System and method for realizing automatic splicing of small pieces of movable arm of excavator

Abstract

The invention discloses a system and a method for realizing automatic splicing of small pieces of a movable arm of an excavator, and belongs to the technical field of engineering machinery, and the method comprises the following steps: identifying the types and the quantity of small piece materials by utilizing a 3D visual system to obtain a small piece identification result; the carrying robot is controlled to grab the small parts, the small parts are accurately positioned through the small part secondary positioning mechanism, and the positioned small parts are obtained; position deviation correction is carried out on the movable arm body transported by the AGV through the movable arm body secondary positioning mechanism, the actual space coordinates of the movable arm body in the work station are obtained through the laser locating system, and the corrected workpiece coordinates are obtained; and the carrying robot is controlled to place the positioned small part at the designated position of the movable arm body, and the welding robot and the welding positioner are controlled to cooperatively complete spot welding and full welding of the small part. According to the invention, automatic identification, grabbing, locating and mistake proofing of small movable arm piece materials are realized, full-automatic point splicing of the small movable arm pieces is completed, the manual participation degree is reduced, and the offline consistency rate of products is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a system and method for automatic point assembly of small parts of a movable arm of a excavator, and belongs to the technical field of engineering machinery. BACKGROUND

[0002] The movable arm is an important part of the working device of the excavator, and has a large number of small parts outside the box for fixing the hydraulic pipeline and the electrical system. The number of small parts of the conventional product is 30-60, which is large in quantity and has a large number of structural parts. The conventional point assembly method is to manually draw a line and then position and spot weld the small parts, and manual hoisting and turning of the workpiece are required. This method has low operation efficiency. The space position of the small parts is complex, and it is difficult to accurately position when manually drawing a line, so there are problems of large positioning error of the small parts and difficulty for the worker to find the point assembly error. Usually, after repeated correction, the product meets the assembly requirements, which consumes a large amount of labor and time cost and affects the product delivery plan.

[0003] At present, the small parts of the movable arm are usually positioned on the ground, and then the small parts are placed in the specified position for spot welding, and finally the workpiece is hoisted to the positioner for small part weld joint welding.

[0004] The prior art has the following disadvantages:

[0005] Disadvantage 1: The movable arm small parts have large positioning and line drawing workload, and a large amount of time is wasted.

[0006] Disadvantage 2: Different operators have different skill levels, and the line drawing position deviation is large, which affects the assembly due to the over-dimensioning of the small parts.

[0007] Disadvantage 3: Manual operation needs to frequently hoist the workpiece, and the safety factor of the production process is low. SUMMARY

[0008] The present application aims to overcome the deficiencies in the prior art, and provides a system and method for automatic point assembly of small parts of a movable arm of a excavator, which realizes automatic identification, grabbing, positioning and error prevention of the movable arm small parts, completes full-automatic point assembly of the movable arm small parts, reduces the degree of manual participation, and improves the product delivery consistency rate.

[0009] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0010] In a first aspect, the present application provides a method for automatic point assembly of small parts of a movable arm of a excavator, comprising:

[0011] Conveying the small part material frame through the feeding system, and identifying the type and quantity of the small part material by using the 3D vision system to obtain a small part identification result;

[0012] Based on the small item identification results, the handling robot is controlled to grab the small item, and the small item is accurately positioned by the small item secondary positioning mechanism to obtain the positioned small item;

[0013] The position deviation of the boom body transported by the AGV is corrected by the secondary positioning mechanism of the boom body, and the actual spatial coordinates of the boom body in the workstation are obtained by the laser positioning system, so as to obtain the corrected workpiece coordinates.

[0014] Based on the corrected workpiece coordinates, the handling robot is controlled to place the positioned small part at the designated position on the boom body, and the welding robot and welding positioner are controlled to work together to complete the spot welding and full welding of the small part.

[0015] Furthermore, the method of using a 3D vision system to identify the type and quantity of small materials includes:

[0016] Scan the shape features of the small item, match it with the pre-stored product library, and output the item type and location information to guide the grabbing process.

[0017] Furthermore, the step of using a laser positioning system to obtain the actual spatial coordinates of the boom body in the workstation includes:

[0018] Scan the surface features of the boom body, calculate its positional deviation from the theoretical model, and generate coordinate correction parameters;

[0019] The actual spatial coordinates are calculated based on the coordinate correction parameters and then transmitted to the handling robot.

[0020] Furthermore, during the process of controlling the welding robot and the welding positioner to work together to complete the welding, the welding positioner performs asynchronous lifting and lowering actions to adjust the workpiece to the optimal welding posture.

[0021] Furthermore, during the process of the handling robot picking up small parts, the material frame is moved synchronously by the material following mechanism to cooperate with the robot's picking action.

[0022] Secondly, the present invention provides a system for automatically assembling small parts of a mobile excavator boom, comprising:

[0023] The feeding and recognition module is used to automatically convey small material boxes through the feeding system, and to identify the type and quantity of small materials through the 3D vision system, and output the small material recognition results.

[0024] The grasping and positioning module is used to grasp small items by the handling robot based on the small item identification result, and to accurately position the small items through the small item secondary positioning mechanism, and output the positioned small items;

[0025] The workpiece correction module is used to correct the positional deviation of the boom transported by the AGV through the secondary positioning mechanism of the boom body, and to obtain the actual spatial coordinates of the boom body in the workstation through the laser positioning system, and output the corrected workpiece coordinates.

[0026] The spot welding execution module is used to place the positioned small part at a designated position on the boom body by the handling robot based on the corrected workpiece coordinates, and to complete the spot welding and full welding of the small part by the welding robot and the welding positioner in collaboration.

[0027] Furthermore, in the feeding and identification module, the 3D vision system scans the features of small parts and records them into the system to form a product database, which is used to guide the handling robot to perform material identification and grasping.

[0028] Furthermore, in the workpiece correction module, the coordinate information acquired by the laser positioning system is transmitted to the handling robot for real-time correction of the placement position of small parts.

[0029] Furthermore, the system also includes a material following mechanism for moving the material box along with the material handling robot during the material handling process, so as to shorten the material handling path.

[0030] Furthermore, the welding positioner has an asynchronous lifting function, which is used to adjust the boom body to the optimal welding posture.

[0031] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0032] This invention provides a system and method for automatically assembling small parts using a boom excavator. By utilizing equipment such as a handling robot, welding robot, laser positioning system, and 3D vision positioning system, the system enables automatic identification, grasping, positioning, and error prevention of small boom parts, completing fully automated assembly of the boom parts, reducing manual intervention, and improving product consistency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a system for automatically assembling small parts of a mining boom, provided by an embodiment of the present invention. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0035] Example 1: This example describes a method for automatically assembling small parts on a mobile excavator boom, including:

[0036] The small material boxes are conveyed through the feeding system, and the type and quantity of the small materials are identified by the 3D vision system to obtain the small material identification results.

[0037] Based on the small item identification results, the handling robot is controlled to grab the small item, and the small item is accurately positioned by the small item secondary positioning mechanism to obtain the positioned small item;

[0038] The position deviation of the boom body transported by the AGV is corrected by the secondary positioning mechanism of the boom body, and the actual spatial coordinates of the boom body in the workstation are obtained by the laser positioning system, so as to obtain the corrected workpiece coordinates.

[0039] Based on the corrected workpiece coordinates, the handling robot is controlled to place the positioned small part at the designated position on the boom body, and the welding robot and welding positioner are controlled to work together to complete the spot welding and full welding of the small part.

[0040] The method for automatically assembling small parts of a mobile excavator boom provided in this embodiment involves the following steps in its application process:

[0041] S1: Material feeding and visual recognition;

[0042] The small parts material box is automatically conveyed to the material following mechanism 5 by the feeding system 3. Then, the 3D vision system 8 is activated to scan the small parts in the material box. By comparing with the pre-stored product library data, the type and quantity of the small parts are identified, and the small parts identification result is obtained.

[0043] S2: Robot grasping and secondary localization;

[0044] Based on the small part identification result obtained in step S1, the system controller guides the handling robot 4 to move to the corresponding position and grasp the target small part. After grasping, the handling robot 4 places the small part on the small part secondary positioning mechanism 6 for precise positioning, thereby obtaining a positioned small part with accurate posture and position.

[0045] S3: Workpiece positioning and laser positioning;

[0046] After the AGV transports the boom to the workstation, the secondary positioning mechanism 7 first activates to correct the AGV's transport deviation and complete the precise clamping of the boom. Next, the laser positioning system 9 is activated to scan the actual spatial position of the boom, calculate its positional deviation from the theoretical model, and generate the corrected workpiece coordinates.

[0047] S4: Piecing and Welding;

[0048] The handling robot 4 takes the positioned small part obtained in step S2 and performs position compensation based on the corrected workpiece coordinates obtained in step S3, ultimately placing the small part precisely in the correct position on the boom. Then, the welding robot 2 performs spot welding on the small part. Throughout the welding process, the welding positioner 1 continuously performs asynchronous lifting and lowering adjustments, constantly adjusting the weld seam to the optimal welding posture, and the welding robot 2 completes the full welding operation for all weld seams.

[0049] The following description, in conjunction with a preferred embodiment, illustrates the content involved in the above embodiments.

[0050] An automated assembly method: Small parts are positioned on the boom body using offline programming on a computer. The position is then corrected on-site based on workpiece deviations. In this method, small parts are categorized and placed using a dedicated positioning tray. A 3D vision system 8 scans and identifies the features of the small parts, and the scanned data is entered into the system to form a product library. Whenever similar workpieces are present in the area, the 3D vision system 8 can scan them and guide the handling robot 4 to pick them up. A laser positioning system 9 locates the boom body's spatial position in the workstation and transmits the coordinate information to the handling robot 4. The handling robot 4 corrects for workpiece position discrepancies based on the laser-transmitted coordinate information to ensure consistent positioning of small parts on different boom bodies. A material following mechanism 5 connects the material frame and moves with the handling robot 4, reducing the time wasted by the robot 4 moving back and forth to pick up materials. A secondary positioning mechanism 7 on the boom body corrects deviations during AGV transport of workpieces, meeting the needs of automated loading and unloading and automated clamping, and reducing manual labor.

[0051] This method enables a fully automated process from loading and unloading to unloading, improving assembly efficiency and reducing labor costs.

[0052] Example 2, as Figure 1 As shown, this embodiment provides a system for automatically assembling small parts of an excavator boom. In specific implementation, it mainly includes the following functional modules:

[0053] 1. Loading and Identification Module: This module consists of a loading system 3 and a 3D vision system 8. During implementation, the operator places a material box containing various small parts onto the loading system 3. The loading system 3 automatically conveys the material box to the material-following mechanism 5 within the work area. Subsequently, the 3D vision system 8 scans the small parts in the material box, identifies the type of parts, and confirms the quantity. This identification result is transmitted to the system controller in real time, providing guidance for subsequent grasping.

[0054] 2. Gripping and Positioning Module: This module consists of a handling robot 4 and a small part secondary positioning mechanism 6. During implementation, the handling robot 4, based on the recognition results provided by the 3D vision system 8, moves to the material following mechanism 5 and uses its equipped flexible grippers and electrophoretic magnets to grasp the target small part. After grasping, the handling robot 4 places the small part on the small part secondary positioning mechanism 6. This mechanism precisely positions the small part to eliminate deviations generated during the grasping process, ensuring that the small part's posture and position relative to the handling robot's gripper are accurate, thus outputting a positioned small part.

[0055] 3. Workpiece Correction Module: This module consists of a boom body secondary positioning mechanism 7 and a laser positioning system 9. During implementation, an AGV transports the boom body to the workstation. The boom body secondary positioning mechanism 7 first activates to correct the initial positional deviation caused by the AGV transport, achieving automatic and precise clamping of the boom body. Subsequently, the laser positioning system 9 scans the clamped boom body to obtain its actual spatial coordinates in the workstation, especially the deviation between the actual contour and the theoretical model caused by accumulated welding errors. These actual coordinates, i.e., the corrected workpiece coordinates, are immediately sent to the handling robot 4.

[0056] 4. Spot Welding Execution Module: This module consists of the collaborative work of the handling robot 4, the welding robot 2, and the welding positioner 1. During execution, the handling robot 4 retrieves the positioned small part from the gripping and positioning module and, based on the calibrated workpiece coordinates provided by the workpiece calibration module, precisely places the small part onto the designated position on the boom. Subsequently, the welding robot 2 performs spot welding to fix the small part. During this process, the welding positioner 1 asynchronously raises and lowers the boom according to a preset program, adjusting it to the optimal welding posture so that the welding robot 2 can complete the full welding of all small parts with high quality.

[0057] The following description, in conjunction with a preferred embodiment, illustrates the content involved in the above embodiments.

[0058] like Figure 1As shown, in order for the upper rear and upper front sealing plates of the boom to achieve the ideal welding posture, the welding positioner 1 meets the asynchronous lifting function; the welding robot 2 can travel in the X-axis direction of the ground rail to meet the welding of all small parts welds of the boom; the loading system 3 can automatically transfer the small part material frame to the material following structure 5, or transfer the empty frame to the loading system 3; the handling robot 4 carries flexible grippers and electrophoretic magnets to meet the handling needs of all small parts; the small part secondary positioning mechanism 6 performs secondary positioning of the small parts to meet the gripping accuracy requirements of the fixture; the boom secondary positioning mechanism is to correct the accuracy deviation of the AGV transporting the workpiece to achieve automatic loading and clamping; the 3D vision system 8 is used to identify the type of small parts and the number of small parts in the small part material frame, and guide the handling robot 4 to grip the fixture; the laser positioning system 9 can realize the positioning of the small parts on the boom, which can avoid the influence of position changes caused by boom welding errors on the position of the small parts.

[0059] Among them, the boom fittings are mounting brackets on the boom used to fix hydraulic lines and electrical wiring.

[0060] Through the coordinated operation of the above system modules and the sequential execution of the method steps, a fully automated process from automatic feeding, identification, grasping, correction to final splicing welding is realized, effectively solving the problems mentioned in the background technology, such as large errors, low efficiency, and poor safety of manual scribing.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for automatically assembling small parts of a mobile excavator boom, characterized in that, include: The small material box is conveyed through the feeding system (3), and the type and quantity of the small material are identified by the 3D vision system (8) to obtain the small material identification result; Based on the small item identification results, the handling robot (4) is controlled to grab the small item, and the small item is accurately positioned by the small item secondary positioning mechanism (6) to obtain the positioned small item; The boom body of the AGV is corrected by the secondary positioning mechanism (7), and the actual spatial coordinates of the boom body in the workstation are obtained by the laser positioning system (9), so as to obtain the corrected workpiece coordinates. Based on the corrected workpiece coordinates, the handling robot (4) is controlled to place the positioned small part at the designated position on the boom body, and the welding robot (2) and the welding positioner (1) are controlled to work together to complete the spot welding and full welding of the small part.

2. The method for automatically assembling small parts of an excavator boom according to claim 1, characterized in that, The method of using a 3D vision system (8) to identify the type and quantity of small materials includes: Scan the shape features of the small item, match it with the pre-stored product library, and output the item type and location information to guide the grabbing process.

3. The method for automatically assembling small parts of an excavator boom according to claim 1, characterized in that, The method of obtaining the actual spatial coordinates of the boom body in the workstation using the laser positioning system (9) includes: Scan the surface features of the boom body, calculate its positional deviation from the theoretical model, and generate coordinate correction parameters; The actual spatial coordinates are calculated based on the coordinate correction parameters and then transmitted to the handling robot (4).

4. The method for automatically assembling small parts of an excavator boom according to claim 1, characterized in that, During the process of controlling the welding robot (2) and the welding positioner (1) to complete the welding together, the welding positioner (1) performs asynchronous lifting action to adjust the workpiece to the optimal welding posture.

5. The method for automatically assembling small parts of an excavator boom according to claim 1, characterized in that, During the process of the handling robot (4) grabbing small parts, the material frame is moved synchronously by the material following mechanism (5) to cooperate with the robot's material picking action.

6. A system for automatically assembling small parts on a mobile excavator boom, characterized in that, include: The feeding and identification module is used to automatically convey small material boxes through the feeding system (3), and identify the type and quantity of small materials through the 3D vision system (8), and output the small material identification results; The grasping and positioning module is used to grasp small items by the handling robot (4) based on the small item identification result, and to accurately position the small items through the small item secondary positioning mechanism (6) and output the positioned small items; The workpiece correction module is used to correct the position deviation of the boom body transported by the AGV through the boom body secondary positioning mechanism (7), and to obtain the actual spatial coordinates of the boom body in the workstation through the laser positioning system (9), and output the corrected workpiece coordinates. The spot welding module is used to place the positioned small part at a designated position on the boom body by the transport robot (4) based on the corrected workpiece coordinates, and to complete the spot welding and full welding of the small part in collaboration with the welding robot (2) and the welding positioner (1).

7. The system for automatic assembly of small parts of an excavator boom according to claim 6, characterized in that, In the feeding and identification module, the 3D vision system (8) scans the features of small parts and enters them into the system to form a product library, which is used to guide the handling robot (4) to perform material identification and grasping.

8. The system for automatic assembly of small parts of an excavator boom according to claim 6, characterized in that, In the workpiece correction module, the coordinate information obtained by the laser positioning system (9) is transmitted to the handling robot (4) for real-time correction of the placement position of small parts.

9. The system for automatic assembly of small parts of an excavator boom according to claim 6, characterized in that, The system also includes a material following mechanism (5) for moving the material box along with the material picking process of the handling robot (4) to shorten the picking path.

10. The system for automatic assembly of small parts of an excavator boom according to claim 6, characterized in that, The welding positioner (1) has an asynchronous lifting function, which is used to adjust the boom body to the optimal welding posture.

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