CN106862813B - A kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection system - Google Patents
A kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection system Download PDFInfo
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- CN106862813B CN106862813B CN201710150285.0A CN201710150285A CN106862813B CN 106862813 B CN106862813 B CN 106862813B CN 201710150285 A CN201710150285 A CN 201710150285A CN 106862813 B CN106862813 B CN 106862813B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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Abstract
The invention discloses a kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection systems.Including fixed feed bin, handling robot system, welding robot system, intelligence control system, vision detection system and mobile feed bin；Fixed feed bin is arranged in feeding station, welding robot system is placed on welding post, vision detection system is arranged in detection station, mobile feed bin is arranged in discharge station, fixed feed bin is used for feeding, crawler belt toothed disc is first transported to from fixed feed bin from welding robot system and welds by handling robot system, then is transported to the detection that welding quality is carried out at vision detection system, is finally transported to mobile feed bin.The present invention realizes the automatic charging of crawler belt toothed disc, dual robot collaboration welding, welding quality on-line checking and finished product divide the functions such as warehouse codes pile, and automation degree of equipment is high, and whole process does not need manual intervention, welding quality consistency is high.
Description
Technical field
The present invention relates to a kind of automatic surfacing and quality detecting system more particularly to a kind of caterpillar teeth wheel disc robot are automatic
Built-up welding and vision detection system are the integrated dresses of full-automatic machine people for the processing of toothed disc automatic welding and postwelding quality testing
It is standby.
Background technology
Crawler belt toothed disc is the vital part of giant caterpillar formula engineering truck, generally as the driving wheel of crawler-type traveling system
It uses.The processing quality (machining accuracy, wear resistance) of crawler belt toothed disc directly affects the movenent performance of vehicle.To improve gear
The wearability of disk, it usually needs in the engagement place built-up welding last layer wear-resistant metal material of tooth form.
Currently, corporate boss will use the toothed surfaces of gas metal-arc welding Technology on Gear disk to implement built-up welding.It is common
Processing method there are two types of, one is manually built-up welding, Welder that another kind is made of welding robot and positioner
Make station and implements automatic surfacing.When manual built-up welding, for worker by toothed disc clamping to special fixture, hand torch implements workpiece
Welding operation；When automatic surfacing, worker will be first by clamping workpiece to positioner, then operates teaching machine by robot and positioner
Collaboration built-up welding operation is implemented to workpiece.After built-up welding operation, it is necessary to wait workpiece cool down could by it from special fixture or
It is removed on positioner.Since built-up welding precision is relatively low, the toothed disc that heap welds need to also polish to it by worker, final to ensure
Tooth form meets drawing requirement.
As it can be seen that there is also following defects for current toothed disc tooth form built-up welding mode：1, for manually welding manner, work
Part welding quality unstable is affected by human factors greatly, and the working environment of workers is severe, great work intensity；2, for being based on welding
The automatic surfacing mode of work station still needs to artificial loading and unloading though realizing a degree of automation, and utilization rate of equipment and installations is low,
Product surfacing quality is improved to some extent, but still needs to polish；3, end product quality relies on manual polishing skill, by artificial
Factor influences greatly, and polishing operation working environment is severe, and recruitment is difficult and human cost is high.
Invention content
In order to solve the problems, such as background technology, the present invention provides a kind of automatic surfacings of caterpillar teeth wheel disc robot
And vision detection system, automatic charging, dual robot collaboration welding, the welding quality on-line checking of crawler belt toothed disc may be implemented
And finished product divides warehouse codes pile.
The technical solution adopted by the present invention is as follows：
The present invention includes fixed feed bin, handling robot system, welding robot system, intelligence control system, vision inspection
Examining system and mobile feed bin；Fixed feed bin, welding robot system, intelligence control system, vision detection system and mobile feed bin
It is both placed in around handling robot system；Fixed feed bin is arranged in feeding station, and welding robot system is placed on welding
Station, vision detection system setting in detection station, mobile feed bin setting in discharge station, intelligence control system respectively with welding
Robot system, intelligence control system, vision detection system are connected with handling robot system, control system operation.
Fixed feed bin is used for feeding, and crawler belt toothed disc is first transported to welding robot by handling robot system from fixed feed bin
It is welded at people's system, then is transported to the detection for carrying out welding quality at vision detection system, be finally transported to mobile feed bin.
The fixation feed bin setting is in feeding station, including Pneumatic control cabinet, fixed feed bin frame, clamping cylinder, clamping
Block, clamping cylinder seat, positioning cylinder, workpiece sensing switch and positioning pin；Be equipped on fixed feed bin frame mainly by clamping cylinder,
The workpiece positioning component of gripping block, clamping cylinder seat, positioning cylinder, workpiece sensing switch and positioning pin composition, Pneumatic control cabinet
It is fixed on fixed feed bin frame, Pneumatic control cabinet is separately connected clamping cylinder and positioning cylinder；Workpiece sensing switch installation
Side on fixed feed bin frame, for detecting the presence or absence of crawler belt toothed disc on fixed feed bin frame；Clamping cylinder is by clamping gas
Cylinder seat is installed on the side on fixed feed bin frame, the tight block of cylinder rod end connection clip of clamping cylinder, gripping block clamping to caterpillar teeth
On the flank of tooth of wheel disc；Positioning cylinder is mounted on the fixed feed bin frame other side, and the cylinder rod end of positioning cylinder is connected for being sleeved on
Positioning pin on crawler belt toothed disc in fabrication hole, positioning pin coordinate with the fabrication hole on crawler belt toothed disc.
The handling robot system includes transfer robot, transfer robot switch board, mounting flange, three-jaw cylinder
And clamping jaw；Transfer robot end is equipped with mounting flange, and mounting flange end is equipped with three-jaw cylinder, the cylinder of three-jaw cylinder
There are three the clamping jaws for being used for crawler belt toothed disc clamping for rod end connection；Transfer robot switch board is placed on transfer robot side,
Transfer robot switch board connects transfer robot and controlled motion.
The welding robot system setting is sought in welding post, including clear rifle device, welding robot, welding gun, laser
Level sensor, the source of welding current, wire-feed motor and welding robot switch board；Welding robot end is provided with welding gun and laser seeks position
Sensor, the source of welding current, wire-feed motor, clear rifle device and welding robot switch board are both placed in welding robot side, bonding machine
Device people switch board connecting welding robot and controlled motion；Wire-feed motor is connect by pipeline with welding gun.
The vision detection system is arranged in detection station, including hood, detecting system holder, carriage saddle, ball
Lead screw pair, slide unit, industrial camera, camera lens, backlight and image processing software；Image processing software is set to intelligent control system
On system；Carriage saddle is horizontally fixed on detecting system holder, and slide unit is installed on by ball screw assembly, on carriage saddle so that slide unit exists
It is moved horizontally on carriage saddle；Camera lens and industrial camera are installed on slide unit, and camera lens is connected with industrial camera, setting in front of camera lens
There are backlight, backlight to be fixedly connected with detecting system holder, region is the welding of crawler belt toothed disc between camera lens and backlight
Quality testing region；Hood setting makes to cover internal formation black box in detecting system holder outside, and is examined in welding quality
Surveying region lower section, there are the openings that workpiece enters.
The mobile feed bin includes sensor stand, feed bin detection switch, slide damper, feed bin pedestal and cushion block；Material
The circumferentially spaced cushion block being evenly equipped with for padding in crawler belt toothed disc workpiece bottom of storehouse base top surface, cushion block outside is provided with
Slide damper for limiting discharge position under crawler belt toothed disc workpiece, two pass through sensor stand to the feed bin detection switch penetrated
Mounted on two sides of feed bin pedestal.
The intelligence control system is provided with man-machine interface, for realizing the robot automatic surfacing of caterpillar teeth wheel disc and regards
Feel the master control of detecting system.
The clamping jaw end is provided with the spring steel plate for connecting band track toothed disc inner hole wall.
The mobile feed bin is at least arranged two, and a mobile feed bin is used to place the qualified toothed disc of detection, another
A mobile feed bin detects underproof toothed disc for placing.
The present invention integrates advanced welding procedure, robot collaboration welding technique, intelligent visual detection technology, based on the soft of PC
The new technologies such as PLC control technology, the welding processing for toothed disc and vision-based detection link develop efficient, high-precision, intelligence
Change, the caterpillar teeth wheel disc robot automatic surfacing of flexibility and vision detection system.The present invention can realize toothed disc it is automatic on
Material, dual robot collaboration welding, Welding quality test and finished product divide warehouse codes pile, system altitude integrated, intelligent.
The present invention can apply Taguchi's method different from the research of gray scale correlation fractal dimension built-up welding parameter (welding current, welding
Voltage, speed of welding, wire feed rate, protection air-flow amount, arc length etc.) influence to dissimilar metal multiple-bead deposit quality, optimize work
The technological parameter of part welding processing and path, realize built-up welding process near-net-shape, improve part welding processing production efficiency,
Surface quality and precision.
The beneficial effects of the invention are as follows：
1, the present invention realizes the automatic charging of crawler belt toothed disc, dual robot collaboration welding, welding quality on-line checking
And finished product divides the functions such as warehouse codes pile, automation degree of equipment is high, whole process does not need manual intervention, welding quality consistency
It is high.
2, the present invention is equipped with laser position-finding system and dual robot cooperative control system, and welding precision is high, and processing flexibility is good.
Laser scanning first is carried out to workpiece in welding process, robot motion path is corrected according to the information intelligent of detection, is then welded
Workpiece overlay-operation is completed in robot and transfer robot co-operating.
3, the present invention is equipped with vision detection system, is detected to postwelding tooth form implementation quality, and intelligence degree is high, can preserve and go through
History detection data also can carry out a point warehouse codes pile according to tooth form testing result to workpiece, if testing result pathological system is alarmed immediately,
Wait for artificial treatment.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of fixed feed bin；
Fig. 3 is the schematic diagram of handling robot system；
Fig. 4 is the schematic diagram of welding robot system；
Fig. 5 is the schematic diagram of vision detection system；
Fig. 6 is the structural schematic diagram of mobile feed bin；
In figure, fixed feed bin 100, Pneumatic control cabinet 101, fixed feed bin frame 102, clamping cylinder 103, gripping block 104, folder
Tight cylinder block 105, positioning cylinder 106, workpiece sensing switch 107, positioning pin 108；Handling robot system 200, conveying robot
People 201, transfer robot switch board 202, mounting flange 203, three-jaw cylinder 204, clamping jaw 205, spring steel plate 206；Bonding machine
Device people system 300, clear rifle device 301, welding robot 302, welding gun 303, laser are sought level sensor 304, the source of welding current 305, are sent
Silk machine 306, welding robot switch board 307；Intelligence control system 400；Vision detection system 500, hood 501, detection system
System holder 502, carriage saddle 503, ball screw assembly, 504, slide unit 505, industrial camera 506, camera lens 507, backlight 508；It is mobile
Feed bin 600, sensor stand 601, feed bin detection switch 602, slide damper 603, feed bin pedestal 604, cushion block 605.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Fig. 1, the set of system that the present invention is embodied includes two fixed feed bins, 100, conveying robots
The 400, vision detection systems 500 of the intelligence control system of welding robot system 300, one of people's system 200, one and two
Mobile feed bin 600.The setting of handling robot system 200 is in ground middle section, fixed feed bin 100, welding robot system
300, intelligence control system 400, vision detection system 500 and mobile feed bin 600 are both placed in the week of handling robot system 200
It encloses；Fixed feed bin 100 is arranged in feeding station, and welding robot system 300 is placed on welding post, vision detection system 500
Setting in detection station, the mobile setting of feed bin 600 in discharge station, intelligence control system 400 respectively with welding robot system
300, intelligence control system 400, vision detection system 500 and handling robot system 200 connect, control system operation.
As shown in Fig. 2, the fixed setting of feed bin 100 is in feeding station, including Pneumatic control cabinet 101, fixed feed bin frame
102, clamping cylinder 103, gripping block 104, clamping cylinder seat 105, positioning cylinder 106, workpiece sensing switch 107 and positioning pin
108；Fixed feed bin frame 102 constitutes the main element of fixed feed bin 100, is equipped with mainly by clamping gas on fixed feed bin frame 102
The work that cylinder 103, gripping block 104, clamping cylinder seat 105, positioning cylinder 106, workpiece sensing switch 107 and positioning pin 108 form
Part positioning component, Pneumatic control cabinet 101 are fixed on fixed feed bin frame 102, and Pneumatic control cabinet 101 is separately connected clamping gas
Cylinder 103 and positioning cylinder 106 are used for the control of clamping cylinder 103 and positioning cylinder 106；Workpiece sensing switch 107 is mounted on solid
The side on feed bin frame 102 is determined, for detecting the presence or absence of crawler belt toothed disc on fixed feed bin frame 102；Clamping cylinder 103 passes through folder
Tight cylinder block 105 is installed on the side on fixed feed bin frame 102, the tight block 104 of cylinder rod end connection clip of clamping cylinder 103, folder
On tight 104 clamping of block to the flank of tooth of crawler belt toothed disc, for carrying out position adjustment and positioning to crawler belt toothed disc；Positioning cylinder
106 are mounted on fixed 102 other side of feed bin frame, and the cylinder rod end of positioning cylinder 106 is connected for being sleeved on crawler belt toothed disc
Positioning pin 108 in fabrication hole, positioning pin 108 coordinate with the fabrication hole on crawler belt toothed disc.By the clamping of gripping block 104 and
Positioning pin 108 is inserted into fabrication hole completes the positioning placement of crawler belt toothed disc jointly.
As shown in Fig. 3, handling robot system 200 includes transfer robot 201, transfer robot switch board 202, peace
Fill flange 203, three-jaw cylinder 204 and clamping jaw 205；201 end of transfer robot is equipped with mounting flange 203, mounting flange 204
End is equipped with three-jaw cylinder 204, and the cylinder rod end of three-jaw cylinder 204 is connected with three clamping jaws for crawler belt toothed disc clamping
205；Transfer robot switch board 202 is placed on 201 side of transfer robot, and transfer robot switch board 202 connects carrying implement
Device people 201 and controlled motion；205 end of clamping jaw is provided with the spring steel plate 206 for connecting band track toothed disc inner hole wall.
As shown in Fig. 4, welding robot system 300 is arranged in welding post, including clear rifle device 301, welding robot
302, welding gun 303, laser seek level sensor 304, the source of welding current 305, wire-feed motor 306 and welding robot switch board 307；Welding
302 end of robot is provided with welding gun 303 and laser seeks level sensor 304, the source of welding current 305, wire-feed motor 306, clear rifle device 301
It is both placed in 302 side of welding robot, 307 connecting welding machine of welding robot switch board with welding robot switch board 307
Device people 302 and controlled motion；Wire-feed motor 306 is connect by pipeline with welding gun 303, for welding wire to be transported to welding gun 303, is welded
Power supply 305 is connect to be powered wire-feed motor 306.
As shown in Fig. 5, vision detection system 500 is arranged in detection station, including hood 501, detecting system holder
502, carriage saddle 503, ball screw assembly, 504, slide unit 505, industrial camera 506, camera lens 507, backlight 508 and image procossing
Software；Image processing software is set in intelligence control system 400；Detecting system holder 502 is as vision detection system 500
Supportive body, carriage saddle 503 are horizontally fixed on detecting system holder 502, and ball screw assembly, 504 is equipped in carriage saddle 503, sliding
Platform 505 is installed on by ball screw assembly, 504 on carriage saddle 503 so that slide unit 505 moves horizontally on carriage saddle 503；Camera lens
507 and industrial camera 506 be installed on slide unit 505, camera lens 507 and industrial camera 506 connect, and 507 front of camera lens is provided with
Backlight 508, backlight 508 are fixedly connected with detecting system holder 502, and region is crawler belt between camera lens 507 and backlight 508
The Welding quality test region of toothed disc；The setting of hood 501 502 outside of detecting system holder to cover it is internal formed it is black
Case, and there are the openings that workpiece enters below Welding quality test region；
Crawler belt toothed disc workpiece is entered from opening by transfer robot and is transported in Welding quality test region, backlight
Source 508 shines, and the image of each tooth position of workpiece is acquired by industrial camera 506, is further detected and is welded by image procossing
Quality.
As shown in Fig. 6, mobile feed bin 600 is arranged in discharge station, including sensor stand 601, feed bin detection switch
602, slide damper 603, feed bin pedestal 604 and cushion block 605；604 top surface of feed bin pedestal is circumferentially spaced to be evenly equipped with for padding
In the cushion block 605 of crawler belt toothed disc workpiece bottom, 605 outside of cushion block is provided with for limiting material position under crawler belt toothed disc workpiece
The slide damper 603 set, position of the slide damper 603 on feed bin pedestal 604 can be adjusted；Two are opened the feed bin detection penetrated
602 two sides for being mounted on feed bin pedestal 604 by sensor stand 601 are closed, are located near feed bin pedestal 604, for detecting
Whether there is or not in place for mobile feed bin 600.
Mobile feed bin 600 is at least arranged two, and a mobile feed bin 600 is used to place the qualified toothed disc of detection, another
A mobile feed bin 600 detects underproof toothed disc for placing.
Intelligence control system 400 is provided with man-machine interface, for realizing the robot automatic surfacing of caterpillar teeth wheel disc and vision
The master control of detecting system.
The course of work of the present invention includes the following steps：
1, toothed disc is placed on fixed feed bin 100, operates the button on Pneumatic control cabinet 101, control fixed feed bin
Clamping cylinder 103 and positioning cylinder 106 on 100 act, and complete toothed disc positioning；
2, button in 400 man-machine interface of intelligence control system is operated, whole system enters the automatic running stage；
3, the operation of transfer robot 201 is to feeding station, and clamping fixes the toothed disc having good positioning on feed bin 100, by gear
Disk is carried to welding post；
4, the built-up welding processing of toothed disc is completed in transfer robot 201 and the collaboration of welding robot 302；Welding robot 302
It first seeks level sensor 304 with laser to be scanned toothed disc finished surface, welding robot 302 seeks level sensor according to laser
304 Information revision welding track, is then welded along revised track again；Transfer robot 201 is in process
It is responsible for toothed disc displacement；After the completion of welding, welding robot 302 goes back to original position；
5, the toothed disc machined is carried to detection station by transfer robot 201, is examined by vision detection system 500
Survey the welding quality of toothed disc；
Specific implementation is matched by detection and localization in kind with mathematical model using the on-line checking of computer intelligence image recognition
Quasi- mode acquires simultaneously parts processed welding quality information, can quickly and accurately detect part welding quality defects.
6, the information that transfer robot 201 is detected according to vision detection system 500 carries out a point warehouse codes pile to toothed disc；Quality
Qualified toothed disc stacking is detected in a mobile feed bin 600, the underproof toothed disc stacking of quality testing is moved at another
In dynamic feed bin 600；
7, in equipment running process, intelligence control system 400 is responsible for complete equipment master control, and shows equipment machining state.
Claims (5)
1. a kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection system, it is characterised in that：Including fixed feed bin
（100）, handling robot system（200）, welding robot system（300）, intelligence control system（400）, vision detection system
（500）With mobile feed bin（600）；Fixed feed bin（100）, welding robot system（300）, intelligence control system（400）, vision
Detecting system（500）With mobile feed bin（600）It is both placed in handling robot system（200）Around；Fixed feed bin（100）If
It sets in feeding station, welding robot system（300）It is placed on welding post, vision detection system（500）Setting is in detection work
Position, mobile feed bin（600）It is arranged in discharge station, intelligence control system（400）Respectively with welding robot system（300）, regard
Feel detecting system（500）And handling robot system（200）Connection；
The fixation feed bin（100）Including Pneumatic control cabinet（101）, fixed feed bin frame（102）, clamping cylinder（103）, clamp
Block（104）, clamping cylinder seat（105）, positioning cylinder（106）, workpiece sensing switch（107）And positioning pin（108）；Fixed feed bin
Frame（102）On be equipped with by clamping cylinder（103）, gripping block（104）, clamping cylinder seat（105）, positioning cylinder（106）, workpiece
Detection switch（107）And positioning pin（108）The workpiece positioning component of composition, Pneumatic control cabinet（101）It is fixed at fixed material
Storehouse frame（102）On, Pneumatic control cabinet（101）It is separately connected clamping cylinder（103）And positioning cylinder（106）；Workpiece sensing switchs
（107）Mounted on fixed feed bin frame（102）On side, for detecting fixed feed bin frame（102）The presence or absence of upper crawler belt toothed disc；
Clamping cylinder（103）Pass through clamping cylinder seat（105）It is installed on fixed feed bin frame（102）On side, clamping cylinder（103）'s
The tight block of cylinder rod end connection clip（104）, gripping block（104）On clamping to the flank of tooth of crawler belt toothed disc；Positioning cylinder（106）Installation
In fixed feed bin frame（102）The other side, positioning cylinder（106）Cylinder rod end connect for being sleeved on technique on crawler belt toothed disc
Positioning pin in hole（108）, positioning pin（108）Coordinate with the fabrication hole on crawler belt toothed disc；
The vision detection system（500）Including hood（501）, detecting system holder（502）, carriage saddle（503）, ball
Lead screw pair（504）, slide unit（505）, industrial camera（506）, camera lens（507）, backlight（508）And image processing software；Figure
As processing software is set to intelligence control system（400）On；Carriage saddle（503）It is horizontally fixed on detecting system holder（502）, sliding
Platform（505）Pass through ball screw assembly,（504）It is installed on carriage saddle（503）On so that slide unit（505）In carriage saddle（503）Upper water
Translation is dynamic；Camera lens（507）And industrial camera（506）It is installed in slide unit（505）On, camera lens（507）And industrial camera（506）Even
It connects, camera lens（507）Front is provided with backlight（508）, backlight（508）With detecting system holder（502）It is fixedly connected, camera lens
（507）And backlight（508）Between region be crawler belt toothed disc Welding quality test region；Hood（501）Setting is being examined
Examining system holder（502）Outside to cover internal formation black box, and there are workpiece entrance below Welding quality test region
Opening；
The mobile feed bin（600）Including sensor stand（601）, feed bin detection switch（602）, slide damper（603）, material
Orlop seat（604）And cushion block（605）；Feed bin pedestal（604）Top surface is circumferentially spaced to be evenly equipped with for padding in crawler belt toothed disc
The cushion block of workpiece bottom（605）, cushion block（605）Outside is provided with the sliding for limiting discharge position under crawler belt toothed disc workpiece
Baffle（603）, two feed bin detection switch to penetrating（602）Pass through sensor stand（601）Mounted on feed bin pedestal（604）'s
Two sides.
2. a kind of caterpillar teeth wheel disc robot automatic surfacing according to claim 1 and vision detection system, feature exist
In：The handling robot system（200）Including transfer robot（201）, transfer robot switch board（202）, Method for Installation
It is blue（203）, three-jaw cylinder（204）And clamping jaw（205）；Transfer robot（201）End is equipped with mounting flange（203）, installation
Flange（204）End is equipped with three-jaw cylinder（204）, three-jaw cylinder（204）Cylinder rod end be connected with three for caterpillar teeth
The clamping jaw of wheel disc clamping（205）；Transfer robot switch board（202）It is placed on transfer robot（201）Side, transfer robot
Switch board（202）Connect transfer robot（201）And controlled motion.
3. a kind of caterpillar teeth wheel disc robot automatic surfacing according to claim 1 and vision detection system, feature exist
In：The welding robot system（300）Including clear rifle device（301）, welding robot（302）, welding gun（303）, laser seeks
Level sensor（304）, the source of welding current（305）, wire-feed motor（306）With welding robot switch board（307）；Welding robot
（302）End is provided with welding gun（303）Level sensor is sought with laser（304）, the source of welding current（305）, wire-feed motor（306）, clear rifle
Device（301）With welding robot switch board（307）It is both placed in welding robot（302）Side, welding robot switch board
（307）Connecting welding robot（302）And controlled motion；Wire-feed motor（306）Pass through pipeline and welding gun（303）Connection.
4. a kind of caterpillar teeth wheel disc robot automatic surfacing according to claim 2 and vision detection system, feature exist
In：The clamping jaw（205）End is provided with the spring steel plate for connecting band track toothed disc inner hole wall（206）.
5. a kind of caterpillar teeth wheel disc robot automatic surfacing according to claim 1 and vision detection system, feature exist
In：The mobile feed bin（600）At least it is arranged two, a mobile feed bin（600）The toothed disc qualified for placing detection,
Another movement feed bin（600）Underproof toothed disc is detected for placing.
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