CN111001959A - Hot-rolled label welding hanging method and system - Google Patents
Hot-rolled label welding hanging method and system Download PDFInfo
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- CN111001959A CN111001959A CN201911378004.2A CN201911378004A CN111001959A CN 111001959 A CN111001959 A CN 111001959A CN 201911378004 A CN201911378004 A CN 201911378004A CN 111001959 A CN111001959 A CN 111001959A
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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
Abstract
The invention relates to the technical field of label welding hanging, and provides a hot-rolled label welding hanging method, which comprises the following steps: S1-S5. Still provide a hot rolling label and weld system of hanging, including the base, lay in weld nail arrangement feeding mechanism, label printing feeding mechanism, weld nail label on the base snatch weld hang mechanism, robot, welding machine and stereoscopic vision sensor. According to the invention, the three-dimensional data of the label welding and hanging area of the label product to be hung is detected by adopting the three-dimensional vision sensor, other sensors are not needed, the three-dimensional coordinates and postures of the label welding and hanging points are directly positioned, the robot is guided to weld and hang, the detection process is rapid and accurate, the label welding and hanging is accurate, the welding and hanging is firmer than manual welding and hanging, and the working intensity of field operators is greatly reduced.
Description
Technical Field
The invention relates to the technical field of label welding hanging, in particular to a hot-rolled label welding hanging method and a hot-rolled label welding hanging system.
Background
Before hot-rolled products (bars, profiles, high-speed wires and the like) produced by a steel plant leave a factory, labels recorded with bar production information need to be welded and hung on the end surfaces of the bars/profiles or strapping tapes coiled with inner rings of the high-speed wires by using welding nails to serve as quality certificates and anti-counterfeiting marks of the products. At present, manual operation is needed for label welding and hanging, time and labor are wasted, and automation of the process needs to be realized urgently.
Disclosure of Invention
The invention aims to provide a hot-rolled label welding and hanging method and a hot-rolled label welding and hanging system, which are characterized in that three-dimensional data of a label welding and hanging area of a label product to be hung are detected by adopting a three-dimensional vision sensor, other sensors are not needed, the three-dimensional coordinates and postures of label welding and hanging points are directly positioned, a robot is guided to weld and hang, the detection process is rapid and accurate, the label welding and hanging is firmer than manual welding and hanging, and the working intensity of field operators is greatly reduced.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: a hot-rolled label welding hanging method comprises the following steps:
s1, preparing a hot-rolled label;
s2, grabbing the welding nail by a robot to penetrate through the round hole on the hot-rolled label, and conveying the welding nail hung with the hot-rolled label to a label product to be hung;
s3, detecting the three-dimensional data of the label welding and hanging area of the label product to be hung by a stereoscopic vision sensor arranged on the robot, and transmitting the three-dimensional data based on the robot coordinate system to the computer;
s4, after receiving the three-dimensional data, the visual identification program on the computer judges a proper label welding point according to the three-dimensional data, and transmits the three-dimensional coordinate and the normal direction of the proper label welding point to the robot controller;
and S5, after receiving the three-dimensional coordinate and the normal direction, the robot controller drives the welding nail hung with the hot-rolled label to move in place according to the three-dimensional coordinate and the normal direction and welds and hangs the label.
Further, when the tag product to be hung is a hot-rolled bar or section, the stereoscopic vision sensor is installed in front of the base of the robot.
Further, when the to-be-hung label product is a high-speed wire rod, the stereoscopic vision sensor is installed on an arm of the robot.
Further, after the label is welded and hung, the method also comprises the following steps:
s6, the stereoscopic vision sensor takes a picture of the label welding place and transmits the taken two-dimensional image to the computer;
s7, after receiving the two-dimensional image, the visual identification program of the computer judges whether the hot-rolled label is welded and hung successfully according to the two-dimensional image;
s8, if the welding is successful, waiting for the welding and hanging process of the next bundle of products; if the welding is failed, the computer reselects a proper label welding point according to the three-dimensional data obtained in the step S4, transmits the three-dimensional coordinate and the normal direction of the proper label welding point to the robot controller again, and performs the steps S1-S2, and re-captures the label and the welding nail for welding until the welding is successful.
Further, the stereoscopic vision sensor in step S3 is composed of a camera and a projector, and the detection method specifically includes:
s30, transmitting active structure information to the surface of the label product to be hung by adopting the projector;
s31, then, shooting the surface of the label product to be hung through one or more cameras to obtain a structured light image;
and S32, performing three-dimensional analytic calculation on the structural optical image based on the triangulation principle so as to realize three-dimensional reconstruction, so as to obtain the three-dimensional data.
Further, in the step S1, the hot-rolled label is prepared using a label printing and hanging mechanism.
Further, in the step S2, a welding nail label grasping and hanging mechanism is used to grasp the welding nail or the welding nail with the hot rolled label.
And further, adopting a welding nail arranging and feeding mechanism to provide welding nails for the robot.
The embodiment of the invention provides another technical scheme: a hot-rolled label welding and hanging system comprises a base, a welding nail arranging and feeding mechanism, a label printing and feeding mechanism, a welding nail label grabbing and welding and hanging mechanism, a robot, a welding machine and a stereoscopic vision sensor which are uniformly distributed on the base,
the welding nail arranging and feeding mechanism is used for providing welding nails for the robot;
the label printing and feeding mechanism is used for preparing hot-rolled labels;
the welding nail label grabbing and welding hanging mechanism is used for grabbing the welding nails or hanging the welding nails with hot rolling labels;
the welding machine is used for welding the welding nail hung with the hot-rolled label on a label product to be hung;
and the stereoscopic vision sensor is used for detecting the three-dimensional data of the label welding and hanging area of the label product to be hung and transmitting the three-dimensional data based on the robot coordinate system to the computer.
And the electric control unit is used for coordinating the welding nail arranging and feeding mechanism, the label printing and feeding mechanism, the welding nail label grabbing and welding hanging mechanism, the robot, the welding machine and the stereoscopic vision sensor.
Compared with the prior art, the invention has the beneficial effects that: the three-dimensional data of the label welding point of the label product to be hung is detected by adopting the stereoscopic vision sensor, other sensors are not needed, the three-dimensional coordinate and the posture of the label welding point are directly positioned, the robot is guided to weld and hang, the detection process is rapid and accurate, the label welding point is firmer than manual welding point, and the working intensity of field operators is greatly reduced.
Drawings
Fig. 1 is a flowchart illustrating steps of a hot-rolled label hanging method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a stereoscopic vision sensor of a hot-rolled label hanging and welding system provided by an embodiment of the invention, which is installed in front of a base of a robot;
FIG. 3 is a schematic diagram of a three-dimensional vision sensor of a hot-rolled label hanging and welding system mounted on an arm of a robot according to an embodiment of the present invention;
fig. 4 is a depth map of a hot-rolled bar detected by a stereo vision sensor of the hot-rolled label hanging system according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of an electrical control unit of a hot-rolled label hanging system according to an embodiment of the present invention;
in the reference symbols: 1-a welding nail arranging and feeding mechanism; 2-label printing and feeding mechanism; 3-a welding nail label grabbing and hanging mechanism; 4-a robot; 5-welding machine; 6-stereoscopic vision sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, an embodiment of the present invention provides a hot-rolled label hanging method, including the following steps: s1, preparing a hot-rolled label; s2, grabbing the welding nail by the robot 4 to penetrate through the round hole in the hot-rolled label, and conveying the welding nail hung with the hot-rolled label to a label product to be hung; s3, detecting the three-dimensional data of the label welding and hanging area of the label product to be hung by the stereoscopic vision sensor 6 arranged on the robot 4, and transmitting the three-dimensional data based on the coordinate system of the robot 4 to the computer; s4, after receiving the three-dimensional data, the visual identification program on the computer judges a proper label welding point according to the three-dimensional data, and transmits the three-dimensional coordinate and the normal direction of the proper label welding point to a robot controller b; and S5, after receiving the three-dimensional coordinates and the normal direction, the robot controller b drives the robot to grip the welding nails hung with the hot-rolled labels to move to the right position according to the three-dimensional coordinates and the normal direction and weld the labels. In this embodiment, the robot 4 may be a six-axis industrial robot, which, after first preparing the desired hot-rolled labels, a six-axis robot 4 is adopted to grab the welding nail and pass through the round hole of the hot-rolled label, so that the hot-rolled label is hung on the welding nail, then the welding nail and the label are sent to the position of the label product to be hung, wherein the label product to be hung is respectively a hot rolling bar or a section bar, or a high-speed wire, when the wire is sent to a label product to be hung, a three-dimensional vision sensor 6 on the robot 4 is adopted to detect the three-dimensional data of the label welding and hanging area, and transmits the three-dimensional data to a computer, and then a visual identification program of the computer can judge a proper label welding point from a label welding area according to the three-dimensional data, the three-dimensional coordinates and the normal direction of the position are obtained, and after the three-dimensional coordinates and the normal direction are transmitted to the robot controller b, the robot can be controlled to hold the welding nails to reach the position and weld and hang the label. Thus, when the welding process of one hot-rolled label is finished and the next bundle of products needs to be welded, the steps from S1 to S5 are repeated.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 2, when the tag product to be hung is a hot rolled bar or a section, the stereoscopic vision sensor 6 is installed in front of the base of the robot 4. In this embodiment, the stereoscopic vision sensor 6 is installed in front of the base, and since the installation position area is large, the overall size of the stereoscopic vision sensor 6 can be appropriately enlarged, so that the detection range is wide, the overall depth map of the end surface of the hot-rolled bar or section can be obtained, the three-dimensional data can be obtained from the overall depth map, and the coordinate information and the normal direction of the welding point can be selected through the three-dimensional data. The reason why the stereoscopic vision sensor 6 is adopted is that no other sensor is needed, because for the bundled bars/profiles, the end surfaces of the bundled bars/profiles are not completely aligned, and the situation that the recesses are deep may occur, and in order to avoid welding the labels on the end surfaces of the recessed bars/profiles, the 3D vision of the stereoscopic vision sensor 6 is needed to detect the three-dimensional data of the end surfaces of the bundled bars/profiles, and the appropriate label welding points can be selected according to the depth map of the end surfaces. Moreover, the end face of the bundled bar/section bar is not necessarily right opposite to the robot 4, the normal direction of the end face of the welding point cannot be accurately judged by adopting other sensors, and the stereo vision sensor 6 can directly return to the normal direction of the end face of the welding point under the robot coordinate system. The depth map is shown in fig. 4, where the selected end surface is a cross-shaped end surface.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 3, when the to-be-hung tag product is a high-speed wire rod, the stereoscopic vision sensor 6 is installed on an arm of the robot 4. In this example, the operation is empty, since for high-wire coils, the hot-rolled labels are generally welded on the band inside the coilNarrow space and thin binding belt
The requirement on the operation precision is high, so that the stereoscopic vision sensor 6 is arranged on the arm of the robot 4, and the stereoscopic vision sensor 6 can visually detect the position of the coiled bundling belt along with the arm stretching into the high-speed wire. The spatial position relationship of the high-wire coil strap is complex, and the stereoscopic vision sensor 6 is the best choice because the accurate judgment is difficult through the 2D camera and other sensors.
As an optimization scheme of the embodiment of the invention, after the label is welded and hung, the method further comprises the following steps: s6, the stereoscopic vision sensor 6 takes a picture of the label welding place and transmits the taken two-dimensional image to the computer; s7, after receiving the two-dimensional image, the visual identification program of the computer judges whether the hot-rolled label is welded and hung successfully according to the two-dimensional image; s8, if the welding is successful, waiting for the welding and hanging process of the next bundle of products; and if the welding is failed, the computer reselects a proper label welding point according to the three-dimensional data acquired in the step S4, transmits the three-dimensional coordinate and the normal direction of the proper label welding point to the robot controller b again, and performs welding after re-grabbing the label and the welding nail in the steps S1-S2 until the welding is successful. In the present embodiment, the success rate of solder hanging can be ensured through the steps of S6, S7, and S8.
As an optimized solution of the embodiment of the present invention, the stereoscopic vision sensor 6 in the step S3 is composed of a camera and a projector, and the detection method specifically includes: s30, transmitting active structure information to the surface of the label product to be hung by adopting the projector; s31, then, shooting the surface of the label product to be hung through one or more cameras to obtain a structured light image; and S32, performing three-dimensional analytic calculation on the structural optical image based on the triangulation principle so as to realize three-dimensional reconstruction, so as to obtain the three-dimensional data. In this embodiment, the structured light may be a laser stripe, a gray code, a sinusoidal stripe, or the like, and one or more cameras may be provided according to actual situations, so as to take a picture to obtain a structured light image, and certainly, taking a picture may also be used for obtaining the two-dimensional image. The embodiment adopts structured light, can ensure high measurement precision (the precision of a Z axis at a short distance can reach 0.1mm), has high resolution (can reach 1920 multiplied by 1200), can finish measurement in a very short time, and is very suitable for guiding the action of the robot 4 in a complex scene.
Referring to fig. 2 and 3 as an optimized solution of the embodiment of the present invention, in the step S1, the hot-rolled label is prepared by using a label printing and hanging mechanism. In the embodiment, the hot-rolled label is prepared by a label printing and welding mechanism which mainly comprises a label printer, a label slide way and an alignment mechanism. The printer is provided with a cutter, and can automatically cut the label into single pieces for output after the label is printed; the cut label falls to the tail end of the slideway; the alignment mechanism pushes the labels together from the side surface, and subsequent grabbing is facilitated.
Referring to fig. 2 and 3 as an optimized scheme of the embodiment of the present invention, in the step S2, the weld nail label grasping and hanging mechanism 3 is adopted to grasp the weld nail or the weld nail hung with the hot rolling label. In this embodiment, the welding nail or the welding nail hung with the hot-rolled label is grabbed and driven by the welding nail label grabbing and welding hanging mechanism 3, and the welding nail label grabbing and welding hanging mechanism 3 is installed on the flange of the sixth shaft of the robot 4 and mainly comprises a floating mechanism, a pneumatic clamping jaw and a sucking disc mechanism. The floating part of the floating mechanism is arranged on the guide post sleeved with the spring and can move backwards for a certain distance under the action of external force, and the spring is always in a pressing state during welding of the welding nail, so that the welding position is ensured to be firm and reliable. The pneumatic clamping jaw is arranged in the center of a floating part of the floating mechanism, and the axis of the pneumatic clamping jaw is coaxial with a sixth shaft flange of the robot 4. Three copper clamps are arranged on the pneumatic clamping jaw and used for clamping welding nails; an insulating gasket is arranged between the clamp and the pneumatic clamping jaw, so that the welding current is prevented from influencing the work of the equipment. Three vacuum chucks are arranged around the pneumatic clamping jaw and used for adsorbing and grabbing the label and preventing the label from warping.
As an optimized solution of the embodiment of the present invention, please refer to fig. 2 and 3, a weld nail arranging and feeding mechanism 1 is adopted to provide weld nails for the robot 4. In this embodiment, the purpose of welding nail arrangement feeding mechanism 1 is to arrange in order numerous welding nails and output alone so that the welding nail label is grabbed and is welded and hang mechanism 3 and grab. The welding nail arranging and feeding mechanism 1 mainly comprises a vibration disc, a linear feeder and a material distributing mechanism. The vibrating disc automatically arranges scattered materials orderly and outputs the materials in a row by matching with a linear feeder, so that the welding nail feeding is simple and the labor is saved; the material distributing mechanism adopts magnetic force to grab and output the welding nails at the tail of the welding nail queue, and the action is accurate and rapid.
Example two:
referring to fig. 2 to 5, an embodiment of the present invention provides a hot-rolled label hanging and welding system, which includes a base, a welding nail arranging and feeding mechanism 1, a label printing and feeding mechanism 2, a welding nail label grabbing and hanging and welding mechanism 3, a robot 4, a welding machine 5, and a stereoscopic vision sensor 6, which are disposed on the base. The welding nail arranging and feeding mechanism 1 is used for providing welding nails for the robot 4; the label printing and feeding mechanism 2 is used for preparing hot-rolled labels;
the welding nail label grabbing and welding hanging mechanism 3 is used for grabbing the welding nails or hanging the welding nails with hot rolling labels; the welding machine 5 is used for welding the welding nails hung with the hot-rolled labels on the label products to be hung; and the stereoscopic vision sensor 6 is used for detecting the three-dimensional data of the label welding points of the label products to be hung and transmitting the three-dimensional data based on the robot 4 coordinate system to a computer. In this embodiment, these parts all have an introduction in above-mentioned embodiment one, and it is no longer repeated here, and this system can be through adopting stereoscopic vision sensor 6 to treat the three-dimensional data of the label welding zone of hanging label product to detect, need not to reuse other sensors again, and the three-dimensional coordinate and the gesture of direct positioning label welding point hang, guide robot 4 to weld and hang, and the testing process is rapid accurate, and the label welding is hung accurately, and it is more firm than artifical welding, has greatly alleviateed on-the-spot operating personnel's working strength.
Referring to fig. 5 as an optimized scheme of the embodiment of the present invention, the system further includes an electrical control unit for coordinating the weld nail arranging and feeding mechanism 1, the label printing and feeding mechanism 2, the weld nail label grabbing and hanging mechanism 3, the robot 4, the welder 5, and the stereoscopic vision sensor 6. In this embodiment, the electrical control unit specifically includes a PLC a, a robot controller b, an industrial personal computer c, and the like. The PLC a receives signals of all the detection elements, controls the robot 4 and the electromagnetic valve to act, and communicates with the robot controller b and the industrial personal computer c by adopting a Profinet protocol; the industrial personal computer c and the factory secondary computer d adopt a factory network X, and the stereoscopic vision sensor 6 and the label printer e adopt Ethernet Y communication, receive the batch number, the brand number, the specification, the weight and other related information of the hot-rolled product and send the information to the label printer e, receive the data sent back by the stereoscopic vision sensor 6 and carry out visual identification, and send the position information of a proper label welding point to the robot 4.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A hot-rolled label welding hanging method is characterized by comprising the following steps:
s1, preparing a hot-rolled label;
s2, grabbing the welding nail by a robot to penetrate through the round hole on the hot-rolled label, and conveying the welding nail hung with the hot-rolled label to a label product to be hung;
s3, detecting the three-dimensional data of the label welding and hanging area of the label product to be hung by a stereoscopic vision sensor arranged on the robot, and transmitting the three-dimensional data based on the robot coordinate system to the computer;
s4, after receiving the three-dimensional data, the visual identification program on the computer judges a proper label welding point according to the three-dimensional data, and transmits the three-dimensional coordinate and the normal direction of the proper label welding point to the robot controller;
and S5, after receiving the three-dimensional coordinate and the normal direction, the robot controller drives the welding nail hung with the hot-rolled label to move in place according to the three-dimensional coordinate and the normal direction and welds and hangs the label.
2. The hot rolled label hang-on-weld method of claim 1, characterized by: when the tag product to be hung is a hot-rolled bar or section, the stereoscopic vision sensor is arranged in front of the base of the robot.
3. The hot rolled label hang-on-weld method of claim 1, characterized by: when the label product to be hung is a high-speed wire rod, the stereoscopic vision sensor is arranged on an arm of the robot.
4. The hot rolled label weld hang method of claim 1, further comprising the steps of, after the label weld hang is completed:
s6, the stereoscopic vision sensor takes a picture of the label welding place and transmits the taken two-dimensional image to the computer;
s7, after receiving the two-dimensional image, the visual identification program of the computer judges whether the hot-rolled label is welded and hung successfully according to the two-dimensional image;
s8, if the welding is successful, waiting for the welding and hanging process of the next bundle of products; if the welding is failed, the computer reselects a proper label welding point according to the three-dimensional data obtained in the step S4, transmits the three-dimensional coordinate and the normal direction of the proper label welding point to the robot controller again, and performs the steps S1-S2, and re-captures the label and the welding nail for welding until the welding is successful.
5. The hot rolled label hanging method as claimed in claim 1, wherein the stereoscopic vision sensor in the step S3 is composed of a camera and a projector, and the detection method is specifically as follows:
s30, transmitting active structure information to the surface of the label product to be hung by adopting the projector;
s31, then, shooting the surface of the label product to be hung through one or more cameras to obtain a structured light image;
and S32, performing three-dimensional analytic calculation on the structural optical image based on the triangulation principle so as to realize three-dimensional reconstruction, so as to obtain the three-dimensional data.
6. The hot rolled label hanging method as claimed in claim 1, wherein in the step of S1, the hot rolled label is prepared using a label printing hanging mechanism.
7. The hot rolled label hang-on-weld method of claim 1, characterized by: and in the step S2, a welding nail label grabbing and hanging mechanism is adopted to grab the welding nail or the welding nail hung with the hot rolling label.
8. The hot rolled label hang-on-weld method of claim 1, characterized by: and adopting a welding nail arranging and feeding mechanism to provide welding nails for the robot.
9. The utility model provides a hot rolling label welds system of hanging, includes the base, its characterized in that: also comprises a welding nail arranging and feeding mechanism, a label printing and feeding mechanism, a welding nail label grabbing and welding hanging mechanism, a robot, a welding machine and a stereoscopic vision sensor which are arranged on the base,
the welding nail arranging and feeding mechanism is used for providing welding nails for the robot;
the label printing and feeding mechanism is used for preparing hot-rolled labels;
the welding nail label grabbing and welding hanging mechanism is used for grabbing the welding nails or hanging the welding nails with hot rolling labels;
the welding machine is used for welding the welding nail hung with the hot-rolled label on a label product to be hung;
and the stereoscopic vision sensor is used for detecting the three-dimensional data of the label welding and hanging area of the label product to be hung and transmitting the three-dimensional data based on the robot coordinate system to the computer.
10. The hot rolled label hang welding system of claim 9, wherein: the welding nail grabbing and hanging device further comprises an electrical control unit used for coordinating the welding nail arranging and feeding mechanism, the label printing and feeding mechanism, the welding nail label grabbing and hanging mechanism, the robot, the welding machine and the stereoscopic vision sensor.
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| CN201911378004.2A CN111001959A (en) | 2019-12-27 | 2019-12-27 | Hot-rolled label welding hanging method and system |
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| CN201911378004.2A CN111001959A (en) | 2019-12-27 | 2019-12-27 | Hot-rolled label welding hanging method and system |
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Application publication date: 20200414 |