CN111906481A - A sign welding set for different specification finished product rods - Google Patents
A sign welding set for different specification finished product rods Download PDFInfo
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- CN111906481A CN111906481A CN202010854226.3A CN202010854226A CN111906481A CN 111906481 A CN111906481 A CN 111906481A CN 202010854226 A CN202010854226 A CN 202010854226A CN 111906481 A CN111906481 A CN 111906481A
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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
- B23K37/0252—Steering means
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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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Abstract
The invention provides a label welding device for finished bars with different specifications, which comprises a label information tracking module, a fixed end label supplying module, a fixed end vision acquisition and analysis module, a fixed end welding nail supplying module, a fixed end welding robot, a PLC (programmable logic controller) electrical control module, a moving end label supplying module, a moving end vision acquisition and analysis module, a moving end welding nail supplying module and a moving end welding robot, wherein the fixed end welding nail supplying module is connected with the movable end label supplying module; the device effectively interacts with a production line metering module, so that the situations of wrong welding and missing welding are effectively avoided; through welding robot and machine vision technique combine together, realized the accurate location and the welding of sign, avoided the injury that adverse circumstances such as high temperature, high dust, high noise brought for the practitioner, can realize rod both ends automatic synchronization welding tablet or single-end independent welding tablet to the rod of different length specifications, really realized rod factory label welded full automatization, greatly improved production efficiency.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a label welding device for finished bars of different specifications.
Background
In the steel production, the rods produced by enterprises are delivered in bundles, labels and hanging labels are needed to be adhered to two ends of each bundle of rods for displaying information such as steel type, furnace number, specification, length and the like of the rods, which is equivalent to an 'identity card' of the rods, is the embodiment of the grade of the rod products, is beneficial to improving the added value of the rod products, and is thus valued by many steel enterprises.
The link of hanging the sign is called as the steel bar marking link, and at present, enterprises mainly adopt the manual work to position and weld the sign. However, with the acceleration of the production rhythm, when the marking personnel face high-strength and repetitive work, fatigue and tired emotion are easily generated, so that the working efficiency becomes low, the problems of wrong welding, missing welding, falling of cards and the like occur, meanwhile, severe environments such as high temperature, high dust, high noise and the like can also bring harm to the personnel, and the problems faced by the manual work also restrict the further development of enterprises.
At present, the automatic welding plate device implemented in a few domestic bar material factories can basically complete a single welding plate operation flow only through a robot, on one hand, effective interaction is not carried out with a production line metering module, on the other hand, the working range of the fixed robot is limited, and full-automatic and unmanned welding operation of the label cannot be really realized due to the fact that steel bundles of different length specifications produced by bars are changed.
Disclosure of Invention
Aiming at bars with different length specifications, in order to solve the technical problem, a fixed end is defined at the neat baffle end of a bar conveying chain, and the welding operation of a fixed end label is completed through a fixed end welding robot and matched equipment; the other end of the bar is defined as a moving end, and the welding operation of moving end labels with different length specifications is completed by moving a moving platform fixed with a moving end welding robot and matched equipment; welding work through setting up stiff end and removal end is independently by one set of PLC control module centralized control, can realize synchronous welding tablet or single-ended independent welding tablet, further provides a sign welding set who is used for different specification finished product rod, and the technical scheme of adoption includes: the system comprises a label information tracking module, a fixed end label supplying module, a fixed end vision acquisition and analysis module, a fixed end welding nail supplying module, a fixed end welding robot, a PLC (programmable logic controller) electrical control module, a movable end label supplying module, a movable end vision acquisition and analysis module, a movable end welding nail supplying module and a movable end welding robot;
the label information tracking module is used for acquiring the collected data of the bar production line metering unit as label data and transmitting the label data to the steel bundle tracking queue for storage; the label data comprises but is not limited to bar specification, bar weight, steel type of the bar, steel length and steel furnace number information;
the fixed end label supplying module is used for printing the information in the steel bundle tracking queue on the label, and orderly queuing the printed labels and transmitting the printed labels to an output port of the fixed end label;
the fixed end vision acquisition and analysis module is used for identifying the steel bundle of which the fixed end is not welded with the plate, identifying and positioning the welding position of the end face of a steel rod of the steel bundle, and detecting the plate of the steel bundle after welding the plate;
the fixed end welding nail supply module is used for queuing a plurality of welding nails in sequence and transmitting the welding nails to a fixed end welding nail output port;
the fixed end welding robot is used for welding the label acquired from the fixed end label output port and the welding nail acquired from the fixed end welding nail output port on the end surface of the fixed end bar according to the welding position;
the mobile terminal label supplying module is used for printing the information in the steel bundle tracking queue on a label, orderly queuing the printed labels and transmitting the printed labels to a mobile terminal label output port;
the mobile terminal vision acquisition and analysis module is used for distinguishing the steel bundle of which the mobile terminal is not welded with the plate, identifying the end surface of a steel rod of the steel bundle, positioning the welding position and detecting the plate of the welded steel bundle;
the mobile end welding nail supply module is used for queuing a plurality of welding nails in sequence and transmitting the welding nails to a mobile end welding nail output port;
the mobile terminal welding robot is used for welding the label acquired from the mobile terminal label output port and the welding nail acquired from the mobile terminal welding nail output port on the end surface of the mobile terminal bar according to the welding position;
the PLC electric control module is used for receiving a conveying chain moving signal of a production line module, and controlling the fixed end welding robot and the moving end welding robot to complete label welding after the welding position is obtained;
the bar material welding robot comprises a bar material information tracking module, a fixed end label supplying module, a fixed end vision acquisition and analysis module, a fixed end welding nail supplying module, a fixed end welding robot and a PLC (programmable logic controller) electric control module, wherein the label information tracking module, the fixed end label supplying module, the fixed end vision acquisition and analysis module, the fixed end welding nail supplying module, the fixed end welding robot and the PLC electric control module are fixed on a bar material fixed end, and the fixed end is;
the mobile terminal label supplying module, the mobile terminal vision collecting and analyzing module, the mobile terminal welding nail supplying module and the mobile terminal welding robot are fixed on a working platform of a bar mobile terminal, the label welding of a bar mobile terminal surface is completed by automatically moving the working platform according to bars with different length specifications, and the mobile terminal surface is the other end of a neat baffle terminal of a bar transport chain.
As an improvement, the bar moving end working platform further comprises a servo motor, and the automatic moving working platform is fixedly connected with the servo motor in a driving mode.
As an improvement, the label information tracking module performs information interaction with the fixed-end label supplying module and the mobile-end label supplying module independently, respectively, by transmitting the label information acquired in the steel bundle tracking queue to the fixed-end label supplying module and the mobile-end label supplying module independently.
As an improvement, the fixed-end sign supplying module and the moving-end sign supplying module are independently provided, and include: label printers and label transport mechanisms; the label printer is used for printing the steel bundle tracking queue information in the label information tracking module on a label; the label conveying mechanism is used for orderly queuing the printed labels and conveying the printed labels to the fixed end label output port and the movable end label output port.
As the improvement, stiff end vision acquisition analysis module and removal end vision acquisition analysis module all independently set up, include: the device comprises image acquisition equipment and an image analysis processing module; the image acquisition equipment is used for acquiring image information of the fixed end face and the movable end face of the bar; and the image analysis processing module is used for analyzing and processing the image acquired by the image acquisition equipment to obtain the coordinate position of the steel bar.
As an improvement, the method for obtaining the coordinate position of the steel bar by the image analysis processing module comprises the following steps: the method comprises the steps of preprocessing high-definition images acquired by image acquisition equipment corresponding to a fixed end and/or a moving end, including but not limited to calibration, filtering and binaryzation, judging the actual unwelded steel bundles by algorithms including but not limited to edge detection, feature extraction and image segmentation, identifying specific position and shape information of a steel bar by image analysis methods including but not limited to particle analysis and mode matching, and comprehensively analyzing the obtained information including but not limited to brightness and contour roundness to obtain the coordinate position of the steel bar.
As an improvement, the image acquisition equipment comprises a camera device and a laser ranging sensor which are respectively and independently fixedly arranged at the fixed end surface and/or the movable end through a bracket; the camera device is used for acquiring images of the end face of the bar to obtain an end face image; the laser ranging sensor is used for collecting real-time distance data information from the end face of the bar to the camera device.
As an improvement, the fixed end weld nail supply module and the movable end weld nail supply module are respectively and independently arranged, and both comprise: a feed vibration tray and an air compressor; the feeding vibration disc is used for responding to a set nail feeding instruction to orderly arrange a plurality of unordered welding nails through vibration; and the air compressor is used for transporting the orderly arranged welding nails to the welding nail output port of the working instruction.
As the improvement, PLC electric control module with stiff end welding robot with remove end welding robot set up to electric connection or wireless communication and connect for send work order to stiff end welding robot and/or remove end welding robot, carry out synchronous welding tablet or independent welding tablet work alone to rod fixing end face and/or removal terminal surface.
As the improvement, stiff end welding robot and removal end welding robot respectively independently include the welder arm, through welder arm independently with PLC electrical control module electric connection or wireless communication connection, receive and or carry out PLC electrical control module's operating instruction, accomplish the welding tablet operation that corresponds welding position under corresponding welding robot operating instruction.
Has the advantages that: the invention provides a label welding device for finished bars with different specifications, which effectively avoids the situations of wrong welding and missing welding by effectively interacting with a production line metering module; by combining the welding robot and the machine vision technology, the accurate positioning and welding of the label are realized, and the harm to workers caused by severe environments such as high temperature, high dust, high noise and the like is avoided; through two sets of welding robot modules of fixed end welding robot and removal end welding robot, independently by one set of PLC control module centralized control, to the rod of different length specifications, can realize rod both ends automatic synchronization welding tablet or single-ended independent welding tablet, really realize rod brand welded full automatization, greatly improved production efficiency.
Drawings
Fig. 1 is a schematic composition diagram of a label welding apparatus for different specifications of finished bars according to an embodiment of the present invention.
Fig. 2 is a flowchart of the operation of a label welding apparatus for different specifications of finished bars according to an embodiment of the present invention.
Reference numerals: the sign information tracking module 10, the fixed-end sign supplying module 20, the fixed-end vision collecting and analyzing module 30, the fixed-end welding nail supplying module 40, the fixed-end welding robot 50, the moving-end sign supplying module 60, the moving-end vision collecting and analyzing module 70, the moving-end welding nail supplying module 80, the moving-end welding robot 90, and the PLC electric control module 100.
Detailed Description
The figures of the present invention are further described below in conjunction with the embodiments.
Fig. 1 is a schematic composition diagram of a label welding apparatus for finished bars of different specifications according to an embodiment of the present invention, as shown in fig. 1, including a label information tracking module 10, a fixed-end label supplying module 20, a fixed-end vision collecting and analyzing module 30, a fixed-end welding nail supplying module 40, a fixed-end welding robot 50, a PLC electrical control module 100, a moving-end label supplying module 60, a moving-end vision collecting and analyzing module 70, a moving-end welding nail supplying module 80, and a moving-end welding robot 90.
The label information tracking module 10 is communicated with the production line metering module, and is used for acquiring information including specification, weight and the like collected by the metering module, taking the information as label data and adding the label data into a steel bundle tracking queue; the fixed end label supplying module 20 and the mobile end label supplying module 60 are connected with the label information tracking module 10 and the PLC electric control module 100, and are used for printing the information in the steel bundle tracking queue on the labels, orderly queuing the printed labels and transmitting the printed labels to the label outlets of the fixed end and the mobile end; the fixed end visual collection and analysis module 30 and the movable end visual collection and analysis module 70 are connected with the PLC electrical control module 100 and are used for distinguishing the steel bundles of which the fixed ends and the movable ends are not welded with the plates, identifying, analyzing and positioning the welding positions of the end face data of the steel rods of the steel bundles, and detecting the plates of the welded steel bundles; the fixed end welding nail supply module 40 and the movable end welding nail supply module 80 are connected with the PLC electrical control module 100 and used for sequentially queuing a plurality of welding nails and transmitting the welding nails to fixed end welding nail output ports and movable end welding nail output ports; the fixed end welding robot 50 is connected with the PLC electrical control module 100, and the welding gun arm is respectively used for obtaining the label from the fixed end label output port and obtaining the welding nail from the fixed end welding nail output port, and then welding the welding nail on the end face of the fixed end bar according to the welding position. Remove end welding robot 90 and PLC electrical control module 100 and link to each other, PLC electrical control module 100 gathers the length size back of rod, removes as required remove end work platform to suitable position, remove end welding robot 90 through the welder arm follow respectively remove end sign delivery outlet obtain the sign with remove end welding nail delivery outlet obtain behind the welding nail, according to the hookup location with the sign welding on removing end rod terminal surface.
In one embodiment of the present invention, the sign information tracking module 10, the fixed-end sign supplying module 20, the fixed-end vision collecting and analyzing module 30, the fixed-end welding nail supplying module 40, the fixed-end welding robot 50 and the PLC electric control module 100 in fig. 1 are fixed to the fixed end of the bar, the fixed-end welding robot 50 controls the taking of the printed sign from the fixed-end sign supplying module 20 and the taking of the welding nail from the fixed-end welding nail supplying module 40 through the PLC electric control module 100, and the sign welding of the fixed end face of the bar is completed according to the welding position collected and analyzed by the fixed-end vision collecting and analyzing module 30.
In an embodiment of the present invention, the mobile terminal label supplying module 60, the mobile terminal vision collecting and analyzing module 70, the mobile terminal welding nail supplying module 80 and the mobile terminal welding robot 90 shown in fig. 1 are fixed on a working platform of a mobile terminal of a bar, after the PLC electrical control module 100 collects a length dimension of the bar, the PLC electrical control module 100 moves the mobile terminal working platform to a proper position as required, and the mobile terminal welding robot 90 controls, through the PLC electrical control module 100, to obtain a printed label from the mobile terminal label supplying module 60 and a welding nail from the mobile terminal welding nail supplying module 80, and according to a welding position collected and analyzed by the mobile terminal vision collecting and analyzing module 70, completes label welding of the mobile terminal of the bar.
In one embodiment of the invention, in order to ensure the reliability of the image positioning of the moving end and the action of the welding plate, the bar moving end working platform is driven by a servo motor to carry out accurate positioning.
In one embodiment of the present invention, the fixed-end tag supply module 20 and the mobile-end tag supply module 60 of fig. 1 include a tag printer for printing the bundle tracking queue information of the tag information tracking module 10 on tags and a tag conveying mechanism, respectively; the label conveying mechanism is used for orderly queuing the printed labels and conveying the printed labels to the label output ports of the fixed end and the movable end respectively.
It should be noted that the label printer may generate a printing completion instruction only after the first label is printed, and only output the printed label to the label output port after the subsequent label printing is completed.
In an embodiment of the present invention, the fixed end visual collection and analysis module 30 and the moving end visual collection and analysis module 70 shown in fig. 1 include an image collection device and an image analysis and processing module, where the image collection device is used to collect image information of the end faces of the fixed end bar and the moving end bar respectively; the image analysis processing module is respectively used for carrying out preprocessing such as calibration, filtering and binarization on high-definition images acquired by the image acquisition equipment at the fixed end and the moving end, accurately judging the actual steel bundle without welded plates through algorithms such as edge detection, feature extraction and image segmentation, identifying specific position and shape information of the steel bar through image analysis methods such as particle analysis and mode matching, and comprehensively analyzing the obtained information such as brightness and contour roundness to provide a group of steel bar coordinate positions with the best comprehensive effect.
In an embodiment of the present invention, in order to achieve precise positioning of the sign, the image capturing device includes an image capturing device and a laser distance measuring sensor, wherein the image capturing device is preferably an industrial camera, and the laser distance measuring sensor is preferably a high-precision laser distance measuring sensor, and the industrial camera is used for capturing an image of the end face of the bar to obtain an end face image; the high-precision laser ranging sensor is used for collecting real-time distance data information from the end face of the bar to the industrial camera.
In one embodiment of the present invention, the fixed end weld nail supply module 40 and the moving end weld nail supply module 80 shown in fig. 1 include a feeding vibration tray and an air compressor, wherein the feeding vibration tray is respectively used for orderly arranging a plurality of unordered weld nails by vibration in response to the nail feeding command; the air compressors are respectively used for conveying the orderly arranged welding nails to the welding nail output ports.
In one embodiment of the present invention, the PLC electric control module 100 shown in fig. 1 is connected to the fixed end label supplying module 20, the fixed end vision collecting and analyzing module 30, the fixed end welding nail supplying module 40, the fixed end welding robot 50, the moving end label supplying module 60, the moving end vision collecting and analyzing module 70, the moving end welding nail supplying module 80, and the moving end welding robot 90, so that synchronous welding or independent welding of the fixed end face and the moving end face of the bar material with different length specifications can be realized.
In one embodiment of the present invention, the fixed end welding robot 50 and the mobile end welding robot 90 shown in fig. 1 include welding gun arms connected to the PLC electric control module 100 and the fixed end welding robot 50 or the mobile end welding robot 90, and sequentially acquire a welding pin and a label following the fixed end welding robot 50 or the mobile end welding robot 90 under the control of the PLC electric control module 100 and move to the welding position to complete label welding work.
A working flow chart of the label welding device for finished bars of different specifications according to an embodiment of the present invention is shown in fig. 2, and specifically includes the following steps:
1) after the bars are cut, bundled, aligned and the like, the label information tracking module 10 acquires label information of the bars from the production line metering module, respectively prints the label information to the label printers of the fixed end label supplying module 20 and the movable end label supplying module 60, and then respectively queues the printed labels in order through the label conveying mechanism and conveys the labels to the label outlets of the fixed end and the movable end; meanwhile, information of [ label printing completion ] is respectively transmitted to the PLC electrical control module 100, and the PLC electrical control module 100 is informed that bar production is completed and label printing is completed;
2) the PLC electrical control module 100 receives the information of label printing completion, and simultaneously controls the fixed end welding nail supply module 40 and the movable end welding nail supply module 80 to automatically arrange nails and transmit the welding nails to the welding nail output port, and transmits the information of welding nail in place to the PLC electrical control module 100 after the welding nails are arranged.
3) When the bar steel bundles are sequentially conveyed to a finished product conveying chain, the PLC electric control module 100 receives a conveying chain moving signal of a production line module, and the position of the unwelded steel bundle is calculated and tracked in real time; and (3) calculating the target position and the limit moving position of the welding plate of the next unwelded steel plate bundle by taking the space coordinates of the two end surfaces in the image visual field as a reference when the steel plate bundle tracks the previous welding plate.
4) When the advancing distance of the steel bundle reaches the target position and the conveying chain stops, the PLC electrical control module 100 collects the length information of the steel bundle, moves the working platform fixed with the movable end welding robot 90 to a proper position as required, automatically triggers the fixed end vision collection and analysis module 30 and the movable end vision collection and analysis module 70 to collect, analyze and position images, and respectively obtains the three-dimensional space position coordinates of the two ends of the weldable brand steel bundle in the steel bundle. The PLC electric control module 100 processes the welding position information acquired by the fixed end vision acquisition and analysis module 30 and the moving end vision acquisition and analysis module 70 and then sends the processed information to the fixed end welding robot 50 and the moving end welding robot 90, and the fixed end welding robot 50 and the moving end welding robot 90 automatically execute a series of actions of getting the label, getting the welding nail and welding the label.
5) And when the advancing distance of the steel bundle reaches the limit moving target position, forcibly locking the conveying chain to stop.
The PLC electrical control module 100 collects the length information of the steel bundle, moves the working platform fixed with the mobile end welding robot 90 to a proper position as required, automatically triggers the fixed end visual acquisition and analysis module 30 and the mobile end visual acquisition and analysis module 70 to perform image acquisition, analysis and positioning, and respectively obtains the three-dimensional space position coordinates of the two ends of the weldable steel bundle in the steel bundle. The PLC electric control module 100 processes the welding position information acquired by the fixed end vision acquisition and analysis module 30 and the moving end vision acquisition and analysis module 70 and then sends the processed information to the fixed end welding robot 50 and the moving end welding robot 90, and the fixed end welding robot 50 and the moving end welding robot 90 automatically execute a series of actions of getting the label, getting the welding nail and welding the label.
6) After the welding action is finished, the fixed end visual collection and analysis module 30 and the mobile end visual collection and analysis module 70 respectively collect images again in the first time to judge whether the label is welded on the steel bundle, if the label is not detected, the re-welding process is automatically triggered, and a new set of steel bundle positioning coordinates are given to improve the success rate of re-welding. If the number of times of re-welding is set and the welding plate is not successfully welded, the device can automatically skip the steel bundle, execute the welding plate of the next bundle, automatically update the information and the positioning target of the welding plate, ensure that the whole automatic process cannot be stopped or disordered, and simultaneously prompt an operator to perform repair welding on the steel bundle without the welding plate on an operation picture.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a sign welding set for different specification finished product rods which characterized in that: the system comprises a label information tracking module, a fixed end label supplying module, a fixed end vision acquisition and analysis module, a fixed end welding nail supplying module, a fixed end welding robot, a PLC (programmable logic controller) electrical control module, a movable end label supplying module, a movable end vision acquisition and analysis module, a movable end welding nail supplying module and a movable end welding robot;
the label information tracking module is used for acquiring the collected data of the bar production line metering unit as label data and transmitting the label data to the steel bundle tracking queue for storage; the label data comprises but is not limited to bar specification, bar weight, steel type of the bar, steel length and steel furnace number information;
the fixed end label supplying module is used for printing the information in the steel bundle tracking queue on the label, and orderly queuing the printed labels and transmitting the printed labels to an output port of the fixed end label;
the fixed end vision acquisition and analysis module is used for identifying the steel bundle of which the fixed end is not welded with the plate, identifying and positioning the welding position of the end face of a steel rod of the steel bundle, and detecting the plate of the steel bundle after welding the plate;
the fixed end welding nail supply module is used for queuing a plurality of welding nails in sequence and transmitting the welding nails to a fixed end welding nail output port;
the fixed end welding robot is used for welding the label acquired from the fixed end label output port and the welding nail acquired from the fixed end welding nail output port on the end surface of the fixed end bar according to the welding position;
the mobile terminal label supplying module is used for printing the information in the steel bundle tracking queue on a label, orderly queuing the printed labels and transmitting the printed labels to a mobile terminal label output port;
the mobile terminal vision acquisition and analysis module is used for distinguishing the steel bundle of which the mobile terminal is not welded with the plate, identifying the end surface of a steel rod of the steel bundle, positioning the welding position and detecting the plate of the welded steel bundle;
the mobile end welding nail supply module is used for queuing a plurality of welding nails in sequence and transmitting the welding nails to a mobile end welding nail output port;
the mobile terminal welding robot is used for welding the label acquired from the mobile terminal label output port and the welding nail acquired from the mobile terminal welding nail output port on the end surface of the mobile terminal bar according to the welding position;
the PLC electric control module is used for receiving a conveying chain moving signal of a production line module, and controlling the fixed end welding robot and the moving end welding robot to complete label welding after the welding position is obtained;
the bar material welding robot comprises a bar material information tracking module, a fixed end label supplying module, a fixed end vision acquisition and analysis module, a fixed end welding nail supplying module, a fixed end welding robot and a PLC (programmable logic controller) electric control module, wherein the label information tracking module, the fixed end label supplying module, the fixed end vision acquisition and analysis module, the fixed end welding nail supplying module, the fixed end welding robot and the PLC electric control module are fixed on a bar material fixed end, and the fixed end is;
the mobile terminal label supplying module, the mobile terminal vision collecting and analyzing module, the mobile terminal welding nail supplying module and the mobile terminal welding robot are fixed on a working platform of a bar mobile terminal, the label welding of a bar mobile terminal surface is completed by automatically moving the working platform according to bars with different length specifications, and the mobile terminal surface is the other end of a neat baffle terminal of a bar transport chain.
2. The label welding apparatus for different size finished bars according to claim 1, wherein: the bar moving end working platform further comprises a servo motor, and the automatic moving working platform is fixedly connected with the servo motor in a driving mode.
3. The label welding apparatus for different size finished bars according to claim 1, wherein: the label information tracking module performs information interaction with the fixed-end label supplying module and the mobile-end label supplying module independently, respectively, wherein the label information acquired in the steel bundle tracking queue is transmitted to the fixed-end label supplying module and the mobile-end label supplying module independently.
4. The label welding apparatus for different size finished bars according to claim 1, wherein: the fixed-end sign supplying module and the movable-end sign supplying module are both independently provided, and include: label printers and label transport mechanisms; the label printer is used for printing the steel bundle tracking queue information in the label information tracking module on a label; the label conveying mechanism is used for orderly queuing the printed labels and conveying the printed labels to the fixed end label output port and the movable end label output port.
5. The label welding apparatus for different size finished bars according to claim 1, wherein: stiff end vision acquisition and analysis module and removal end vision acquisition and analysis module all set up independently, include: the device comprises image acquisition equipment and an image analysis processing module; the image acquisition equipment is used for acquiring image information of the fixed end face and the movable end face of the bar; and the image analysis processing module is used for analyzing and processing the image acquired by the image acquisition equipment to obtain the coordinate position of the steel bar.
6. The label welding apparatus for different size finished bars according to claim 5, wherein: the method for obtaining the coordinate position of the steel bar by the image analysis processing module comprises the following steps: the method comprises the steps of preprocessing high-definition images acquired by image acquisition equipment corresponding to a fixed end and/or a moving end, including but not limited to calibration, filtering and binaryzation, judging the actual unwelded steel bundles by algorithms including but not limited to edge detection, feature extraction and image segmentation, identifying specific position and shape information of a steel bar by image analysis methods including but not limited to particle analysis and mode matching, and comprehensively analyzing the obtained information including but not limited to brightness and contour roundness to obtain the coordinate position of the steel bar.
7. Sign welding device for finished bars of different specifications according to claim 5 or 6, characterized in that: the image acquisition equipment comprises a camera device and a laser ranging sensor which are respectively and independently fixedly arranged at the fixed end surface and/or the movable end through a bracket; the camera device is used for acquiring images of the end face of the bar to obtain an end face image; the laser ranging sensor is used for collecting real-time distance data information from the end face of the bar to the camera device.
8. The label welding apparatus for different size finished bars according to claim 1, wherein: the stiff end weld nail supply module and the removal end weld nail supply module set up independently respectively, all include: a feed vibration tray and an air compressor; the feeding vibration disc is used for responding to a set nail feeding instruction to orderly arrange a plurality of unordered welding nails through vibration; and the air compressor is used for transporting the orderly arranged welding nails to the welding nail output port of the working instruction.
9. The label welding apparatus for different size finished bars according to claim 1, wherein: PLC electrical control module with stiff end welding robot with remove end welding robot and set up to electric connection or wireless communication and connect for send work order to stiff end welding robot and/or remove end welding robot, carry out synchronous welding tablet or independent welding tablet work alone to rod fixing end face and/or removal terminal surface.
10. A label welding apparatus for different size finished bars according to claim 1 or 9, characterized in that: stiff end welding robot and removal end welding robot respectively independently include the welder arm, be connected with PLC electrical control module electric connection or wireless communication independently through the welder arm, receive and or carry out PLC electrical control module's operating instruction, carry out and correspond welding robot operating instruction and accomplish the tablet operation that corresponds welding position down.
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| CN111055039A (en) * | 2019-12-31 | 2020-04-24 | 东北大学 | Bundled bar label welding system based on machine vision |
| CN111482726A (en) * | 2020-05-14 | 2020-08-04 | 广东汇博机器人技术有限公司 | Automatic flexible welding tablet system of robot |
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2020
- 2020-08-24 CN CN202010854226.3A patent/CN111906481A/en active Pending
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| CN110614459A (en) * | 2019-08-25 | 2019-12-27 | 北京首钢自动化信息技术有限公司 | Intelligent welding plate device and method for end face of steel bundle |
| CN111055039A (en) * | 2019-12-31 | 2020-04-24 | 东北大学 | Bundled bar label welding system based on machine vision |
| CN111482726A (en) * | 2020-05-14 | 2020-08-04 | 广东汇博机器人技术有限公司 | Automatic flexible welding tablet system of robot |
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