting assembly of a symmetrical structural component transfer system according to the present invention.

[0040] Figure 6 This is a schematic diagram of the base of a symmetrical structural component transfer system according to the present invention.

[0041] Figure 7 This is a schematic diagram of the operating direction of the calibration device of the transfer system for a symmetrical structural component described in this invention.

[0042] Figure 8 This is a structural schematic diagram of the safety protection system of the symmetrical structural component transfer system described in this invention.

[0043] Figure 9 This is a schematic diagram of the detection system of the transfer system of the symmetrical structural component described in this invention.

[0044] The annotations in the attached figures are explained as follows:

[0045] 1. AGV; 2. Intelligent crane; 3. Pushing mechanism; 311. Slide table; 3111. Slide table base; 3112. Telescopic fork; 3113. Electric push rod; 312. Lifting assembly; 3121. Base; 31211. Guide sleeve; 3122. Screw jack; 3123. Lifting motor; 313. Translation assembly; 3131. Lifting frame; 31311. Guide column; 31312. Linear guide rail; 31313. Slider; 3132. Lead screw; 3133. Clamping motor; 321. Distance sensor; 322. Obstacle avoidance sensor; 4. Safety protection system; 41. Rigid fence; 42. Optical grating sensor; 43. Signal light; 5. Structural components. Detailed Implementation

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection", and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood through the specific circumstances.

[0048] The present invention will be further described below with reference to the accompanying drawings:

[0049] like Figure 1As shown, a hydraulic support structural component transfer system includes a transfer device, a hoisting device, a calibration device, a safety protection system 4, and a PLC system. The transfer device is located in the process / workshop before the structural component 5 is transferred, and is used for transporting the structural component 5. The hoisting device is located between the process / workshop before and after the structural component 5 is transferred, and is used for hoisting the structural component 5. The calibration device is located in the process / workshop before the structural component 5 is transferred, and is used for calibrating the posture of the structural component 5 to facilitate the hoisting of the hoisting device. The hoisting device is an intelligent crane 2. The transport device includes an AGV1 for carrying the structural component 5 to the lifting position of the intelligent crane 2. The calibration device includes a pushing mechanism 3 for moving the structural component 5 and a detection system for detecting the position of the structural component 5. The calibration devices are two and symmetrically arranged in the ground sinkholes on the left and right sides of the starting position of the intelligent crane 2. When the calibration devices are retracted, their top surfaces are not higher than the ground. The detection system is located on the pushing mechanism 3.

[0050] like Figures 1-7 As shown, the pushing mechanism 3 includes a slide table 311, a lifting assembly 312 that supports the adjustment of the height of the slide table 311, and a translation assembly 313 that controls the front and rear positions. The slide table 311 includes a slide table 311 base, a telescopic fork 3112, and an electric push rod 3113. The telescopic fork 3112 is engaged on the slide table 311 base and moves. The electric push rod 3113 is mounted on the slide table 311 base, and the moving end of the electric push rod 3113 is fixedly connected to the telescopic fork 3112. The pushing mechanism 3 of each calibration device includes at least two slide tables 311. The lifting assembly 312 includes a base 3121. A screw jack 3122 and a lifting motor 3123 for driving the screw jack 3122 are fixedly mounted at the four corners of the upper surface of the base 3121. Vertically arranged guide sleeves 31211 are fixedly mounted in the middle of both the left and right ends of the base 3121. The translation assembly 313 includes a lifting frame 3131 fixedly installed on the upper end of the screw jack 3122. A lead screw 3132 is disposed in the middle of the upper surface of the lifting frame 3131. The lead screw 3132 is connected to the lifting frame 3131 through a bearing seat. A clamping motor 3133 for driving the lead screw 3132 to rotate is also installed on the lifting frame 3131. The slide table 311 is threadedly connected to the lead screw 3132. A guide post 31311 is fixedly installed on the lower surface of the lifting frame 3131 corresponding to the guide sleeve 31211. The guide post 31311 is inserted into the guide sleeve 31211 and moves up and down. A linear guide rail 31312 in the X-axis direction is fixedly installed on the upper surface of the lifting frame 3131. A slider 31313 is slidably engaged on the linear guide rail 31312. The slider 31313 is fixedly installed on the slide table 311. Figure 7 As shown, the translation component 313, the slide table 311, and the lifting component 312 respectively enable the telescopic fork 3112 to complete the specified actions on the X, Y, and Z axes.

[0051] like Figures 8-9As shown, the detection system includes a distance sensor 321, an obstacle avoidance sensor 322, a proximity sensor, an encoder sensor, and an absolute encoder mounted on the telescopic fork 3112. The distance sensor 321 is a laser distance sensor 321, the obstacle avoidance sensor 322 is a laser obstacle avoidance sensor 322, and the proximity sensor is a proximity inductive sensor; as shown... Figure 9 As shown, the laser rangefinder 321 is installed at the front end of the telescopic fork 3112, forming a fan-shaped emission area. By emitting light and receiving reflected light, it can detect the distance to surrounding objects in real time. The laser obstacle avoidance sensor 322 is installed below the front end of the telescopic fork 3112. It can detect the coordinate height of the slide table 311 when it descends, scan the image of the worktable, divide it into multiple areas, and ensure that the worktable can automatically avoid obstacles during operation and interaction, preventing it from scraping the ground or colliding with other equipment during transfer and interaction. The rangefinder 321 on the two calibration devices measures the distance between the slide table 311 and the structural component 5. The proximity inductor sensor is installed at the extreme positions of the slide table 311 in the front-back, left-right, and high-low directions. The encoder sensor is integrated on the electric push rod 3113, the lifting motor, and the translation motor, respectively. It can detect the motor speed, position, and direction in real time, convert the mechanical motion into electrical signals, and feed them back to the PLC system to realize the PLC system's precise control and real-time monitoring of the motor. The absolute value sensor uses a unique encoding mode to assign a unique digital code to each position in the stroke, and can directly measure and provide the absolute position and angle information during the operation of the lifting platform.

[0052] Safety protection system 4 is installed around the calibration device. Safety protection system 4 includes a rigid fence 41 with gaps at the entry and exit points of AGV1. A grating sensor 42 for detecting the entry and exit of AGV1 is installed at the gaps in the rigid fence 41. In order to ensure the safety of people and objects during the operation of the transfer system, the calibration device is not only surrounded by a rigid fence 41 structure to form a physical isolation barrier, but also equipped with a grating sensor 42. The sensor forms a barrier by emitting and receiving infrared beams. When the calibration device is working, if a person or object enters the beam, the receiving end signal is interrupted and an alarm is triggered immediately. Four-color flashing signal lights 43 are installed above the rigid fence 41. The device status is transmitted in real time through standardized light signal encoding: solid green indicates that the device is in standby mode and can be safely approached; flashing blue indicates that the device is in the self-test or preparation stage; intermittent flashing yellow indicates that the device is in a low-risk operating state; and high-frequency flashing red indicates an emergency stop or fault alarm. The current working status of the workbench can be seen intuitively from a distance.

[0053] The detection system and safety protection system 4 are electrically connected to the PLC system, and the PLC system is electrically connected to the transfer device, hoisting device and calibration device.

[0054] The PLC system centrally acquires real-time signals from the ranging sensor 321, obstacle avoidance sensor 322, proximity sensor, and encoder sensor via the IO-LINK system, and performs data filtering to ensure data reliability while maintaining real-time performance. The drive controller, motor, and high-resolution encoder form a speed closed-loop vector control mode. The PLC system detects the encoder speed of each mechanism in real time and obtains absolute coordinate data to perform real-time position closed-loop correction on each drive mechanism, and adds feedforward adjustment based on the position loop. This ensures that the pushing mechanism 3 safely, smoothly, and accurately completes composite actions such as lifting, extending, and clamping according to instructions, and realizes data interaction with the host computer system (receiving instructions and providing status feedback), ultimately achieving precise control and safe operation of the intelligent transfer of the hydraulic support structure component 5.

[0055] The PLC system enables interaction between intelligent devices in the transfer system, fulfilling the digital and intelligent transfer requirements of hydraulic support structural component 5. The electric push rod 3113, lifting motor 3123, and clamping motor 3133 all integrate overload protection and thermal sensors, automatically cutting off power in case of abnormal current or excessive temperature to ensure safe equipment operation. The power supply circuit uses three-phase 380V AC and is equipped with a brake, enabling rapid motor braking and improving dynamic response performance. Built-in encoder sensors, through the PLC system, can optimize and adjust the movement trajectory of the lifting platform in real time, and transmit data to the central monitoring system via an industrial Ethernet interface, achieving remote diagnostics and intelligent scheduling of workshop production.

[0056] The present invention also provides a method for transferring hydraulic support structural components, using the above-mentioned hydraulic support structural component transfer system, comprising the following steps:

[0057] Step S1: Standby state: In the initial state, the slide table 311 is at the minimum position of the Y axis, the lowest position of the Z axis, and the end of the X axis close to the position where the AGV1 enters the rigid fence 41. The top of the pushing mechanism 3 is flush with the ground, and the indicator light 43 on the rigid fence 41 shows a solid green light, indicating that the equipment is in standby mode and can be safely approached.

[0058] Step S2: Receiving instructions and preparation: The host computer system sends a transfer task instruction to the PLC system, which includes the specifications, source and interactive equipment information of the transfer structure 5. The PLC system plans the motion path of the push mechanism 3 according to the instruction.

[0059] Step S3: Lifting Operation: The PLC system controls the lifting motor 3123 to start, driving the screw jack 3122. Under the drive of the lifting motor 3123, the screw jack 3122 vertically lifts the lifting frame 3131, lifting the slide table 311 mechanism to the specified height. The encoder built into the lifting motor 3123 feeds back the position information of the lifting frame 3131 to the PLC system in real time to realize closed-loop control. The proximity sensor is installed at the limit position of the travel in the Z-axis direction to ensure that the lifting does not exceed the travel.

[0060] Step S4: Positioning of slide table 311 and receipt or delivery of structural component 5: The PLC system controls the clamping motor 3133 to start, driving the lead screw 3132 to rotate, which in turn moves the slide table 311 seat that cooperates with the lead screw 3132 along the X-axis, thereby adjusting the position of the slide table 311 mechanism in the X-axis direction of structural component 5. The encoder built into the clamping motor 3133 provides real-time feedback of position information; such as Figure 7 As shown, the PLC system controls the electric push rod 3113 to move, causing the telescopic fork 3112 to extend or retract along the Y-axis on the slide table 311. The encoder built into the electric push rod 3113 provides real-time feedback on the position information of the telescopic fork 3112. When it is necessary to receive the transfer structure 5 from AGV1 or other equipment, the PLC system controls the slide table 311 to move to the preset receiving position according to the instruction, and the telescopic fork 3112 extends to the predetermined position to prepare to receive the transfer structure 5. When it is necessary to deliver the structure 5 to the intelligent crane 2 or other equipment, the PLC system controls the slide table 311 to accurately position the structure 5 to the delivery point. After the interaction is completed, the telescopic fork 3112 retracts according to the instruction.

[0061] Step S5: Automatic Alignment of Transfer Structure 5: The previous-level transfer structure 5 may be misaligned due to manual placement or other reasons, causing inconvenience to the interactive equipment. Therefore, after receiving information such as the shape and weight of the transfer structure 5, and with the AGV1 carrying the transfer structure 5 to its designated position, the intelligent lifting platform automatically aligns the transfer structure 5 in the X-axis direction. The calibration device, through the PLC system, controls the lifting motor 3123 to lift the lifting platform to the designated Z-axis position, controls the clamping motor 3133 to move the slide 311 mechanism to the designated X-axis position, and controls the electric push rod 3113 to move the telescopic fork 3112 to the designated Y-axis position. A laser rangefinder 32 is installed at the front end of the telescopic fork 3112. 1. The distance between the telescopic fork 3112 and the transfer structure 5 can be detected. The telescopic fork 3112 moves slowly in the Y-axis direction. According to the symmetry of the three main components of the hydraulic support, the pushing structure is also symmetrically arranged. Therefore, when the distances fed back by the distance measuring sensors 321 on both sides are the same (error ±5mm), it means that the transfer structure 5 has been centered. During the centering process, the distance measuring sensors 321 installed at the front end of the telescopic fork 3112 of the calibration device on both sides are used to detect the distance between the telescopic fork 3112 and the two sides of the structure 5 in real time. The PLC system compares the readings of the sensors on both sides. If the difference exceeds the tolerance range, the electric push rod 3113 is controlled to finely adjust the position of the telescopic fork 3112, pushing the structure 5 to move until the distances on both sides are equal, thus realizing the automatic centering of the structure 5.

[0062] Step S6: Obstacle Avoidance and Safety Protection: The obstacle avoidance sensor 322 monitors the space environment below and around the telescopic fork 3112 in real time. If an obstacle is detected during the descent of the slide table 311 mechanism, a signal is immediately sent to the PLC system. The PLC system adjusts the action command to prevent collision. The grating sensor 42 forms an invisible safety barrier in the entire working area. Once a person or object enters the beam area during equipment operation, the grating signal is interrupted, the PLC system immediately triggers an emergency stop, the system cuts off power and brakes, and controls the indicator light 43 to flash red at a high frequency to alarm.

[0063] Step S7: Interactive Collaboration: The PLC system communicates with the host computer system, AGV1 scheduling system, and intelligent crane 2 control system through an industrial bus or wireless network. During the transfer process, the PLC system exchanges status information with the control systems of other equipment to achieve seamless collaborative operation among various intelligent devices. The status information exchanged between the PLC system and the control systems of other equipment includes instructions such as "lifting platform ready", "structural component received", and "structural component delivered".

[0064] Step S8: Task Completion and Reset: After the transfer task is completed, the PLC system controls the slide 311 to retract to the initial point, the translation component 313 to return to the initial point, the lifting component to retract to the lowest point, and the indicator light 43 to switch back to green and stay on, waiting for the next task instruction.

[0065] The intelligent crane 2, AGV1, electric push rod 3113, screw jack 3122, lifting motor 3123, clamping motor 3133, distance sensor 321, obstacle avoidance sensor 322, proximity sensor, encoder sensor, absolute encoder, grating sensor 42, signal light 43 and PLC system are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods, so they will not be described in detail here.

[0066] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are only illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. A transfer system for symmetrical structural components, comprising: A transfer device is installed in the process / workshop before the transfer of structural component (5) for the transportation of structural component (5); as well as The hoisting device is set up between the process / workshop before and after the transfer of the structural component (5) for hoisting the structural component (5); Its characteristic is that it also includes: A calibration device is installed in the process / workshop before the structural component (5) is transferred, and is used to calibrate the attitude of the structural component (5) to facilitate the hoisting of the hoisting device; The hoisting device is an intelligent crane (2); the loading device includes an AGV (1) for carrying the structural component (5) to the lifting position of the intelligent crane (2); the calibration device includes a pushing mechanism (3) for moving the structural component (5) and a detection system for detecting the position of the structural component (5).

2. The transfer system for a symmetrical structural component according to claim 1, characterized in that: The calibration device consists of two ground sinking troughs located on the left and right sides of the starting position of the intelligent crane (2). When the calibration device is in the retracted state, its top surface is not higher than the ground. The detection system is located on the pushing mechanism (3).

3. The transfer system for a symmetrical structural component according to claim 2, characterized in that: The pushing mechanism (3) includes a slide (311), which includes a slide base (3111), a telescopic fork (3112), and an electric push rod (3113). The telescopic fork (3112) moves on the slide base (3111), and the electric push rod (3113) is mounted on the slide base (3111). The moving end of the electric push rod (3113) is fixedly connected to the telescopic fork (3112). The pushing mechanism (3) of each calibration device includes at least two slides (311).

4. The transfer system for a symmetrical structural component according to claim 3, characterized in that: The pushing mechanism (3) also includes a lifting assembly (312) that supports the adjustment of the height of the slide (311) and a translation assembly (313) that supports the front and rear positions.

5. The transfer system for a symmetrical structural component according to claim 3, characterized in that: The lifting assembly (312) includes a base (3121), on which a screw jack (3122) and a lifting motor (3123) for driving the screw jack (3122) are fixedly mounted; the translation assembly (313) includes a lifting frame (3131) fixedly mounted on the upper end of the screw jack (3122), with a lead screw (3132) provided in the middle of the upper surface of the lifting frame (3131), the lead screw (3132) being connected to the lifting frame (3131) through a bearing seat, and a clamping motor (3133) for driving the lead screw (3132) to rotate is also mounted on the lifting frame (3131), and the slide seat (3111) is connected to the lead screw (3132) through a thread.

6. The transfer system for a symmetrical structural component according to claim 3, characterized in that: The detection system includes a distance sensor (321) mounted on the telescopic fork (3112), and the distance sensors (321) on the two calibration devices measure the distance between themselves and the structural member (5).

7. The transfer system for a symmetrical structural component according to claim 6, characterized in that: The detection system also includes an obstacle avoidance sensor (322) and a proximity sensor. The obstacle avoidance sensor (322) is installed on the lower surface of the telescopic fork (3112) near one end of the AGV (1). The proximity sensor is installed at the extreme positions of the slide table (311) in the front-back, left-right, and high-low directions.

8. The transfer system for a symmetrical structural component according to claim 1, characterized in that: It also includes a safety protection system (4) set around the calibration device. The safety protection system (4) includes a rigid fence (41) and a signal light (43) installed on the top of the rigid fence (41). The rigid fence (41) has a gap corresponding to the entry and exit position of the AGV (1). A grating sensor (42) for detecting the entry and exit of the AGV (1) is installed at the gap position of the rigid fence (41).

9. The transfer system for a symmetrical structural component according to claim 1, characterized in that: It also includes a PLC system, the detection system is electrically connected to the PLC system, and the PLC system is electrically connected to the transfer device, the hoisting device and the calibration device respectively.

10. A method for transferring symmetrical structural components, characterized in that: The hydraulic support structural component transfer system according to any one of claims 1-9 includes the following steps: Standby state: In the initial state, the slide (311), lifting assembly (312) and translation assembly (313) are all in the retracted state, the top of the calibration device is flush with the ground, and the indicator light (43) on the rigid fence (41) is green and constantly lit, indicating that the equipment is in standby and can be safely approached; Receiving instructions and preparation: The host computer system sends a transfer task instruction to the PLC system, which includes the specifications, source and interactive equipment information of the transfer structure (5). The PLC system plans the action path of the push mechanism (3) according to the instruction. Lifting operation: The PLC system controls the start of the lifting motor (3123) to drive the screw jack (3122). Under the drive of the lifting motor (3123), the screw jack (3122) lifts the lifting frame (3131) vertically, lifting the slide (311) mechanism to the specified height. The encoder built into the lifting motor (3123) feeds back the position information of the lifting frame (3131) to the PLC system in real time to realize closed-loop control. The proximity sensor is installed at the upper and lower travel limit positions to ensure that the lifting does not exceed the travel. Positioning of the slide table (311) and receipt or delivery of structural component (5): The PLC system controls the clamping motor (3133) to start, drives the lead screw (3132) to rotate, and drives the slide table base (3111) that cooperates with the lead screw (3132) to move along the direction of the structural component (5), thereby adjusting the position of the slide table (311) mechanism in the direction of the structural component (5). The encoder built into the clamping motor (3133) provides real-time feedback of position information; the PLC system controls the electric push rod (3113) to move, drives the telescopic fork (3112) on the slide table base (3111) in a direction perpendicular to the direction of the AGV (1) to move. When the telescopic fork (3112) extends or retracts, the encoder built into the electric push rod (3113) provides real-time feedback on the position information of the telescopic fork (3112). When it is necessary to receive the transfer structure (5) from the AGV (1) or other equipment, the PLC system controls the slide (311) to move to the preset receiving position according to the instruction, and the telescopic fork (3112) extends to the predetermined position to prepare to receive the transfer structure (5). When it is necessary to deliver the structure (5) to the intelligent crane (2) or other equipment, the PLC system controls the slide (311) to accurately position the structure (5) to the delivery point. After the interaction is completed, the telescopic fork (3112) retracts according to the instruction. Automatic centering of transfer structure (5): The three main components of the hydraulic support are symmetrical. When receiving the transfer structure (5), the distance sensor (321) installed at the front end of the telescopic fork (3112) of the calibration device on both sides is used to detect the distance between the two sides of the structure (5) in real time. The PLC system compares the readings of the sensors on both sides. If the difference exceeds the tolerance range, the electric push rod (3113) is controlled to finely adjust the position of the telescopic fork (3112) and push the structure (5) to move until the distance on both sides is equal, thus realizing the automatic centering of the structure (5). Obstacle avoidance and safety protection: The obstacle avoidance sensor (322) monitors the space environment under and around the telescopic fork (3112) in real time. If an obstacle is detected during the descent of the slide table (311) mechanism, a signal is immediately sent to the PLC system. The PLC system adjusts the action command to prevent collision. The grating sensor (42) forms an invisible safety barrier in the entire working area. Once a person or object enters the beam area during the operation of the equipment, the grating signal is interrupted, the PLC system immediately triggers an emergency stop, the system is powered off and braked, and the signal light (43) is controlled to flash red at a high frequency to alarm. Interactive collaboration: The PLC system communicates with the host computer system, AGV(1) scheduling system, intelligent crane(2) control system, etc. through industrial bus or wireless network. During the transfer process, the PLC system exchanges status information with the control systems of other equipment to realize seamless collaborative operation between various intelligent devices. Task completion and reset: After the transfer task is completed, the PLC system controls the slide (311) to retract to the initial point, the translation component (313) to return to the initial point, and the lifting component to retract to the lowest point. The indicator light (43) switches back to green and stays on, waiting for the next task instruction.

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