Hydraulic support structure multi-source perception positioning device

Abstract

This utility model provides a multi-source sensing and positioning device for hydraulic support structural components, including a protective housing, a stop mechanism, and several clamping mechanisms. The protective housing is connected to one end of the stop mechanism, serving to protect the stop mechanism and to sense the hydraulic support welded structural components. The several clamping mechanisms are symmetrically distributed on both sides of the protective housing, used to clamp and position the hydraulic support welded structural components laterally. The axis of the stop mechanism coincides with the center line of the several clamping mechanisms, and the stop mechanism is used to position the hydraulic support welded structural components along the axial direction. This multi-source sensing and positioning device for hydraulic support structural components can automatically and accurately position large hydraulic support welded structural components, thereby improving transportation efficiency and safety.

Description

Technical Field

[0001] This utility model relates to the field of hydraulic support positioning equipment, specifically, to a multi-source sensing and positioning device for hydraulic support structural components. Background Technology

[0002] Positioning equipment plays a crucial role in industrial production and logistics, directly impacting a company's production efficiency and safety. This is particularly true in heavy equipment manufacturing, such as the production of hydraulic supports, where the importance of positioning equipment is paramount. Hydraulic supports, as key equipment in coal mining, typically consist of large welded structural components such as top beams, shield beams, and bases, welded from plates ranging from 20mm to 60mm in thickness, with a combined weight of approximately 5 to 12 tons. These large structural components require precise positioning during manufacturing to ensure subsequent welding quality and the overall structural stability.

[0003] With the continuous upgrading of automation technology, automated equipment such as overhead cranes are widely used in the transfer of large structural components. However, traditional overhead cranes do not have the ability to automatically clamp and align workpieces. This means that when transferring these large hydraulic support welding structural components, manual intervention is usually required to ensure that the workpiece is correctly positioned at the loading position of the overhead crane. This manual operation is not only labor-intensive but also poses certain safety hazards. If the operator does not align the workpiece completely at the loading position of the overhead crane, the automatic overhead crane may experience misalignment during transfer. This will not only adversely affect the lifespan of the overhead crane but may also cause the workpiece to fall, leading to a serious safety accident.

[0004] Therefore, with the continuous development of automation technology and the increasing demands for applications, higher requirements are being placed on the automation level of positioning equipment. Traditional positioning methods can no longer meet the needs of modern production, and there is an urgent need for a device that can automatically and accurately position large hydraulic support welded structural components to improve transportation efficiency and safety. Utility Model Content

[0005] In order to enable the automatic and precise positioning of large hydraulic support welding components to improve transportation efficiency and safety, the technical solution adopted by this utility model is: a multi-source sensing and positioning device for hydraulic support components, including a protective box, a stop mechanism and several clamping mechanisms.

[0006] The protective housing is connected to one end of the stop mechanism and is used to protect the stop mechanism and to sense the welded structural components of the hydraulic support.

[0007] Several clamping mechanisms are symmetrically distributed on both sides of the protective housing, and are used to clamp and position the hydraulic support welded structural components in the lateral direction.

[0008] The axis of the stop mechanism coincides with the center line of the clamping mechanisms, and the stop mechanism is used to position the hydraulic support welded structure in the axial direction.

[0009] Based on the above, the clamping mechanism includes a clamping pusher, a ball screw, a motor, a clamping housing, and several rollers; the several rollers are symmetrically arranged on both sides of the top of the clamping housing for rolling support of the hydraulic support welded structural components;

[0010] The ball screw is installed in the clamping box and is connected to the motor for transmission. The ball screw is used to drive the clamping push seat to move and clamp the hydraulic support welded structure.

[0011] Based on the above, the clamping box is also provided with a linear guide rail for the clamping pusher to slide.

[0012] Based on the above, the stop mechanism includes a stop base, a stop seat, a limit pin, a linear displacement sensor, and a pair of laser rangefinders;

[0013] A pair of laser rangefinders are disposed at the outer end of the stop base for detecting the position of the hydraulic support welded structural components;

[0014] The stop seat is slidably disposed on the stop base, the limiting pin is detachably connected to the stop seat, the stop base is provided with a plurality of positioning holes for the limiting pin to be inserted, and the linear displacement sensor is used to detect the position of the limiting pin.

[0015] Based on the above, the stop base is provided with a pair of stop mechanism slides, and the bottom of the stop base is provided with a plurality of stop base sliders that slide in cooperation with the stop mechanism slides.

[0016] Based on the above, the protective enclosure includes a frame, a pair of light sensors and several cover plates disposed on the frame; a portion of the cover plates are provided with straight slots for avoiding the light sensors.

[0017] Based on the above, several of the clamping mechanisms have the same specifications.

[0018] Based on the above, the clamping mechanisms are arranged in parallel with each other.

[0019] This utility model has substantial features and advancements compared to existing technologies. Specifically, the multi-source sensing and positioning device for hydraulic support structural components provided by this utility model achieves automatic positioning of large hydraulic support welded structural components through the coordinated action of clamping mechanisms, protective housings, and stop mechanisms. This improves transfer efficiency and safety while reducing labor intensity and safety risks. Specifically, after the hydraulic support top beam is assembled on the assembly workbench, it needs to be manually transferred to the loading / unloading interaction area of ​​the automatic overhead crane. Subsequently, the automatic overhead crane transports the top beam from the interaction area to the automatic welding workstation. During operation, the operator manually lifts the top beam using the manual overhead crane, gently bumping it against the stop push seat, and then smoothly lowers it onto the six sets of clamping mechanisms. After the workpiece is stably placed, the positioning device is activated, and the six sets of clamping mechanisms work together to correct the workpiece to the accurate position using appropriate clamping force.

[0020] Furthermore, in terms of communication and interaction, this multi-source sensing and positioning device for hydraulic support components integrates various sensors to enhance automation. Specifically, a light sensor detects the presence of a workpiece on the platform; a linear displacement sensor monitors the precise position of the stop seat in real time; and a laser rangefinder measures the precise position of the workpiece after positioning. These sensors interact with the host computer of the automatic overhead crane through a PLC integrated system, thereby automatically determining whether the workpiece can be grasped, effectively reducing the labor intensity of personnel and realizing the automatic material handling function of the automatic overhead crane. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the multi-source sensing and positioning device for the hydraulic support structure provided by this utility model.

[0022] Figure 2 This is a schematic diagram of the stop mechanism in the multi-source sensing and positioning device for hydraulic support structures provided by this utility model.

[0023] Figure 3 This is a schematic diagram of the clamping mechanism in the multi-source sensing and positioning device for hydraulic support structures provided by this utility model.

[0024] Figure 4 This is a schematic diagram of the protective box structure in the multi-source sensing and positioning device for hydraulic support structural components provided by this utility model.

[0025] Figure 5 This is a schematic diagram showing the relationship between the multi-source sensing and positioning device for the hydraulic support structure and the automatic overhead crane provided by this utility model.

[0026] In the diagram: 1. Clamping mechanism; 101. Clamping pusher; 102. Ball screw; 103. Motor; 104. Clamping housing; 1041. Linear guide rail; 1042. Ball screw fixing plate; 1043. Ball screw mating bearing; 1044. Round bar; 1045. Side plate; 105. Roller. 2. Protective housing; 201. First cover plate; 202. Second cover plate; 203. Third cover plate; 204. Fourth cover plate; 205. Fifth cover plate; 206. Frame; 207. Light sensor; 3. Stop mechanism; 301. Stop base; 3011. Stop mechanism slide rail; 3012. Lower stiffener plate; 3013. Protective side plate; 302. Stop push seat; 3021. Stop seat; 3022. Stop seat slider; 3023. Limit pin; 303. Linear displacement sensor; 304. Laser rangefinder. Detailed Implementation

[0027] The technical solution of this utility model will be further described in detail below through specific embodiments.

[0028] Example 1

[0029] This embodiment provides a multi-source sensing and positioning device for hydraulic support structural components, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, it includes a clamping mechanism 1, a protective housing 2, and a stop mechanism 3.

[0030] The protective housing 2 is connected to one end of the stop mechanism 3, serving to protect the stop mechanism 3 and to sense the hydraulic support welded structural components. A plurality of clamping mechanisms 1 are symmetrically distributed on both sides of the protective housing 2, used to clamp and position the hydraulic support welded structural components laterally. The axis of the stop mechanism 3 coincides with the center line of the clamping mechanisms 1, and the stop mechanism 3 is used to position the hydraulic support welded structural components along their axis.

[0031] The clamping mechanism 1 includes a clamping pusher 101, a ball screw 102, a motor 103, a clamping housing 104, and a plurality of rollers 105. The plurality of rollers 105 are symmetrically arranged on both sides of the top of the clamping housing 104 for rolling support of the hydraulic support welded structural components.

[0032] The ball screw 102 is disposed inside the clamping housing 104 and is connected to the motor 103 for transmission. The ball screw 102 is used to drive the clamping pusher 101 to move and clamp the hydraulic support welded structural component. The clamping housing 104 is also provided with a linear guide rail 1041 for the clamping pusher 101 to slide.

[0033] The stop mechanism 3 includes a stop base 301, a stop seat 3021, a limit pin 3023, a linear displacement sensor 303, and a pair of laser rangefinders 304.

[0034] A pair of laser rangefinders 304 are disposed at the outer end of the stop base 301 for detecting the position of the hydraulic support welded structural components. The stop seat 3021 is slidably disposed on the stop base 301, and the limiting pin 3023 is detachably connected to the stop seat 3021. The stop base 301 has several positioning holes for the insertion of the limiting pin 3023, and the linear displacement sensor 303 is used to detect the position of the limiting pin 3023.

[0035] The stop base 301 is provided with a pair of stop mechanism slides 3011, and the bottom of the stop seat 3021 is provided with a plurality of stop seat sliders 3022 that slide in cooperation with the stop mechanism slides 3011. The stop seat 3021 and the stop seat sliders 3022 together form the stop push seat 302.

[0036] The protective enclosure 2 includes a frame 206, a pair of light sensors 207 mounted on the frame 206, and several cover plates. Some of the cover plates have straight slots for avoiding the light sensors.

[0037] Specifically, the clamping mechanism 1 consists of six groups arranged in three rows and two columns, with a protective housing installed in the middle. The clamping mechanism is used for lateral clamping and positioning of the hydraulic support welded structural components.

[0038] Specifically, such as Figure 3 As shown, the motor 103 cooperates with the ball screw 102 and is fixed to the axial direction of the housing 104 by bolts through the ball screw fixing plate 1042 and the ball screw cooperating bearing 1043. The clamping push seat 101 is a plate welded housing structure, which cooperates with the ball screw 102 by bolts and bearings.

[0039] The clamping pusher 101 has a slot below it, allowing it to move on the linear guide rail 1041. A round bar 1044 is welded to the top of the side plate 1045. The side plate 1045 has a round hole with a diameter of 40.5 mm on its upper side. The roller 105 is connected to the round hole on the side of the side plate 1045 by bolts and bearings.

[0040] like Figure 2 As shown, the stop mechanism slide 3011 has a positioning hole with a diameter of 80mm in the middle. A lower stiffening plate 3012 is welded below the stop mechanism slide 3011. The lower stiffening plate 3012 and the protective side plate 3013 are welded together.

[0041] The stop seat 3021 is a welded plate box structure with a positioning groove at the rear. It is connected to the stop seat slider 3022 by bolts at the bottom. The stop seat 3021 can be mechanically positioned by a limit pin 3023 passing through the positioning groove at the rear and the positioning hole in the middle of the stop mechanism slide 3011.

[0042] The stop mechanism 3 has a linear displacement sensor 303 bolted to its tail end, and two sets of laser rangefinders 304 bolted to the middle sides of its tail end. The linear displacement sensor 303 is connected to a limit pin 3023.

[0043] like Figure 4 As shown, the first cover plate 201, the second cover plate 202, the third cover plate 203, the fourth cover plate 204, and the fifth cover plate 205 are sequentially fixed to the frame 206 from front to back with bolts. Two light sensors 207 are symmetrically mounted on the frame 206 with bolts. The fourth cover plate 204 has a straight slot, through which the light sensors 207 can sense light.

[0044] Specifically, when using the multi-source sensing and positioning device for the hydraulic support structure provided by this utility model in conjunction with an automatic overhead crane, the specific operating steps are as follows: Figure 5 As shown,

[0045] Specifically, in terms of communication and interaction, the light sensor 207 is used to detect whether there is a workpiece on the platform; the linear displacement sensor 303 monitors the precise position of the stop seat 3021 in real time; and the laser rangefinder 304 is used to measure the precise position of the workpiece after positioning. These sensors interact with the host computer of the automatic overhead crane through a PLC integrated system, thereby automatically determining whether the workpiece can be grasped, effectively reducing the labor intensity of personnel, and realizing the automatic material handling function of the automatic overhead crane.

[0046] More specifically, communication between the positioning device and the WMS is established through the PLC. The operator selects the workpiece to be loaded via PDA. The positioning device obtains the length, width, and height of the workpiece. The positioning device PLC system calculates the recommended hole position of the stop seat 3021 using Formula I. Then, the operator adjusts the position of the stop seat 3021 in the stop mechanism slide 3011 according to the hole position recommended by the positioning device. The stop seat 3021 is mechanically positioned by the limit pin 3023 passing through the positioning groove at the tail of the stop seat 3021 and the positioning hole in the middle of the stop mechanism slide 3011.

[0047] The overhead crane is manually operated to lift the top beam, gently bumping it against the stop push seat 302, and then smoothly lowering it onto the six clamping mechanisms 1. After the workpiece is stably placed, the positioning device is activated, and the six clamping mechanisms 1 work together to correct the workpiece to the accurate position through appropriate clamping force.

[0048] The laser rangefinder 304 inspects the position information of the workpiece. The positioning device PLC system can calculate the position of the workpiece at this time through formula II, and convert it into the coordinate information of the crane through formula III.

[0049] The positioning device PLC detects the workpiece alignment completion signal, and the positioning device uses the optical sensor 207 to detect whether there is a workpiece on the platform.

[0050] When the positioning device detects the presence of the workpiece and completes the centering, the coordinate information of the workpiece is transmitted to the WMS via the PLC. The WMS issues a material handling task, and the WCS converts the material handling task issued by the WMS into an executable signal for the automatic crane PLC, and the automatic crane handles the material.

[0051]

[0052] In the formula: K: recommended hole position;

[0053] ROUNDUP: Round up;

[0054] V: When K=1, the distance from the front plane of the stop seat to the center of the protective box;

[0055] L: Length of the workpiece.

[0056]

[0057] In the formula: X1: the offset of the workpiece center position along the axial coordinate of the protective box center position;

[0058] J: Distance from the workpiece to the laser rangefinder;

[0059] L: Length of the workpiece;

[0060] X0: Axial coordinate of the overhead crane material handling at the center of the protective box.

[0061] (X,Y)=(X0,Y0)+(X1,0)(Formula III)

[0062] In the formula: (X,Y): the actual material picking coordinates of the overhead crane;

[0063] (X0,Y0): Coordinates of the overhead crane material handling at the center of the protective box;

[0064] X1: The offset of the workpiece center position along the axial coordinate of the protective box center position.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A multi-source sensing and positioning device for hydraulic support structural components, characterized in that: Includes a protective housing, a stop mechanism, and several clamping mechanisms; The protective housing is connected to one end of the stop mechanism and is used to protect the stop mechanism and to sense the welded structural components of the hydraulic support. Several clamping mechanisms are symmetrically distributed on both sides of the protective box, and are used to clamp and position the hydraulic support welded structural components in the lateral direction. The axis of the stop mechanism coincides with the center line of the clamping mechanisms, and the stop mechanism is used to position the hydraulic support welded structure in the axial direction.

2. The multi-source sensing and positioning device for hydraulic support structural components according to claim 1, characterized in that: The clamping mechanism includes a clamping pusher, a ball screw, a motor, a clamping housing, and several rollers; Several rollers are symmetrically arranged on both sides of the top of the clamping box for rolling support of the hydraulic support welded structural components. The ball screw is installed in the clamping box and is connected to the motor for transmission. The ball screw is used to drive the clamping push seat to move and clamp the hydraulic support welded structure.

3. The multi-source sensing and positioning device for hydraulic support structural components according to claim 2, characterized in that: The clamping box is also equipped with a linear guide rail for the clamping pusher to slide.

4. The multi-source sensing and positioning device for hydraulic support structural components according to claim 1, characterized in that: The stop mechanism includes a stop base, a stop seat, a limit pin, a linear displacement sensor, and a pair of laser rangefinders; A pair of laser rangefinders are disposed at the outer end of the stop base for detecting the position of the hydraulic support welded structural components; The stop seat is slidably disposed on the stop base, the limiting pin is detachably connected to the stop seat, the stop base is provided with a plurality of positioning holes for the limiting pin to be inserted, and the linear displacement sensor is used to detect the position of the limiting pin.

5. The multi-source sensing and positioning device for hydraulic support structural components according to claim 4, characterized in that: The stop base is provided with a pair of stop mechanism slides, and the bottom of the stop base is provided with a number of stop base sliders that slide in cooperation with the stop mechanism slides.

6. The multi-source sensing and positioning device for hydraulic support structural components according to any one of claims 1 to 5, characterized in that: The protective enclosure includes a frame, a pair of light sensors mounted on the frame, and several cover plates; some of the cover plates have straight slots for avoiding the light sensors.

7. The multi-source sensing and positioning device for hydraulic support structural components according to claim 6, characterized in that: Several of the clamping mechanisms have the same specifications.

8. The multi-source sensing and positioning device for hydraulic support structural components according to claim 7, characterized in that: The clamping mechanisms are arranged in parallel to each other.

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