Underground mine car articulated frame welding and shape correction apparatus

Abstract

The underground mine car hinged frame welding and deformation correction equipment relates to the technical field of welding processing equipment, and includes a bottom support frame arranged on the ground, an automatic workbench is welded on the bottom support frame, a pose adjustment module, a transfer conveying module, an intelligent welding module, a multi-degree-of-freedom positioning module and a deformation monitoring and correction module are sequentially arranged on the automatic workbench from right to left. The present application solves the problems in the production process of the existing underground mine car hinged frame, such as large pose error of manual adjustment of parts, insufficient welding fixation and easy deviation, uneven manual welding quality and low efficiency, poor process transfer connection and easy bumping, low deformation detection and correction accuracy, dispersed layout of each link, long production cycle, low efficiency and difficulty in meeting the high-quality batch demand.

Description

Technical Field

[0001] This invention relates to the field of welding processing equipment technology, specifically to equipment for welding and deformation correction of articulated frames of underground mine cars. Background Technology

[0002] In the field of mining machinery manufacturing, the articulated frame of underground mining cars is a key load-bearing component. Its welding quality and geometric precision directly affect the overall structural strength, operational stability, and service life of the mining car. Currently, the production of such structural components generally faces a series of technical bottlenecks, which restrict the improvement of product quality and production efficiency.

[0003] In traditional production methods, the processing of articulated frames typically relies on multiple decentralized processes and equipment. First, individual components need to be manually loaded and initially aligned using simple conveyor systems. This process makes it difficult to guarantee the accuracy and consistency of spatial orientation, creating potential problems for misalignment and uneven gaps during subsequent welding. Subsequently, the workpiece needs to be transferred to the welding station, where operators manually clamp and position it or use fixed fixtures for clamping. This method is not only inefficient but also fails to provide comprehensive and effective constraint on complex frame structures. Under the influence of welding heat input, the workpiece is prone to localized deformation or overall displacement, leading to unstable welding quality and difficulty in guaranteeing weld strength.

[0004] After welding, due to residual stress concentration and the accumulation of thermal deformation, the frame generally exhibits deformation exceeding the tolerance range, requiring correction. Currently, the correction process largely relies on manual experience and judgment, using simple tools such as jacks and presses for unidirectional, localized pressure correction. This method lacks precise measurement of the overall deformation, the correction process is somewhat arbitrary, often failing to achieve comprehensive three-dimensional correction, and is prone to secondary deformation or insufficient correction, making it difficult to guarantee product qualification rate and dimensional consistency.

[0005] Furthermore, there is a lack of efficient automated connections between various stages, from component loading, orientation adjustment, welding positioning, welding operations to deformation correction. Workpieces require multiple hoisting, transfers, and repositioning processes, resulting in slow production cycles, high labor intensity, and increased risks of surface damage and loss of positioning accuracy due to frequent handling. The insufficient level of automation and intelligence in the entire production process has become a major obstacle to improving the mass production and high-quality manufacturing capabilities of mine car articulated frames.

[0006] In conclusion, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides welding and deformation correction equipment for articulated frames of underground mining cars. This equipment solves the problems existing in the production process of articulated frames for underground mining cars, such as large errors in the position and posture of manually adjusted parts, insufficient welding fixation leading to easy displacement, uneven quality and low efficiency of manual welding, poor process transfer and connection leading to easy collisions, low accuracy of deformation detection and correction, and scattered layout of various links, resulting in long production cycles, low efficiency, and difficulty in meeting the requirements of high-quality batch production.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] The underground mine car articulated frame welding and deformation correction equipment includes a horizontally grounded bottom support frame, on which an automated workbench is welded. The automated workbench is provided with a posture adjustment module, a transfer and conveying module, an intelligent welding module, a multi-degree-of-freedom positioning module and a deformation monitoring and correction module from right to left.

[0010] As an optimized solution, a first gantry frame is welded onto the bottom support frame, and the pose adjustment module includes a pose adjustment turntable rotatably mounted on the inner top surface of the first gantry frame. Four centrally symmetrical drive slides are slidably provided on the lower surface of the pose adjustment turntable, and a hoisting frame is telescopically provided on the lower surface of the drive slides. A pose adjustment block is fixed on the hoisting frame.

[0011] As an optimized solution, the intelligent welding module includes a grounded welding support frame located below the center of the automated workbench. Two steering integrated seats are fixed at both ends of the upper surface of the welding support frame. A five-axis robotic arm is rotatably mounted on the upper surface of each steering integrated seat, and an integrated laser welding head is mounted at the end of the five-axis robotic arm.

[0012] As an optimized solution, the multi-degree-of-freedom positioning module includes two laterally symmetrical flip positioning frames. A downward pressure positioning plate is telescopically provided on the inner top surface of the flip positioning frame, and a side pressure positioning plate is telescopically provided on each longitudinal inner wall of the flip positioning frame.

[0013] As an optimized solution, the upper surface of the automated workbench has several positioning and communication ports in the middle.

[0014] As an optimized solution, the welding support frame is provided with a lifting plate, and several top support positioning plates are fixed on the upper surface of the lifting plate, with the top support positioning plates facing the positioning connection port.

[0015] As an optimized solution, a cross guide frame is fixed in the middle of the lower surface of the pose adjustment turntable, a central power supply base is fixed in the middle of the inner top surface of the cross guide frame, four electric guide rails are connected to the central power supply base, the electric guide rails are fixed in the inner top surface of the cross guide frame, and the drive slide is slidably mounted on the electric guide rails.

[0016] As an optimized solution, a rotation drive motor is fixed at the middle of the upper surface of the first gantry, and the end of the output shaft of the rotation drive motor passes downward through the first gantry and is fixed to the middle of the upper surface of the posture adjustment turntable.

[0017] As an optimized solution, a hoisting telescopic cylinder is fixed to the lower surface of each of the drive slides, and the lower telescopic end of the hoisting telescopic cylinder is fixed to the hoisting frame.

[0018] As an optimized solution, the pose adjustment module also includes four longitudinally spaced and laterally extended front conveyor belts, which are rotatably installed on the far right side of the automated workbench, with the upper surface of the front conveyor belts slightly higher than the upper surface of the automated workbench.

[0019] As an optimized solution, the pose adjustment module also includes three longitudinally spaced, laterally extended rear conveyor belts, and a longitudinally extended transfer conveyor belt is provided between the front conveyor belt and the rear conveyor belt.

[0020] As an optimized solution, both the rear conveyor belt and the intermediate conveyor belt are rotatably mounted on the automated workbench, and the upper surfaces of both the rear conveyor belt and the intermediate conveyor belt are flush with the upper surface of the front conveyor belt.

[0021] As an optimized solution, the transfer and conveying module includes two longitudinally symmetrical conveying limit seats, which are respectively welded to the middle of the upper surface of the automated workbench. Each conveying limit seat is provided with a laterally extending drive screw.

[0022] As an optimized solution, the transfer conveying module also includes a square transfer conveying seat, which is set close to the upper surface of the automated workbench. The upper surface of the transfer conveying seat is flush with the upper surface of the rear conveyor belt. Several docking slots are opened on the left side wall of the transfer conveying seat, and the several docking slots are matched with several positioning communication ports and are the same size.

[0023] As an optimized solution, the longitudinal ends of the transfer conveyor are fitted into the two conveying limit seats, and the two drive screws pass through and are threadedly connected to the transfer conveyor.

[0024] As an optimized solution, several positioning and recognition cameras are fixed on the upper front of each of the conveying limit seats, and a drive power supply module is fixed on the back of each of the conveying limit seats.

[0025] As an optimized solution, two transversely symmetrical flip hinge seats are fixed on the upper surface of each of the conveying limit seats, and the flip positioning frame is rotatably installed between the two longitudinally opposite flip hinge seats.

[0026] As an optimized solution, the transfer and conveying module also includes two longitudinally symmetrical square transmission boxes. The two square transmission boxes are located on the left side of the two conveying limit seats. The lower end of the square transmission boxes is fixed to the upper surface of the automated workbench. Each square transmission box is equipped with a sprocket drive mechanism.

[0027] As an optimized solution, a number of equally spaced conveying rollers are rotatably mounted between the two square transmission boxes, and the sprocket transmission mechanism is connected and driven by the number of conveying rollers.

[0028] As an optimized solution, the transfer and conveying module also includes two longitudinally symmetrical swing mounting seats, which are located between the conveying limit seat and the square transmission box, and the lower end of the swing mounting seat is fixed to the upper surface of the automated workbench.

[0029] As an optimized solution, a swing transfer seat is rotatably provided between the two swing mounting seats. The swing transfer seat is located near the end of the conveying roller. Several strip-shaped comb plates are welded to the right side wall of the swing transfer seat, and the strip-shaped comb plates are matched with several docking slots.

[0030] As an optimized solution, the flip positioning frame is a U-shaped frame with the opening facing downwards. A flip drive motor is fixed on the outer wall of the flip hinge seat. The end of the output shaft of the flip drive motor passes through the flip hinge seat and is fixed to the longitudinal side wall of the flip positioning frame.

[0031] As an optimized solution, the welding support frame is a U-shaped frame with a longitudinal orientation and an opening facing downwards. A square fixed support plate is welded to the center of the inner bottom surface of the welding support frame. Vertical positioning telescopic cylinders are fixed at the four corners of the upper surface of the fixed support plate. The upper telescopic ends of the four positioning telescopic cylinders are fixed to the lower surface of the lifting support plate. The size of the top support positioning plate is slightly smaller than the size of the positioning connection port.

[0032] As an optimized solution, a second gantry frame is also welded onto the bottom support frame. The first gantry frame and the second gantry frame are arranged symmetrically in the horizontal direction. The first gantry frame spans the automated workbench and is located on the right side, while the second gantry frame spans the automated workbench and is located on the left side.

[0033] As an optimized solution, the deformation monitoring and correction module includes a front deformation monitoring camera and a rear correction and recognition camera that are symmetrically positioned laterally. The front deformation monitoring camera and the rear correction and recognition camera are respectively fixed on the lateral sidewall near the upper end of the second gantry.

[0034] As an optimized solution, a telescopic cylinder is fixed in the middle of the upper surface of the second gantry, the lower end of the telescopic cylinder passes through the second gantry and is fixed with a downward correction plate, and an arc-shaped correction block is fixed on the lower surface of the downward correction plate.

[0035] As an optimized solution, four symmetrical sliding guide frames are welded to the middle transverse side wall of the second gantry frame. Each sliding guide frame is fixed with a sliding drive rail, and each sliding drive rail is fitted with a correction slide. Each correction slide is provided with a side-pressure correction plate on its longitudinal outer wall, and a side-pressure correction block is fixed on the side end face of the side-pressure correction plate.

[0036] As an optimized solution, a calibration support frame is provided on one side of the lower part of the automated workbench. The calibration support frame is a U-shaped frame with the opening facing downward and grounded. Several top-mounted calibration plates are telescopically provided in the middle of the upper surface of the calibration support frame. Several calibration communication ports are opened on one side of the upper surface of the automated workbench corresponding to the several top-mounted calibration plates. The calibration communication ports are located between two adjacent conveying rollers.

[0037] As an optimized solution, a pose adjustment main control box is fixed on the longitudinal side wall of the first gantry, and a deformation correction main control box is fixed on the longitudinal side wall of the second gantry.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] 1. The automation and precision of the position adjustment process have greatly improved the accuracy of component docking.

[0040] Specifically, the graded conveying design of the front, intermediate, and rear conveyor belts not only enables the orderly transfer of parts to the work area, but also allows for fine-tuning of longitudinal position through the intermediate conveyor belt. Combined with the rotation adjustment of the posture adjustment turntable, the horizontal movement of the electric guide rail on the cross guide frame, and the height adjustment of the hoisting telescopic cylinder, the spatial posture of the parts on the rear conveyor belt can be precisely calibrated, effectively avoiding errors from manual adjustment and laying a precise foundation for subsequent welding positioning.

[0041] 2. The rigid fixing design of the multi-degree-of-freedom positioning module ensures the stability of the welding process.

[0042] Specifically, the flip positioning frame can be flipped from vertical to horizontal to adapt to the posture requirements of welding operations; the lateral pushing of the lower positioning plate and the longitudinal pushing of the side positioning plate, combined with the supporting effect of the bottom support positioning plate from below the automated workbench, form a multi-directional rigid constraint on the parts, avoiding positional displacement caused by thermal deformation or external force disturbance during welding, and significantly improving the forming accuracy of the welding joint; furthermore, the swing-mounted flip positioning frame can also avoid obstacles during the welding or transfer of the hinged frame.

[0043] 3. The flexible operation capability of the intelligent welding module optimizes welding quality and efficiency.

[0044] Specifically, the five-axis robotic arm on the welding support frame is equipped with an integrated laser welding head. The working angle can be flexibly adjusted through the steering integrated seat to complete the automated welding of each welding node according to the preset path. The characteristics of laser welding ensure the strength and aesthetics of the welded joint. At the same time, the automated operation mode replaces manual welding, which not only improves welding efficiency, but also eliminates the problem of inconsistent welding quality caused by manual operation, making it suitable for mass production scenarios.

[0045] 4. The seamless design of the transfer and conveying modules improves the continuity of the overall process.

[0046] Specifically, the drive screw drives the lateral movement of the transfer conveyor, which, in conjunction with the real-time position capture by the positioning and recognition camera, enables precise transfer of parts between welding stations. The swing transfer seat, through the docking of the strip comb plate with the transfer conveyor, can smoothly transition the welded frame to the conveyor roller, avoiding collision damage during the transfer process, ensuring smooth connection between processes, and reducing production interruption time.

[0047] 5. The integrated design of deformation monitoring and correction effectively improves the finished product qualification rate.

[0048] Specifically, the front-mounted deformation monitoring camera performs 3D scanning and deformation detection on the welded frame, accurately capturing the deformation locations that exceed tolerances; the downward pressure correction plate and the side pressure correction plate on the second gantry, together with the top correction plate on the lower correction support frame, form a coordinated correction force to comprehensively correct the deformed parts from multiple directions, including up, down, left, and right; and the rear-mounted correction recognition camera verifies the correction effect in real time, ensuring that the frame deformation meets the design standards and significantly reducing the rework rate caused by welding deformation.

[0049] 6. The overall integrated layout design enables integrated welding and straightening operations.

[0050] Specifically, the functional modules are centrally located on the automated workbench, with the double gantry cranes respectively carrying the functions of posture adjustment and deformation correction. Combined with the independent main control box for zone control, this simplifies the equipment layout, reduces the floor space, and realizes full-process automation from parts transportation, posture adjustment, welding positioning, automated welding to deformation correction. This significantly shortens the production cycle, improves overall production efficiency, and is suitable for the batch processing needs of heavy components such as the articulated frame of underground mining cars. Attached Figure Description

[0051] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0052] Figure 1 This is a schematic diagram of the overall external structure of the present invention in the main viewing direction;

[0053] Figure 2 This is a schematic diagram of the overall external structure of the present invention from a top-down perspective;

[0054] Figure 3 This is a schematic diagram of the overall external structure of the present invention from the left-side view direction;

[0055] Figure 4 This is a schematic diagram of the overall external structure of the present invention from the right-side view direction;

[0056] Figure 5 This is an isometric schematic diagram of the three-dimensional structure of the present invention;

[0057] Figure 6 For the present invention along Figure 2 A schematic diagram of the internal structure cut along line AA.

[0058] Figure 7 For the present invention along Figure 1 A schematic diagram of the internal structure cut along the middle BB line;

[0059] Figure 8 For the present invention along Figure 1 A schematic diagram of the internal structure cut along the CC line;

[0060] Figure 9 For the present invention along Figure 1 A schematic diagram of the internal structure cut along the DD line in the middle;

[0061] Figure 10 For the present invention along Figure 1 A schematic diagram of the internal structure cut along the EE line.

[0062] In the diagram: 1-Bottom support frame, 2-Automatic workbench, 3-First gantry frame, 4-Second gantry frame, 5-Position adjustment turntable, 6-Rotation drive motor, 7-Cross guide frame, 8-Central power supply seat, 9-Electric guide rail, 10-Drive slide, 11-Lifting telescopic cylinder, 12-Lifting frame, 13-Position adjustment block, 14-Front conveyor belt, 15-Rear conveyor belt, 16-Transfer conveyor belt, 17-Conveyor limit seat, 18-Drive screw, 19-Transfer conveyor seat, 20-Docking slot, 21-Positioning recognition camera, 22-Drive power supply module, 23-Square transmission box, 24-Conveyor roller, 25-Swing mounting seat, 26-Swing transfer seat, 27-Strip comb plate, 28-Welded support frame, 29-Steering integrated seat, 30 - Five-axis robotic arm, 31- Integrated laser welding head, 32- Flip hinge seat, 33- Flip positioning frame, 34- Downward positioning plate, 35- Side-pressure positioning plate, 36- Flip drive motor, 37- Positioning connection port, 38- Fixed support plate, 39- Positioning telescopic cylinder, 40- Lifting support plate, 41- Top support positioning plate, 42- Front deformation monitoring camera, 43- Rear correction and recognition camera, 44- Telescopic cylinder, 45- Downward correction plate, 46- Arc surface correction block, 47- Sliding guide frame, 48- Sliding drive guide rail, 49- Correction slide, 50- Side-pressure correction plate, 51- Side-pressure correction block, 52- Correction support frame, 53- Top-mounted correction plate, 54- Correction connection port, 55- Posture adjustment main control box, 56- Deformation correction main control box. Detailed Implementation

[0063] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0064] like Figures 1 to 10As shown, the underground mine car articulated frame welding and deformation correction equipment includes a grounded bottom support frame 1, on which an automated workbench 2 is welded. The automated workbench 2 is provided with a posture adjustment module, a transfer and conveying module, an intelligent welding module, a multi-degree-of-freedom positioning module and a deformation monitoring and correction module from right to left.

[0065] The bottom support frame 1 is welded with a first gantry 3 and a second gantry 4 respectively. The first gantry 3 and the second gantry 4 are arranged symmetrically in the horizontal direction. The first gantry 3 spans the automated workbench 2 and is set on the right. The second gantry 4 spans the automated workbench 2 and is set on the left.

[0066] The pose adjustment module includes a pose adjustment turntable 5, which is rotatably mounted on the inner top surface of the first gantry 3.

[0067] A rotation drive motor 6 is fixed in the middle of the upper surface of the first gantry 3. The end of the output shaft of the rotation drive motor 6 passes downward through the first gantry 3 and is fixed to the middle of the upper surface of the posture adjustment turntable 5.

[0068] A cross guide frame 7 is fixed in the middle of the lower surface of the position adjustment turntable 5. A central power supply seat 8 is fixed in the middle of the inner top surface of the cross guide frame 7. Four electric guide rails 9 are connected to the central power supply seat 8. The electric guide rails 9 are fixed on the inner top surface of the cross guide frame 7.

[0069] Each electric guide rail 9 is equipped with a drive slide block 10, and a hoisting telescopic cylinder 11 is fixed on the lower surface of each drive slide block 10. A hoisting frame 12 is fixed on the lower telescopic end of the hoisting telescopic cylinder 11, and a position adjustment block 13 is fixed on the inner side wall of the hoisting frame 12.

[0070] The pose adjustment module also includes four longitudinally spaced and laterally extended front conveyor belts 14. The four front conveyor belts 14 are rotatably installed on the far right side of the automated workbench 2, and the upper surface of the front conveyor belts 14 is slightly higher than the upper surface of the automated workbench 2.

[0071] The position adjustment module also includes three longitudinally spaced, laterally extended rear conveyor belts 15, and a longitudinally extended transfer conveyor belt 16 between the front conveyor belt 14 and the rear conveyor belts 15.

[0072] Both the rear conveyor belt 15 and the intermediate conveyor belt 16 are rotatably mounted on the automated workbench 2, and the upper surfaces of the rear conveyor belt 15 and the intermediate conveyor belt 16 are flush with the upper surface of the front conveyor belt 14.

[0073] The transfer and conveying module includes two longitudinally symmetrical conveying limit seats 17, which are welded to the middle of the upper surface of the automated workbench 2. Each conveying limit seat 17 has a laterally extending drive screw 18 rotatably mounted inside it.

[0074] The transfer and conveying module also includes a square transfer and conveying seat 19, which is set close to the upper surface of the automated workbench 2. The upper surface of the transfer and conveying seat 19 is flush with the upper surface of the rear conveyor belt 15. Several docking slots 20 are opened on the left side wall of the transfer and conveying seat 19.

[0075] The longitudinal ends of the transfer conveyor 19 are fitted into two conveying limit seats 17, and two drive screws 18 pass through and are threadedly connected to the transfer conveyor 19.

[0076] Each conveying limit seat 17 has several positioning and recognition cameras 21 fixed on the upper front side, and each conveying limit seat 17 has a drive power supply module 22 fixed on the back side.

[0077] The transfer and conveying module also includes two longitudinally symmetrical square transmission boxes 23. The two square transmission boxes 23 are located on the left side of the two conveying limit seats 17. The lower end of the square transmission box 23 is fixed on the upper surface of the automated workbench 2. Each square transmission box 23 is equipped with a sprocket drive mechanism.

[0078] Several equally spaced conveying rollers 24 are rotatably mounted between two square transmission boxes 23, and the sprocket transmission mechanism is connected to the several conveying rollers 24 for transmission.

[0079] The transfer and conveying module also includes two longitudinally symmetrical swing mounting seats 25, which are located between the conveying limit seat 17 and the square transmission box 23. The lower end of the swing mounting seat 25 is fixed to the upper surface of the automated workbench 2.

[0080] A swing transfer seat 26 is rotatably provided between the two swing mounting seats 25. The swing transfer seat 26 is located near the end of the conveying roller 24. Several strip comb plates 27 are welded on the right side wall of the swing transfer seat 26. The strip comb plates 27 are matched with several docking slots 20. The strip comb plates 27 can be inserted into the docking slots 20 to achieve positioning and transfer.

[0081] The transfer conveyor 19 can transport the welded articulated frame laterally. After it is docked with the swing transfer seat 26 and the strip comb plate 27, the articulated frame can be transferred to the conveyor roller 24 by controlling the swing transfer seat 26 to swing upward at a certain angle for subsequent correction processing.

[0082] The intelligent welding module includes a welding support frame 28 with grounding. The welding support frame 28 is a U-shaped frame with a vertical orientation and an opening facing downwards. The welding support frame 28 is located in the lower middle part of the automated workbench 2.

[0083] Two steering integrated seats 29 are fixedly installed at both ends of the upper surface of the welding support frame 28. A five-axis robotic arm 30 is rotatably installed on the upper surface of each steering integrated seat 29. An integrated laser welding head 31 is installed at the end of the five-axis robotic arm 30. The integrated laser welding head 31 includes a laser emitter, a protective gas nozzle and a vision positioning module.

[0084] The multi-degree-of-freedom positioning module includes four flip hinge seats 32, which are symmetrically fixed on the upper surfaces of two conveying limit seats 17. A flip positioning frame 33 is rotatably provided between the two longitudinally opposite flip hinge seats 32. The flip positioning frame 33 is a U-shaped frame with the opening facing downward.

[0085] Each flip positioning frame 33 has a downward pressure positioning plate 34 telescopically mounted on its inner top surface, and a side pressure positioning plate 35 telescopically mounted on each longitudinal inner wall of the flip positioning frame 33. A flip drive motor 36 is fixed on the outer wall of the flip hinge seat 32, and the end of the output shaft of the flip drive motor 36 passes through the flip hinge seat 32 and is fixed to the longitudinal side wall of the flip positioning frame 33.

[0086] Under the control of the flipping drive motor 36, the flipping positioning frame 33 can be flipped from a vertical state to a horizontal state. By controlling the extension and retraction of the pressing positioning plate 34, the welded parts of the hinge frame can be horizontally pushed and positioned. By controlling the extension and retraction of the side pressing positioning plate 35, the welded parts of the hinge frame can be vertically pushed and positioned. Then, the intelligent welding module is used to weld and connect the various parts.

[0087] The upper surface of the automated workbench 2 has several positioning and connecting ports 37 in the middle, and the several positioning and connecting ports 37 are matched with several docking slots 20 and are the same size.

[0088] A square fixed support plate 38 is welded to the center of the inner bottom surface of the welding support frame 28. Vertical positioning telescopic cylinders 39 are fixed at the four corners of the upper surface of the fixed support plate 38. A square lifting support plate 40 is fixed to the upper telescopic end of the four positioning telescopic cylinders 39. Several top support positioning plates 41 are fixed to the upper surface of the lifting support plate 40. The several top support positioning plates 41 are set opposite to several positioning connection ports 37. The size of the top support positioning plates 41 is slightly smaller than the size of the positioning connection ports 37.

[0089] The deformation monitoring and correction module includes a front deformation monitoring camera 42 and a rear correction and recognition camera 43 that are symmetrically positioned laterally. The front deformation monitoring camera 42 and the rear correction and recognition camera 43 are respectively fixed on the lateral side wall near the upper end of the second gantry 4.

[0090] A telescopic cylinder 44 is fixed in the middle of the upper surface of the second gantry 4. The lower end of the telescopic cylinder 44 passes through the second gantry 4 and is fixed with a downward-pressing correction plate 45. An arc-shaped correction block 46 is fixed on the lower surface of the downward-pressing correction plate 45.

[0091] Four symmetrical sliding guide frames 47 are welded to the middle transverse side wall of the second gantry frame 4. Each sliding guide frame 47 has a sliding drive rail 48 fixed inside. Each sliding drive rail 48 has a correction slide 49 clamped on it. Each correction slide 49 has a side-pressure correction plate 50 that is telescopically provided on its longitudinal outer wall. A side-pressure correction block 51 is fixed on the side end face of the side-pressure correction plate 50.

[0092] A calibration support frame 52 is provided on one side of the lower part of the automated workbench 2. The calibration support frame 52 is a U-shaped frame with the opening facing downward and grounded. Several top-mounted calibration plates 53 are telescopically provided in the middle of the upper surface of the calibration support frame 52. Several calibration connection ports 54 are opened on one side of the upper surface of the automated workbench 2 corresponding to the several top-mounted calibration plates 53. The calibration connection ports 54 are located between two adjacent conveying rollers 24.

[0093] A position adjustment main control box 55 is fixed on the longitudinal side wall of the first gantry 3, and a deformation correction main control box 56 is fixed on the longitudinal side wall of the second gantry 4.

[0094] When using this invention:

[0095] First, the components that make up the articulated frame are placed on the front conveyor belt 14. The front conveyor belt 14 operates to transport the components to the transfer conveyor belt 16. The transfer conveyor belt 16 then adjusts the longitudinal position of the components before transferring them to the rear conveyor belt 15, completing the initial transport of the components to the work area and preparing for subsequent position adjustment.

[0096] Start the rotation drive motor 6 to drive the posture adjustment turntable 5 to rotate. The cross guide frame 7 below the posture adjustment turntable 5 rotates synchronously to realize the overall adjustment of the working position.

[0097] Driven by the electric guide rail 9 on the cross guide frame 7, the drive slide 10 moves horizontally or longitudinally, driving the hoisting telescopic cylinder 11 and the hoisting frame 12 to adjust their horizontal positions. By controlling the extension and retraction of the hoisting telescopic cylinder 11, the position adjustment height is changed. Then, the position adjustment block 13 pushes and adjusts the individual parts on the rear conveyor belt 15, and finally completes the spatial position calibration of the parts to ensure the subsequent docking accuracy.

[0098] The rear conveyor belt 15 delivers the adjusted parts to the transfer conveyor seat 19. The drive screw 18 in the conveyor limit seat 17 rotates, driving the transfer conveyor seat 19 to move laterally. The positioning and recognition camera 21 captures the position of the parts in real time to ensure transfer accuracy.

[0099] After the parts arrive at the welding station, the flip drive motor 36 drives the flip positioning frame 33 to flip from the vertical state to the horizontal state. The lower positioning plate 34 on the flip positioning frame 33 is extended and retracted to push and position the parts laterally, and the side positioning plate 35 is extended and retracted to push and position the parts longitudinally.

[0100] At the same time, the control positioning telescopic cylinder 39 extends, driving the lifting plate 40 to rise, so that the top support positioning plate 41 passes through the positioning communication port 37 on the automated workbench 2, supporting the parts from the bottom, realizing multi-directional rigid fixation of the parts, and providing stable support for welding operations.

[0101] The five-axis robotic arm 30 on the welding support frame 28 flexibly adjusts the working angle through the steering integrated seat 29, and the integrated laser welding head 31 at the end performs automated laser welding on each welding node of the articulated frame according to the preset welding path, completing the welding and forming of the parts and forming a complete articulated frame structure.

[0102] After welding is completed, the control transfer conveyor seat 19 continues to move laterally. When it moves to the swing transfer seat 26, the strip comb plate 27 is inserted into the docking slot 20 to complete the mechanical docking. At the same time, the swing transfer seat 26 swings upward to smoothly transfer the articulated frame to the conveyor roller 24.

[0103] Driven by the sprocket transmission mechanism, each conveying roller 24 operates synchronously, continuing to convey the articulated frame to the calibration station;

[0104] After the welded articulated frame is conveyed to the deformation correction station by the conveyor roller 24, the front deformation monitoring camera 42 first performs a three-dimensional scan and deformation detection on the entire frame and collects deformation data.

[0105] If the deformation exceeds the tolerance range, the telescopic cylinder 44 on the second gantry 4 drives the downward correction plate 45 to descend, and the arc correction block 46 applies downward correction to the top of the hinged frame.

[0106] The sliding drive rail 48 drives the correction slide 49 to move to the designated position, the side-pressure correction plate 50 extends and retracts, and the side-pressure correction block 51 performs lateral pushing correction on the side of the hinged frame.

[0107] At the same time, the top-mounted correction plate 53 on the correction support frame 52 passes through the correction connection port 54 and supports the bottom of the hinge frame, working in synergy with the correction forces from the top and bottom and left and right to complete the comprehensive correction of the deformation of the hinge frame.

[0108] The rear-mounted correction recognition camera 43 monitors the correction effect in real time to ensure that the deformation of the hinged frame meets the design standards.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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 or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An underground mine vehicle articulated frame welding and shape correction apparatus, characterized by: It includes a horizontally grounded bottom support frame, on which an automated workbench is welded. The automated workbench is provided with a posture adjustment module, a transfer and conveying module, an intelligent welding module, a multi-degree-of-freedom positioning module, and a deformation monitoring and correction module from right to left. The bottom support frame is welded with a first gantry frame. The posture adjustment module includes a posture adjustment turntable rotatably installed on the inner top surface of the first gantry frame. The lower surface of the posture adjustment turntable is slidably provided with four centrally symmetrical drive slides. The lower surface of the drive slides is provided with a lifting frame that extends and retracts. The posture adjustment block is fixed on the lifting frame. The intelligent welding module includes a grounded welding support frame, which is located below the center of the automated workbench. Two steering integrated seats are fixed at both ends of the upper surface of the welding support frame. A five-axis robotic arm is rotatably mounted on the upper surface of each steering integrated seat. An integrated laser welding head is mounted at the end of each five-axis robotic arm. The multi-degree-of-freedom positioning module includes two laterally symmetrical flip positioning frames. A downward pressure positioning plate is telescopically provided on the inner top surface of the flip positioning frame, and a side pressure positioning plate is telescopically provided on each longitudinal inner wall of the flip positioning frame. The automated workbench has several positioning and communication ports in the middle of its upper surface; The welding support frame is equipped with a lifting plate, and several top support positioning plates are fixed on the upper surface of the lifting plate. The top support positioning plates are positioned directly opposite the positioning communication port. A cross guide frame is fixed in the middle of the lower surface of the posture adjustment turntable. A central power supply base is fixed in the middle of the inner top surface of the cross guide frame. Four electric guide rails are connected to the central power supply base. The electric guide rails are fixed in the inner top surface of the cross guide frame. The drive slide is slidably mounted on the electric guide rails. A rotary drive motor is fixed at the middle of the upper surface of the first gantry frame, and the end of the output shaft of the rotary drive motor passes downward through the first gantry frame and is fixed to the middle of the upper surface of the posture adjustment turntable; Each of the drive slides has a hoisting telescopic cylinder fixed to its lower surface, and the lower telescopic end of the hoisting telescopic cylinder is fixed to the hoisting frame.

2. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 1, characterised in that: The pose adjustment module also includes four longitudinally spaced and laterally extended front conveyor belts. The four front conveyor belts are rotatably installed on the far right side of the automated workbench, and the upper surface of the front conveyor belts is slightly higher than the upper surface of the automated workbench. The posture adjustment module also includes three longitudinally spaced, laterally extended rear conveyor belts, and a longitudinally extended transfer conveyor belt is provided between the front conveyor belt and the rear conveyor belt. Both the rear conveyor belt and the transfer conveyor belt are rotatably mounted on the automated workbench, and the upper surfaces of the rear conveyor belt and the transfer conveyor belt are flush with the upper surface of the front conveyor belt.

3. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 2 wherein: The transfer and conveying module includes two longitudinally symmetrical conveying limit seats. The two conveying limit seats are respectively welded to the middle of the upper surface of the automated workbench. Each conveying limit seat is rotatably provided with a laterally extending drive screw. The transfer and conveying module also includes a square transfer and conveying seat, which is set close to the upper surface of the automated workbench. The upper surface of the transfer and conveying seat is flush with the upper surface of the rear conveyor belt. Several docking slots are opened on the left side wall of the transfer and conveying seat. The several docking slots are matched with several positioning communication ports and are the same size. The longitudinal ends of the transfer conveyor are fitted into the two conveying limit seats, and the two drive screws pass through and are threadedly connected to the transfer conveyor. Each of the conveying limiting seats has several positioning and recognition cameras fixed on the upper front side, and each of the conveying limiting seats has a drive power supply module fixed on the back side. Two transversely symmetrical flip hinge seats are fixed on the upper surface of each of the conveying limit seats, and the flip positioning frame is rotatably installed between the two longitudinally opposite flip hinge seats.

4. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 3 wherein: The transfer and conveying module also includes two longitudinally symmetrical square transmission boxes. The two square transmission boxes are located on the left side of the two conveying limit seats. The lower end of the square transmission boxes is fixed on the upper surface of the automated workbench. Each square transmission box is equipped with a sprocket drive mechanism. A plurality of equally spaced conveying rollers are rotatably mounted between the two square transmission boxes, and the sprocket transmission mechanism is connected and driven by the plurality of conveying rollers; The transfer and conveying module also includes two longitudinally symmetrical swing mounting seats, which are located between the conveying limit seat and the square transmission box. The lower end of the swing mounting seat is fixed to the upper surface of the automated workbench. A swing transfer seat is rotatably provided between the two swing mounting seats. The swing transfer seat is located near the end of the conveying roller. Several strip-shaped comb plates are welded to the right side wall of the swing transfer seat. The strip-shaped comb plates are matched with several docking slots.

5. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 4 wherein: The flip positioning frame is a U-shaped frame with the opening facing downwards. A flip drive motor is fixed on the outer side wall of the flip hinge seat. The end of the output shaft of the flip drive motor passes through the flip hinge seat and is fixed to the longitudinal side wall of the flip positioning frame. The welding support frame is a U-shaped frame arranged longitudinally with the opening facing downwards. A square fixed support plate is welded to the center of the inner bottom surface of the welding support frame. Vertical positioning telescopic cylinders are fixed at the four corners of the upper surface of the fixed support plate. The upper telescopic ends of the four positioning telescopic cylinders are fixed to the lower surface of the lifting support plate. The size of the top support positioning plate is slightly smaller than the size of the positioning connection port.

6. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 5 wherein: A second gantry frame is also welded onto the bottom support frame. The first gantry frame and the second gantry frame are arranged symmetrically in the horizontal direction. The first gantry frame spans the automated workbench and is located on the right side, while the second gantry frame spans the automated workbench and is located on the left side.

7. The underground mine car articulated frame welding and deformation correction equipment according to claim 6, characterized in that: The deformation monitoring and correction module includes a front deformation monitoring camera and a rear correction and recognition camera that are symmetrically positioned laterally. The front deformation monitoring camera and the rear correction and recognition camera are respectively fixed on the lateral side wall near the upper end of the second gantry.

8. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 7, characterised in that: A telescopic cylinder is fixed in the middle of the upper surface of the second gantry frame. The lower end of the telescopic cylinder passes through the second gantry frame and is fixed with a downward-pressing correction plate. An arc-shaped correction block is fixed on the lower surface of the downward-pressing correction plate. Four symmetrical sliding guide frames are welded to the middle transverse side wall of the second gantry frame. Each sliding guide frame is fixed with a sliding drive rail. Each sliding drive rail is fitted with a correction slide. Each correction slide is telescopically provided with a side-pressure correction plate on its longitudinal outer wall. A side-pressure correction block is fixed on the side end face of the side-pressure correction plate. A calibration support frame is provided on one side of the lower part of the automated workbench. The calibration support frame is a U-shaped frame with the opening facing downward and grounded. Several top-mounted calibration plates are telescopically provided in the middle of the upper surface of the calibration support frame. Several calibration communication ports are opened on one side of the upper surface of the automated workbench corresponding to the top-mounted calibration plates. The calibration communication ports are located between two adjacent conveying rollers.

9. An underground mine vehicle articulating frame welding and strain correction apparatus as claimed in claim 8 wherein: A position adjustment main control box is fixed on the longitudinal side wall of the first gantry, and a deformation correction main control box is fixed on the longitudinal side wall of the second gantry.

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