CN113695802A - Robot-based reinforcement mesh welding work system and method - Google Patents
Robot-based reinforcement mesh welding work system and method Download PDFInfo
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- CN113695802A CN113695802A CN202111101911.XA CN202111101911A CN113695802A CN 113695802 A CN113695802 A CN 113695802A CN 202111101911 A CN202111101911 A CN 202111101911A CN 113695802 A CN113695802 A CN 113695802A
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- 229910001294 Reinforcing steel Inorganic materials 0.000 claims abstract description 64
- 238000003825 pressing Methods 0.000 claims abstract description 62
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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
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- 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
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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
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Abstract
The utility model provides a reinforcing mesh welding work system and a method based on a robot, which relates to the application field of industrial robots, aiming at the problem that welding is easy to have defects caused by centralized welding after the welding reinforcing mesh is stacked by adopting a clamp at present, the reinforcing steel bars are longitudinally and transversely conveyed, so that the transverse reinforcing steel bars fall onto a plurality of longitudinal reinforcing steel bars one by one, each transverse reinforcing steel bar to be welded is pressed tightly, the transverse reinforcing steel bars are contacted and attached with the longitudinal reinforcing steel bars, the intersection point positions are welded in sequence, the problem of poor welding quality caused by gaps existing at the intersection point positions of the reinforcing mesh is reduced, and the overall strength of the reinforcing mesh is improved; the longitudinal conveying structure comprises a longitudinal displacement mechanism and a clamping mechanism, and the clamping mechanism provided with a plurality of clamping stations is connected with the longitudinal displacement mechanism; the transverse conveying structure is provided with a plurality of transverse conveying stations which are arranged at intervals, one end of the moving path of the clamping mechanism extends to the lower part of the transverse conveying structure, and the pressing end of the pressing structure is positioned above the moving path of the clamping mechanism.
Description
Technical Field
The disclosure relates to the field of industrial robot application, in particular to a reinforcing mesh welding work system and method based on a robot.
Background
Reinforcing bar net piece is often used for building construction structure, and the crossing point position is welded after will moving about freely and quickly reinforcing bar alternately puts, forms network structure.
After the reinforcing mesh is manually stacked to the clamp, the intersection point positions of the longitudinal and transverse reinforcing steel bars are welded, so that the longitudinal and transverse reinforcing steel bars are connected at the intersection point positions, but the reinforcing steel bars placed in the clamp are easy to misplace, so that gaps can be formed among the reinforcing steel bars at certain welding positions, and the welding is influenced; at present, manual observation is mostly adopted, intervention and clamping are carried out, however, the welding points of the reinforcing mesh are more, manual operation is needed to be carried out at different positions, gaps are inconvenient to observe, clamping force is inconvenient to exert on the reinforcing mesh with smaller meshes, and the quality and the strength of the welded reinforcing mesh are affected.
Disclosure of Invention
The purpose of the disclosure is to provide a robot-based mesh reinforcement welding work system and method aiming at the defects in the prior art, through carrying out longitudinal conveying and transverse conveying on the reinforcing steel bars, the transverse reinforcing steel bars fall onto a plurality of longitudinal reinforcing steel bars one by one, each transverse reinforcing steel bar to be welded is pressed tightly, each transverse reinforcing steel bar is contacted with the longitudinal reinforcing steel bar and attached, intersection points are welded in sequence, the problem that the welding quality is poor due to gaps existing at the intersection points of the mesh reinforcement is reduced, and the overall strength of the mesh reinforcement is improved.
The first purpose of this disclosure is to provide a reinforcing bar net welding work system based on robot, adopts following technical scheme:
the device comprises a longitudinal conveying structure, a transverse conveying structure, a pressing structure and a welding structure, wherein the longitudinal conveying structure comprises a longitudinal displacement mechanism and a clamping mechanism, and the clamping mechanism provided with a plurality of clamping stations is connected with the longitudinal displacement mechanism; the transverse conveying structure is provided with a plurality of transverse conveying stations arranged at intervals, one end of the moving path of the clamping mechanism extends to the lower part of the transverse conveying structure, the pressing end of the pressing structure is located above the moving path of the clamping mechanism, and the working end of the welding robot of the welding structure faces the acting position of the pressing end.
Further, the longitudinal displacement mechanism is a reciprocating pair, the clamping mechanism comprises a plurality of clamps which are sequentially arranged at intervals, and a clamping part of each clamp is used as a clamping station.
Further, the longitudinal conveying structure is matched with at least one longitudinal feeding mechanism, and the longitudinal feeding mechanism can obtain longitudinal steel bars and feed the longitudinal steel bars to the clamping station.
Further, the transverse conveying structure comprises a conveying belt and stops, the stops are sequentially arranged on the surface of the outer ring of the conveying belt at intervals along the rotation track of the conveying belt, and a transverse conveying station for accommodating transverse reinforcing steel bars is formed between every two adjacent stops.
Furthermore, in the moving direction of the top surface of the conveyor belt, one end of the conveyor belt close to the clamping mechanism is a tail end transverse conveying station, and the transverse steel bars fall onto the longitudinal steel bars clamped by the clamping mechanism from the tail end transverse conveying station.
Furthermore, the pressing structure is erected above the clamping mechanism and comprises a plurality of pressing rods which are arranged in a hanging mode, and one end of each pressing rod is connected with the corresponding pressing claw to serve as a pressing end.
Furthermore, the pressing rod is connected with the pressing claw through the elastic telescopic piece, and at least one image acquisition structure is arranged on the side face of the pressing claw.
A second object of the present disclosure is to provide a mesh reinforcement welding method using the robot-based mesh reinforcement welding work system as described above, comprising the steps of:
the clamping station loads longitudinal steel bars and moves under the driving of the longitudinal displacement mechanism; the transverse conveying station loads transverse reinforcing steel bars and moves under the driving of a transverse conveying structure;
the longitudinal steel bars move to the lower part of the pressing structure, and the transverse steel bars fall onto the longitudinal steel bars from the transverse conveying structure;
the driving pressing end of the pressing structure is in contact with and presses the transverse steel bars, and the working end of the welding structure welds the contact positions of the longitudinal steel bars and the transverse steel bars.
Furthermore, the clamping mechanism drives the longitudinal steel bars to feed gradually under the driving of longitudinal displacement, the transverse conveying structure drives the transverse steel bars to feed gradually, so that the transverse steel bars are sequentially arranged on the longitudinal steel bars at intervals along the axial direction of the longitudinal steel bars, and the pressing structure and the welding structure sequentially press and weld the transverse steel bars borne by the longitudinal steel bars to form a criss-cross steel bar mesh and perform blanking.
Furthermore, the welding structure comprises two working ends, each transverse steel bar is lapped with a plurality of longitudinal steel bars to form n welding points, and n is a positive integer;
when n is an odd number, one working end executes (n +1)/2 welding tasks, and the other working end executes (n-1)/2 welding tasks;
when n is even number, each working end respectively executes n/2 welding tasks.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) aiming at the problem that welding is easy to have defects due to the fact that welding is concentrated after the existing welded reinforcing mesh is stacked by adopting a clamp, the reinforcing steel bars are longitudinally conveyed and transversely conveyed, so that the transverse reinforcing steel bars fall onto the plurality of longitudinal reinforcing steel bars one by one, each transverse reinforcing steel bar to be welded is compressed, the transverse reinforcing steel bars are contacted and attached with the longitudinal reinforcing steel bars, intersection points are welded in sequence, the problem that welding quality is poor due to the fact that gaps exist at the intersection points of the reinforcing mesh is reduced, and the overall strength of the reinforcing mesh is improved.
(2) Vertical transport structure carries out centre gripping and step-by-step transport to vertical reinforcing bar, and horizontal transport mechanism places horizontal reinforcing bar on vertical reinforcing bar, and the next horizontal reinforcing bar of release after welding to the cross position progressively compresses tightly, welds, conveniently observes and compresses tightly the elimination to the interval of vertical reinforcing bar and horizontal reinforcing bar, improves welding quality.
(3) A plurality of pressing rods are arranged at a plurality of cross points of the longitudinal steel bars and the transverse steel bars, and are pressed at a plurality of positions along the axial direction of the transverse steel bars, so that pressing force is applied from a plurality of positions, and the problem of insufficient welding strength caused by gaps existing at each cross point is solved.
(4) Set up the image acquisition structure in welding position, monitor the welding position, can monitor the clearance control condition of crossing the nodical position of reinforcing bar with great ease on the one hand, on the other hand can gather the welding seam condition after the nodical position welding, conveniently acquires welding seam quality after the welding.
(5) The transverse conveying structure adopts a structure that a rotary conveying belt is matched with a stop block to convey transverse reinforcing steel bars in sequence, and the position of the transverse reinforcing steel bars contacting the longitudinal reinforcing steel bars after falling is controlled by combining the gradual feeding of the longitudinal conveying structure so as to control the specification of the formed reinforcing steel bar mesh.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic view of a robot-based mesh reinforcement welding work system according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic view of a longitudinal transport configuration in one or more embodiments of the present disclosure;
FIG. 3 is a schematic view of a lamination arrangement in one or more embodiments of the present disclosure;
FIG. 4 is a schematic view of a lateral transport structure in one or more embodiments of the present disclosure;
FIG. 5 is a schematic diagram of an image acquisition architecture in one or more embodiments of the present disclosure;
FIG. 6 is a schematic view of a welded structure in one or more embodiments of the present disclosure;
FIG. 7 is a schematic diagram of a system control layout in one or more embodiments of the present disclosure.
In the figure, 1000, a longitudinal feeding mechanism, 1001, a storage unit, 1002, a cutting unit, 1003, a pushing unit, 1200, a longitudinal conveying structure, 1201, a clamp, 1202, a longitudinal steel bar, 1300, a welding structure, 1301, a first welding robot, 1302, a second welding robot, 1400, a pressing structure, 1500, a transverse conveying structure, 1501, a transverse steel bar, 1600, a welding point detection device, 1701, a finished product placement site, 1702, a defective placement site, 1800, a transverse material mechanism, 201, a longitudinal displacement mechanism, 202, a clamping jaw, 2021, a clamping jaw forward and backward action unit, 2022, a clamping jaw up and down action unit, 203, a first steel bar to be welded, 204, a second steel bar to be welded, 301, a first lifting mechanism, 302, a second lifting mechanism, 303, a pressing rod, 401A, a first conveyor belt, 401B, a second conveyor belt, 402, a stopper, 403, a third steel bar to be welded, 5011, a first camera, 5012, a welding structure, a clamp, 1202, a defective steel bar, a defective bar, a defective bar, a defective bar, a defective bar, a defective bar, a defective bar, a defective bar, a, The welding robot comprises a second camera, 5013, a third camera, 5014, a fourth camera, 5015, a fifth camera, 5021, a first welding point, 5022, a second welding point, 5023, a third welding point, 5024, a fourth welding point, 5025, a fifth welding point, 601, a fourth steel bar to be welded, 602, a welding gun, 603, a robot end joint, 604, a first arm of the robot, 605, a welding wire conducting structure, 606, a second arm of the robot, 607, a welding wire, 608, a welding wire disc, 609, a welding power supply, 610 and a welding robot control device.
Detailed Description
Example 1
In an exemplary embodiment of the present disclosure, as shown in fig. 1 to 6, a robot-based mesh reinforcement welding work system is provided.
The problem of welding defects easily appear after adopting anchor clamps to put things in good order to weld the reinforcing bar net at present in a concentrative way to lead to welding is provided, a reinforcing bar net weldment work system based on robot, through the vertical transport structure and the horizontal transport structure of configuration reinforcing bar, make horizontal reinforcing bar fall to a plurality of vertical reinforcing bar one by one, compress tightly each and treat welded horizontal reinforcing bar, make it contact with vertical reinforcing bar and laminate, weld the crossing point position in proper order, there is the problem that the clearance leads to welding quality poor in the reduction reinforcing bar net crossing point position, improve the bulk strength of reinforcing bar net.
The reinforcing mesh welding work system based on the robot mainly comprises a longitudinal conveying structure, a transverse conveying structure, a press fit structure and a welding structure, wherein the longitudinal conveying structure simultaneously clamps and conveys a plurality of longitudinal reinforcing steel bars, the transverse conveying mechanism conveys the transverse reinforcing steel bars in sequence and falls onto the longitudinal reinforcing steel bars to form a cross state to be welded, the press fit structure applies pressing force to the transverse reinforcing steel bars to enable the transverse reinforcing steel bars to be tightly attached to the longitudinal reinforcing steel bars below, the welding structure welds the cross positions of the transverse reinforcing steel bars and the longitudinal reinforcing steel bars to enable the longitudinal reinforcing steel bars to be connected with the transverse reinforcing steel bars, the plurality of transverse reinforcing steel bars falling in sequence are welded, and after all welding spots are completed, the transverse reinforcing steel bars and the longitudinal reinforcing steel bars form a reinforcing mesh structure.
Specifically, the longitudinal conveying structure comprises a longitudinal displacement mechanism and a clamping mechanism, wherein the clamping mechanism provided with a plurality of clamping stations is connected with the longitudinal displacement mechanism; the transverse conveying structure is provided with a plurality of transverse conveying stations arranged at intervals, one end of a moving path of the clamping mechanism extends to the position below the transverse conveying station at the tail end, a clamped longitudinal steel bar is conveyed to the position below the falling position of the transverse steel bar, the transverse steel bar is conveniently accepted, a pressing end of the pressing structure is located above the transverse conveying station at the tail end, and a working end of the welding structure faces the acting position of the pressing end to weld the contact positions of the longitudinal steel bar and the transverse steel bar.
The longitudinal conveying structure is matched with at least one longitudinal feeding mechanism, and the longitudinal feeding mechanism can obtain longitudinal steel bars and feed the longitudinal steel bars to a clamping station; similarly, the transverse conveying structure is matched with at least one transverse feeding structure, and the transverse feeding structure can obtain transverse reinforcing steel bars and feed the transverse reinforcing steel bars to a transverse conveying station.
As shown in fig. 1, the whole robot-based mesh reinforcement welding work system comprises a welding structure, a longitudinal feeding mechanism, a longitudinal conveying mechanism, a pressing structure, a transverse conveying mechanism, a transverse feeding mechanism, a welding spot detection device and a blanking station; the welding structure comprises two welding robots working in a coordinated mode, namely a first welding robot and a second welding robot, the longitudinal feeding mechanism comprises a storage unit 1001 for annular reinforcing steel bars, a cutting unit 1002 for annular reinforcing steel bars and a pushing unit 1003 for vertical reinforcing steel bars driven by a cylinder, and the cutting unit for annular reinforcing steel bars can also shape the reinforcing steel bars; the longitudinal conveying mechanism acquires longitudinal steel bars from the longitudinal feeding mechanism and carries out clamping and conveying; the transverse feeding mechanism acquires external truncated and stacked transverse steel bars, and the transverse conveying mechanism acquires the transverse steel bars from the transverse feeding mechanism and sequentially conveys the transverse steel bars to enable the transverse steel bars to fall onto the longitudinal steel bars; the pressing structure and the welding structure are arranged above the matching position of the longitudinal steel bar and the transverse steel bar, the welding spot detection device is arranged on the conveying track of the longitudinal steel bar and is used for detecting the position of a welded welding spot, and the blanking station comprises a finished product placing position and a defective product placing position.
For the longitudinal conveying structure, the longitudinal displacement mechanism is a reciprocating pair, the clamping mechanism comprises a plurality of clamps which are sequentially arranged at intervals, and the clamping part of each clamp is used as a clamping station; the longitudinal conveying structure is matched with at least one longitudinal feeding mechanism, the longitudinal feeding mechanism can acquire longitudinal steel bars and feed the longitudinal steel bars to a clamping station, and when the longitudinal feeding mechanisms are matched, the longitudinal feeding mechanisms can be arranged on two sides of the longitudinal conveying structure.
As shown in fig. 2, the longitudinal conveying structure includes a motor-driven longitudinal displacement mechanism 201, a clamping jaw 202, a clamping jaw forward-backward action unit 2021, and a clamping jaw up-down action unit 2022, one clamping jaw is connected to another clamping jaw through the clamping jaw forward-backward action unit 2021 and the clamping jaw up-down action unit 2022, the two clamping jaws together form a clamp, a clamping portion is formed between the two clamping jaws, the clamp is used for clamping a first to-be-welded steel bar placed longitudinally, and a plurality of first to-be-welded steel bars are sequentially arranged on the plurality of clamps at intervals. The clamp clamps a first steel bar to be welded to move and feed under the action of the longitudinal displacement mechanism, and in the moving process, the clamping jaw front-back action unit 2021 and the clamping jaw up-down action unit 2022 clamp the first steel bar to be welded to keep the first steel bar to be welded to move along with the longitudinal displacement mechanism 201.
It can be understood that the longitudinal displacement mechanism can select a slide rail slide block mechanism, a lead screw slide block mechanism and other linear moving pairs, the clamp can drive the first steel bar to be welded to move under the drive of the corresponding driving element, and the driving element can select a motor, a hydraulic motor, a pneumatic motor and other torque output elements to match with the reducer, so that the requirements of the driving force, the precision, the stroke and the like are met.
The pressing structure is erected above the clamping mechanism and comprises a plurality of pressing rods which are arranged in a hanging mode, and one end of each pressing rod is connected with a pressing claw to serve as a pressing end; the pressing rod is connected with the pressing claw through the elastic telescopic piece, and at least one image acquisition structure is arranged on the side face of the pressing claw.
As shown in fig. 3, the pressing structure includes two lifting mechanisms, two pressing rods and two pressing claws, the two lifting mechanisms are oppositely disposed, and are respectively a first lifting mechanism and a second lifting mechanism, a connecting rod is disposed between the two lifting mechanisms, the pressing rods are mounted on the connecting rod, and the lifting mechanisms jointly drive the connecting rod and the pressing rods to lift.
In an initial state, the first lifting mechanism 301 and the second lifting mechanism 302 are kept in an extending state, after the transverse steel bars and the longitudinal steel bars are conveyed in place, the first lifting mechanism 301 and the second lifting mechanism 302 are kept in a retracting state, and the pressing claws 303 at the tail ends of the pressing rods press the transverse steel bars downwards, so that the longitudinal steel bars and the transverse steel bars are kept attached.
Preferably, the spring rod can be selected for use to the elastic expansion piece, can stretch out and draw back under the exogenic action to can adjust the elasticity coefficient, utilize the spring rod, can be pressfitting claw automatically regulated and push down pressure, on the basis of keeping the laminating of vertical reinforcing bar and horizontal reinforcing bar, reduce the deformation of reinforcing bar.
The image acquisition structure comprises a plurality of groups, wherein one group is arranged at the position of the pressing claw and acquires the image at the welding position; and the group of the reinforcing steel bar meshes is arranged at the blanking position of the longitudinal conveying structure, and the welding point images of the welded reinforcing steel bar meshes are collected so as to analyze whether the reinforcing steel bar meshes are qualified or not.
As shown in fig. 5, taking one of the image collection structures as an example, the image collection structure includes cameras and a camera control unit, in this embodiment, taking five intersections of each transverse steel bar and each longitudinal steel bar as an example, the camera control unit is connected with five cameras, which are respectively a first camera 5011, a second camera 5012, a third camera 5013, a fourth camera 5014, and a fifth camera 5015, and correspond to five first welding points 5021, second welding points 5022, third welding points 5023, fourth welding points 5024, and fifth welding points 5025 of welding points one to one, and collects images of the positions of the welding points, and sends the images to the main control system, so that the quality of the welding points can be judged after the images are processed.
The transverse conveying structure comprises a conveying belt and stops, the stops are sequentially arranged on the surface of the outer ring of the conveying belt at intervals along the rotation track of the conveying belt, and a transverse conveying station for accommodating transverse steel bars is formed between every two adjacent stops; and in the moving direction of the top surface of the conveyor belt, one end of the conveyor belt close to the clamping mechanism is a tail end transverse conveying station, and the transverse steel bars fall onto the longitudinal steel bars clamped by the clamping mechanism from the tail end transverse conveying station.
As shown in fig. 4, the transverse conveying structure includes two oppositely arranged conveying belts, namely a first conveying belt 401A and a second conveying belt 401B, stoppers are respectively disposed on the two conveying belts, the two conveying belts act synchronously, the transverse conveying stations at the same transverse position on the two conveying belts clamp and convey the same transverse steel bar together, and the transverse steel bar is stably placed on the longitudinal steel bar by matching with the stepping action of the longitudinal steel bar.
As shown in fig. 6, for the welding structure, it includes two welding robots, be first welding robot and second welding robot respectively, welding robot includes the first arm of robot, robot second arm and welder, and welding robot installs welder at the end, and the welder cooperation has the welding wire, and the welding wire passes through welding wire conduction mechanism and connects the wire reel, and welder still inserts welding power supply, and welding power supply, welding robot connect welding robot controlling means jointly.
And a welding gun at the tail end of the welding robot can clamp a welding wire to weld the fourth to-be-welded steel bar. .
As shown in fig. 7, the robot-based mesh reinforcement welding system further includes a main control system for controlling each structural part, and the main control system includes a control module, a display module, a communication module, a digital input/output module, and an analog output module.
The control module is used for logic control of the system. The display module is used for manual control of the welding structure, the longitudinal feeding mechanism, the longitudinal conveying mechanism, the pressing structure, the transverse conveying mechanism, the transverse feeding mechanism and the welding spot detection device, and displaying the working state of the welding structure and the alarm information.
The communication module is used for the main control system to complete data transmission with the longitudinal feeding device, the welding mechanism and the welding spot detection device 1600.
The digital quantity input module is respectively connected with the longitudinal steel bar pushing unit in-place detection sensor, the longitudinal steel bar in-place detection sensor, the transverse steel bar in-place detection sensor, the lifting mechanism in-place detection sensor and the blanking station in-place detection sensor.
And the digital quantity output module is connected with the control valve of the longitudinal steel bar pushing unit and the control valve of the lifting mechanism. The analog quantity output module is connected with the longitudinal conveying structure driving element, the transverse conveying structure driving element and the transverse feeding mechanism driving element.
The welding structure 1300 includes a robot control device, a welding robot, a welding torch connected to a robot body, and a welding power supply device. The robot control device is used for controlling the robot to execute the welding action. The welding power supply device is used for providing welding voltage in the welding process.
When the welding spot welding machine works normally, the main control system controls the longitudinal conveying structure to enable welding spots to stay above the fixed camera, the camera is triggered to finish photographing of the welding spots, collected welding spot picture information is transmitted to the main control system through the camera control unit 503, and the main control system finishes judgment of welding spot effects through a template matching method.
Example 2
In another embodiment of the present disclosure, a method of welding a mesh reinforcement is provided, as shown in fig. 1-6.
The welding work system using the robot-based mesh reinforcement as described in embodiment 1, comprising the steps of:
the clamping station loads longitudinal steel bars and moves under the driving of the longitudinal displacement mechanism; the transverse conveying station loads transverse reinforcing steel bars and moves under the driving of a transverse conveying structure;
the longitudinal steel bars move to the lower part of the pressing structure, and the transverse steel bars fall onto the longitudinal steel bars from the transverse conveying structure;
the driving pressing end of the pressing structure is in contact with and presses the transverse steel bars, and the working end of the welding structure welds the contact positions of the longitudinal steel bars and the transverse steel bars.
It should be noted that the clamping mechanism drives the longitudinal steel bars to feed gradually under the driving of longitudinal displacement, the transverse conveying structure drives the transverse steel bars to feed gradually, so that the transverse steel bars are sequentially arranged on the longitudinal steel bars at intervals along the axial direction of the longitudinal steel bars, and the pressing structure and the welding structure sequentially press and weld the transverse steel bars borne by the longitudinal steel bars to form a criss-cross steel bar mesh, and blanking is performed.
Specifically, with reference to the accompanying drawings, the reinforcing mesh welding method comprises the following detailed steps:
after the system is started, the main control system completes initialization of the welding structure 1300, the longitudinal feeding mechanism 1000, the longitudinal conveying structure 1200, the pressing structure 1400, the transverse conveying structure 1500, the welding spot detection device 1600 and the transverse feeding mechanism 1800.
Further, the longitudinal feeding mechanism 1000 is started, and the cutting unit 1002 pulls the annular reinforcing steel bars from the storage unit 1001 to reach the vertical reinforcing steel bar cutting set value l0Then, the cutting unit 1002 starts cutting, and the cut vertical bar is pushed by the pushing unit 1003 to the loading position of the longitudinal conveying structure 1200 after the cutting is completed and the main control system is obtained to allow the vertical bar delivery signal main _ Vrebar _ allow. And finishing the cutting and feeding work of the vertical reinforcing steel bars in sequence.
The main control system controls the longitudinal conveying structure 1200 to drive the vertical steel bars to move by a displacement m1For conveying vertical bars to welding position P0；
The transverse conveying structure 1500 is started, the chain conveying device drives the stop block to lift the reinforcing steel bars in the storage bin to a fixed position P1，P1And a transverse steel bar detection sensor is arranged at the position of the transverse steel bar detection sensor to determine that the transverse steel bar is pulled completely. After the transverse reinforcing steel bars are pulled, the stop blocks on the transverse conveying structure 1500 rotate to hold the steel bars P1The transverse reinforcing steel bars at the positions are shifted to the middle of the stop blocks on the two groups of transverse conveying structures. The chain conveying device drives the stop block to move continuously to drive the transverse reinforcing steel bar to a fixed position P1. Continuously circulating to finish the conveying of the transverse reinforcing steel bars;
the lateral transfer structure 1500 moves by a displacement n1Controlling a horizontal steel bar to fall to a vertical steel bar welding position P0(ii) a Pressing structure 1400The up-down cylinder acts to make the transverse and vertical reinforcing steel bars complete the fitting;
and the welding robot is started to complete the welding work of the transverse and vertical steel bars.
For the welding point distribution of the welding robot corresponding to each transverse steel bar during welding, the welding structure comprises two working ends, each transverse steel bar is lapped with a plurality of longitudinal steel bars to form n welding points, and n is a positive integer;
step 1, before the system is started, manually inputting the total number of welding points to be n.
And 2, if n is an even number, the first welding robot and the second welding robot respectively execute n/2 welding tasks.
And 3, if n is an odd number, the welding robot A executes (n +1)/2 welding tasks, and the welding robot B executes (n-1)/2 welding tasks respectively.
Further, the master control system sends a robot control system enable welding signal main _ Rweld _ allow to the welding structure 1300.
Further, after the welding robot control system obtains a welding permission signal main _ Rweld _ allow sent by the main control system, the welding robot control system starts the welding work of the transverse and vertical steel bars.
Further, the robot automatically performs arc welding on the fourth to-be-welded steel bar 601, and first introduces the welding wire 607 having a diameter of about 1mm wound around the wire reel 608 to the to-be-welded position of the fourth to-be-welded steel bar 601. The welding power supply 609 supplies a welding voltage between the welding torch 602 and the fourth bar to be welded 601. When the placement of wire 607 is complete, the welding action is completed by gun 602.
Further, after the two welding robots cooperatively complete the multi-spot welding task, a Robot welding completion signal Robot _ complete _ well is sent.
Further, after the main control system receives the Robot welding completion signal Robot _ complete _ well, the main control system controls the longitudinal conveying structure 1200, and the longitudinal conveying structure 1200 moves by the displacement m1And starting to perform the second row of welding work.
Further, detecting the welding spot by adopting a template matching method. The main control system controls the multi-camera welding spot detection device 1600 to shoot by triggering the camera, so as to detect the welding state of the first row of welding spots. The acquired picture information is transmitted to the main control unit by the probe control unit 503.
Further, a welding state template diagram T (M × N pixels) is set, which is simply referred to as a template T; a shot welding spot state picture S (W multiplied by H pixels) is called a searched picture S for short; the region where the template covers the searched graph is called subgraph Si，j. (i, j) is subfigure Si，jThe upper left corner of (c) is in the search for coordinates in the map S. The search range is 1-1 i-M, 1-1 j-H-N. By comparing template graph T with subgraph Si，jAnd completing the process of template matching.
Measurement of template map T and subgraph Si，jIs measured by the following formula:
is unfolded into
The third term in the equation represents the total energy of the template T and is a constant. The first term is sub-figure Si，jIt changes slowly with the position of (i, j). The second term is subgraph Si，jThe correlation function with the template T, which changes rapidly following the position change of (i, j). Template T and subgraph Si，jThe value of this term is greatest when there is a match. Thus, the degree of matching can be reflected by the following correlation function:
normalization is as follows:
furthermore, the main control system compares and judges the R (i, j), and the comparison result is stored in the main control system.
Further, after the welding robot of the welding structure 1300 completes a welding task, the welding of the current mesh of the reinforcing bar is completed. At this moment, the main control system makes a judgment through the welding spot information acquired by the welding spot detection device 1600, if the qualified rate of the welding spot reaches the standard, the welded reinforcing steel bar mesh is conveyed to a finished product placing position 1701, otherwise, the welded reinforcing steel bar mesh is conveyed to a defective product placing position 1702.
Further, after the reinforcing mesh on the finished product tray reaches a set value b, the finished product tray is transferred by a forklift, and the empty tray is placed.
Example 3
In another embodiment of the present disclosure, a method for welding a mesh reinforcement is provided, which is different from example 2 in the operation control method of the welding robot.
The method specifically comprises the following steps:
step 1, before the system is started, the total number of manually input welding points is n, and n is a positive integer.
And 2, if n is an even number, the welding robot A and the welding robot B respectively execute n/2 welding tasks.
And 3, if n is an odd number, the welding robot A and the welding robot B respectively execute (n-1)/2 welding tasks.
And 4, distributing the last welding task by the main control system. The specific allocation mode is as follows, the main control system sets and allocates task characters task, and each time the last welding task is executed, the task characters task is processed by 1, the parity of the task characters is judged, when the task characters task is odd, the last welding task is executed by A, and when the task characters task is even, the last welding task is executed by B, so that the uniform allocation of the work tasks of the robot A, B is realized.
Example 4
In another embodiment of the present disclosure, a method for welding a mesh reinforcement is provided, which is different from example 2 in the operation control method of the welding robot.
And 1, the total number of welding points is n, and n is a positive integer.
And 2, taking the welding robot A as a main part and the welding robot B as an auxiliary part, and vice versa.
And 3, executing a welding task by the main welding robot, and welding the defective welding points by the auxiliary welding robot.
After the main robot executes a welding task, the main control system controls the multi-camera detection device to detect welding spots, and when defective welding spots are detected, the auxiliary robot continues welding to realize a repair welding function.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A robot-based reinforcing mesh welding work system is characterized by comprising a longitudinal conveying structure, a transverse conveying structure, a pressing structure and a welding structure, wherein the longitudinal conveying structure comprises a longitudinal displacement mechanism and a clamping mechanism, and the clamping mechanism provided with a plurality of clamping stations is connected with the longitudinal displacement mechanism; the transverse conveying structure is provided with a plurality of transverse conveying stations arranged at intervals, one end of the moving path of the clamping mechanism extends to the lower part of the transverse conveying structure, the pressing end of the pressing structure is located above the moving path of the clamping mechanism, and the working end of the welding robot of the welding structure faces the acting position of the pressing end.
2. The robot-based work system for welding a mesh reinforcement according to claim 1, wherein the longitudinal displacement mechanism is a reciprocating pair, and the clamping mechanism comprises a plurality of clamps arranged at intervals in sequence, and a clamping portion of each clamp is used as a clamping station.
3. The robot-based welding work system for reinforcing bars and nets according to claim 1, wherein the longitudinal transfer structure is fitted with at least one longitudinal feeding mechanism capable of taking in the longitudinal bars and feeding them to the clamping station.
4. The robot-based mesh reinforcement welding work system according to claim 1, wherein the traverse structure comprises a conveyor and stoppers, the stoppers are sequentially spaced along a rotation path of the conveyor on an outer circumferential surface of the conveyor, and a traverse station for receiving the traverse bar is formed between adjacent stoppers.
5. A robot-based work system for welding a mesh reinforcement according to claim 4, wherein an end of the conveyor belt near the gripping mechanism in a moving direction of the top surface of the conveyor belt is a terminal traverse station from which the traverse bar is dropped onto the longitudinal bar held by the gripping mechanism.
6. The robot-based work system for welding a mesh reinforcement according to claim 1, wherein the press structure is erected above the clamping mechanism, the press structure comprising a plurality of press bars arranged in a suspended manner, one end of each press bar being connected to a press claw as a press end.
7. The robot-based work system for welding a mesh reinforcement according to claim 6, wherein the pressing rod is connected to the pressing claw through an elastic expansion member, and at least one image capturing structure is provided at a side of the pressing claw.
8. A method for welding a mesh reinforcement, using the robot-based mesh reinforcement welding work system according to any one of claims 1 to 7, comprising the steps of:
the clamping station loads longitudinal steel bars and moves under the driving of the longitudinal displacement mechanism; the transverse conveying station loads transverse reinforcing steel bars and moves under the driving of a transverse conveying structure;
the longitudinal steel bars move to the lower part of the pressing structure, and the transverse steel bars fall onto the longitudinal steel bars from the transverse conveying structure;
the driving pressing end of the pressing structure is in contact with and presses the transverse steel bars, and the working end of the welding structure welds the contact positions of the longitudinal steel bars and the transverse steel bars.
9. A method for welding reinforcing bar nets as defined in claim 8, wherein the clamping mechanism is driven by longitudinal displacement to progressively feed the longitudinal reinforcing bars, the transverse conveying structure is driven by the transverse conveying structure to progressively feed the transverse reinforcing bars so that the transverse reinforcing bars are sequentially spaced along the longitudinal reinforcing bars, and the pressing structure and the welding structure are sequentially pressed and welded to the transverse reinforcing bars supported by the longitudinal reinforcing bars to form the criss-cross reinforcing bar net and then are blanked.
10. A method of welding a reinforcing mesh as defined in claim 8, wherein said welded structure comprises two working ends, each transverse reinforcing bar is overlapped with a plurality of longitudinal reinforcing bars to form n welding points, n being a positive integer;
when n is an odd number, one working end executes (n +1)/2 welding tasks, and the other working end executes (n-1)/2 welding tasks;
when n is even number, each working end respectively executes n/2 welding tasks.
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