CN114603232A - Intelligent robot for stacking, carrying and cutting grooves of flat plates - Google Patents
Intelligent robot for stacking, carrying and cutting grooves of flat plates Download PDFInfo
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- CN114603232A CN114603232A CN202210218898.4A CN202210218898A CN114603232A CN 114603232 A CN114603232 A CN 114603232A CN 202210218898 A CN202210218898 A CN 202210218898A CN 114603232 A CN114603232 A CN 114603232A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 103
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 83
- 239000010959 steel Substances 0.000 claims abstract description 83
- 239000012636 effector Substances 0.000 claims abstract description 24
- 230000007306 turnover Effects 0.000 claims abstract description 16
- 238000001179 sorption measurement Methods 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 18
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 14
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000010354 integration Effects 0.000 abstract description 4
- 238000012800 visualization Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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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
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
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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
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention belongs to the technical field of steel structure workpiece production, and particularly relates to an intelligent robot for flat plate stacking, carrying and groove cutting. The device comprises a robot, an end effector and a turnover table, wherein the turnover table is used for turning over a flat steel structural member; the robot sets up in one side of roll-over table, and end effector sets up in the execution end of robot, and end effector is used for pile up neatly, transport and the groove cutting of dull and stereotyped steel structure spare. The invention has the advantages of automation of equipment, digitalization of process, flexibility of production, visualization of process and information integration, and reduces the labor cost and further reduces the comprehensive cost.
Description
Technical Field
The invention belongs to the technical field of steel structure workpiece production, and particularly relates to an intelligent robot for flat plate stacking, carrying and groove cutting.
Background
The cutting process of the medium plate mainly depends on manual work to cut the medium plate. In the cutting link of the workpiece, the main transportation mode is hoisting by using a travelling crane, manually marking, finally cutting the appearance, cutting a round hole, grooving and the like. The complex cutting method has the defects of difficult control, low processing efficiency and high labor cost. In the turning-over link of the medium plate, manual turning-over is unsafe, and finally, the other side is manually cut. However, the steel structure medium plate is usually large, heavy and not easy to carry, the placing position is difficult to accurately control, the position of a workpiece needs to be adjusted by turnover in the cutting process, potential safety hazards are many, and dangers and inconvenience are brought to an operator. Meanwhile, the cutting process is only carried out by a cutting worker independently, the experience dependence degree on the worker is large, and the cutting quality and the cutting efficiency cannot be guaranteed. Therefore, the cutting and carrying processes of the steel structure medium plate are carried out manually, and the processing mode of adjusting the position of the workpiece by using a travelling crane or manual auxiliary turnover has the defects of insecurity, low automation degree, low processing efficiency, low precision, difficulty in quality control and the like, and the processing cost is high.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an intelligent robot for flat plate stacking, carrying and groove cutting, which aims to solve the problems of insecurity, low automation degree, low machining efficiency, low precision and high labor cost of the conventional steel structure cutting tool and process.
In order to achieve the purpose, the invention adopts the following technical scheme:
the embodiment of the invention provides an intelligent robot for flat plate stacking, carrying and groove cutting, which comprises a robot, an end effector and a turnover table, wherein the turnover table is used for turning a flat plate steel structural member; the robot sets up in one side of roll-over table, and end effector sets up in the execution end of robot, and end effector is used for pile up neatly, transport and the groove cutting of dull and stereotyped steel structure spare.
In a possible implementation mode, the end effector comprises a connecting seat, a cutting torch, a workpiece picking mechanism, a positioning detection system and an image acquisition system, wherein one end of the connecting seat is connected with the execution end of the robot through a flange interface, the cutting torch is rotatably installed at the other end of the connecting seat, and the cutting torch is used for cutting a blunt edge groove of a flat steel structural member; the workpiece picking mechanism and the positioning detection system are arranged on the connecting seat, and the workpiece picking mechanism is used for picking or releasing the flat steel structural member; the positioning detection system is used for detecting the position and the size of the flat steel structure; the image acquisition system is arranged on the cutting torch and used for real-time tracking of the blunt edge of the flat steel structural part.
In a possible implementation mode, the workpiece picking mechanism comprises an air cylinder and an electromagnet, wherein the air cylinder is arranged on the connecting seat, the output end of the air cylinder is connected with the electromagnet, and the electromagnet is used for realizing adsorption picking and releasing of the flat steel structural part through power on and power off.
In one possible implementation, the workpiece pick-up mechanism and the positioning detection system are respectively arranged at the left side and the right side of the cutting torch.
In one possible implementation, the positioning detection system includes a ranging laser sensor and a grayscale vision camera, wherein the ranging laser sensor is used to detect a distance between the end effector and a flat steel structure; the gray scale vision camera is used for detecting the position and the size of the flat steel structural member.
In one possible implementation, the image acquisition system comprises a structured light vision camera for acquiring a blunt image of the flat steel structural member.
In a possible implementation mode, the overturning platform comprises a fixed seat, an eccentric rotating plate and an adsorption fork, wherein one end of the eccentric rotating plate is rotatably connected with the fixed seat through an eccentric shaft, and the other end of the eccentric rotating plate is connected with the adsorption fork; the eccentric shaft is sleeved with a torsional spring which enables the eccentric rotating plate to keep the adsorption fork at the highest position.
In one possible implementation, the horizontal posture is kept when the adsorption fork is positioned at the highest point; the adsorption fork adsorbs the workpiece through magnetism.
In a possible implementation mode, a blanking stacking station, a loading stacking station and a cutting workbench are further arranged close to the overturning platform, and a workpiece supporting mechanism is arranged on the cutting workbench.
In a possible implementation manner, the robot is a four-axis palletizing robot and is arranged on the base.
The invention has the advantages and beneficial effects that: the invention relates to a robot cutting and carrying integrated workstation for building a flat steel structural member, which utilizes an intelligent control system to comprehensively arrange all equipment in the workstation, thereby improving the production efficiency of steel structural workpieces; the turnover mechanism is used for realizing displacement within the range of 180 degrees, and the turnover robot is matched with the cutting and conveying robot, so that the safety in the cutting and conveying process is improved, and the efficiency of the conveying and cutting process is improved.
The invention uses the positioning detection system and the image acquisition system to realize the accurate positioning and the accurate welding of the medium plate and ensure the accuracy and the stability of the cutting; the whole cutting and carrying process of the medium plate workpiece has the advantages of automation of equipment, process digitization, production flexibility, process visualization and information integration, the labor cost is reduced, the comprehensive cost is further reduced, and the method is an effective means for transformation upgrading, realization of automation and intelligent manufacturing and improvement of market competitiveness of steel structure manufacturing enterprises.
The invention adopts a four-shaft stacking robot, the stacking robot has an independent link mechanism, and the stacking robot uses a linear conveying track, so the stacking robot is very stable, and the transmission efficiency is very high.
The four-axis stacking robot is adopted, most parts of the four-axis stacking robot are arranged at the bottom, the arms are flexible, the electric quantity consumption is slow, and the four-axis stacking robot is energy-saving and environment-friendly; moreover, even in a high-speed operation environment, the reliability is very high.
The four-axis stacking robot is used, so that the working efficiency is improved, the operation mode is simple, the later maintenance is convenient, and the production cost and labor cost investment of enterprises are reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is an isometric view of a flat pallet, handling and groove cutting intelligent robot of the present invention;
FIG. 2 is an isometric view of an end effector of the present invention;
FIG. 3 is an isometric view of the flipping table of the present invention;
in the figure: 1 is the base, 2 is the robot, 3 is end effector, 301 is the flange interface, 302 is the connecting seat, 303 is the cutting torch, 304 is the electro-magnet, 305 is the adsorption plane, 306 is range finding laser sensor, 307 is grey level vision camera, 308 is the structure light vision camera, 309 is the cylinder, 4 is unloading pile up neatly station, 5 is the bracing piece, 6 is the flat steel structure, 7 is material loading pile up neatly station, 8 is the cutting workstation, 9 is the roll-over table, 901 is the fixing base, 902 is eccentric rotor plate, 903 is for adsorbing the fork.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides an intelligent robot for flat plate stacking, carrying and groove cutting, which is characterized in that the position change within a range of 180 degrees is realized by using a turn-over mechanism, and the turn-over mechanism is matched with a cutting and carrying compound robot, so that the safety in the cutting and carrying processes is improved, and the efficiency in the carrying and cutting processes is improved. Referring to fig. 1, the intelligent robot for flat plate stacking, carrying and groove cutting comprises a robot 1, an end effector 3 and a turnover table 9, wherein the turnover table 9 is used for turning a flat plate steel structural member 6 by 180 degrees; the robot 1 is arranged on one side of the overturning platform 9, the end effector 3 is arranged at the executing end of the robot 1, and the end effector 3 is used for stacking, carrying and groove cutting of the flat steel structural member 6.
Referring to fig. 2, in the embodiment of the present invention, the end effector 3 includes a connecting seat 302, a cutting torch 303, a workpiece picking mechanism, a positioning detection system, and an image acquisition system, wherein one end of the connecting seat 302 is connected to an execution end of the robot 1 through a flange interface 301, the cutting torch 303 is rotatably installed at the other end of the connecting seat 302, and the cutting torch 303 is used for plasma flame cutting of a blunt edge groove of the flat steel structural member 6; the workpiece picking mechanism and the positioning detection system are both arranged on the connecting seat 302, and the workpiece picking mechanism is used for picking or releasing the flat steel structural member 6; the positioning detection system is used for detecting the position and the size of the flat steel structure; the image acquisition system is arranged on the cutting torch 303 and is used for real-time tracking of the blunt edge of the flat steel structural member 6.
In the embodiment of the invention, the workpiece picking mechanism comprises the air cylinder 309 and the electromagnet 304, wherein the air cylinder 309 is arranged on the connecting seat 302, the output end of the air cylinder is connected with the electromagnet 304, and the electromagnet 304 realizes the adsorption picking and releasing of the flat steel structural member 6 by switching on and off the electricity.
Further, the workpiece picking mechanism and the positioning detection system are respectively arranged on the left side and the right side of the cutting torch 303, so that the integral integration level is improved, and the positioning detection system can realize accurate positioning of the workpiece.
The positioning detection system comprises a ranging laser sensor 306 and a gray scale vision camera 307, wherein the ranging laser sensor 306 is used for detecting the distance between the end effector 3 and the flat steel structural member 6; the grayscale vision camera 307 is used to detect the position and size of the flat steel structural member 6. The image acquisition system comprises a structured light vision camera 308, and the structured light vision camera 308 is used for acquiring a blunt edge image of the flat steel structural member 6, so that the cutting torch 303 can realize accurate cutting of a groove.
Referring to fig. 3, in the embodiment of the present invention, the turning table 9 can realize automatic turning of the flat steel structural member 6, so as to complete the cutting of the grooves on the two side surfaces of the flat steel structural member 6. The flipping table 9 comprises a fixed seat 901, an eccentric rotating plate 902 and an absorption fork 903, wherein one end of the eccentric rotating plate 902 is rotatably connected with the fixed seat 901 through an eccentric shaft, and the eccentric rotating plate 902 can rotate 180 degrees around the eccentric shaft. The other end of the eccentric rotating plate 902 is connected with an adsorption fork 903; the eccentric shaft is sleeved with a torsion spring which enables the eccentric rotating plate 902 to keep the adsorption fork 903 at the highest position. That is, when the eccentric rotary plate 902 is at the rest position, the suction fork 903 is held at the upper portion.
Further, when the adsorption fork 903 is located at the highest point, the horizontal posture is maintained; the adsorption fork 903 adsorbs the work by magnetism. When the flat steel structural member 6 is placed on the adsorption fork 903, the adsorption fork 903 can electromagnetically adsorb the bottom surface of the flat steel structural member 6, the eccentric gravity rotating plate 902 is relied on to drive the flat steel structural member 6 to rotate for 180 degrees, the adsorption fork 903 is located at the lowest position, and at the moment, the flat steel structural member 6 is turned over, namely, the bottom surface of the flat steel structural member 6 faces upwards. After the flat steel structural member 6 is turned over, the adsorption surface 305 of the electromagnet 304 adsorbs the upward bottom surface of the flat steel structural member 6, and the adsorption fork 903 and the flat steel structural member 6 are desorbed.
On the basis of the above embodiment, referring to fig. 1, a blanking stacking station 4, a loading stacking station 7 and a cutting table 8 are further arranged near the overturning platform 9, and a workpiece supporting mechanism is arranged on the cutting table 8. In this embodiment, the workpiece support mechanism includes at least three support rods 5, and the flat steel structural member 6 is placed on the support rods 5 to perform groove cutting. Preferably, the robot 1 is a four-axis palletizing robot and is disposed on the base 1, and the four-axis palletizing robot can provide spatial four-degree-of-freedom motion of the end effector 3. In this embodiment, the robot 2 is a four-axis robot palletizer of SRM300A model number, manufactured by shenyang xinsong robot automation corporation. The four-axis stacking robot is adopted, has an independent connecting rod mechanism, and uses a linear conveying track, so that the four-axis stacking robot is very stable and has very high transmission efficiency. Most parts of the four-axis stacking robot are arranged at the bottom, so that the four-axis stacking robot is flexible in arm and low in electricity consumption, and is energy-saving and environment-friendly; moreover, even in a high-speed operation environment, the reliability is very high.
In the embodiment of the invention, the other end of the connecting base 302 is a U-shaped opening structure, and the cutting torch 303 is installed in the U-shaped opening through a rotating shaft. The cutting process angle between the cutting torch 303 and the connecting base 302 can be adjusted, for example, 30 °, 45 °, 90 °, and the like, so as to complete the cutting of the grooves of the flat steel structural member 6 at different angles. The adjustment mode can be manual or servo adjustment. In the workpiece picking mechanism, the output end of an air cylinder 309 is connected with an electromagnet 304, the air cylinder 309 extends and retracts the electromagnet 304 to protrude out of the cutting torch 303 or retract to the inner side of the cutting torch 303, and the electromagnet 304 can adsorb the flat steel structural member 6 through an adsorption surface 305. The connecting base 302 is provided with a distance measuring laser sensor 306, and the distance measuring laser sensor 306 is used for measuring the height position of a stack of flat steel structural members 6 from the end effector 3. The grey scale vision camera 307 is used for obtaining the horizontal position of the flat steel structural part 6 relative to the cutting workbench 8 or relative to the palletizing station and the size of the flat steel structural part 6. When the structured light vision camera 308 is used for cutting the blunt edge of the flat steel structural member 6 by the plasma flame of the cutting torch 303, the distance of the blunt edge is tracked on line, so that the cutting torch 303 can finish accurate cutting.
The invention provides an intelligent robot for flat plate stacking, carrying and groove cutting, which comprises the following working processes:
1) the robot 2 moves the end effector 3 to a feeding and stacking station 7 of the flat steel structural members 6, a plurality of flat steel structural members 6 are stacked in the height direction, a distance measuring laser sensor 306 detects the height position of the end effector 3 away from the uppermost flat steel structural member 6, and a gray scale vision camera 307 detects the size and the specification of the flat steel structural members 6;
2) the cylinder 309 extends out, and the cylinder 309 drives the electromagnet 304 to protrude out of the cutting torch 303 downwards;
3) the electromagnet 304 adsorbs the flat steel structural part 6 through the adsorption surface 305, and the flat steel structural part 6 is picked up from the feeding and stacking station 7 and placed at the upper end of the support rod 5 on the cutting workbench 8;
4) the cylinder 309 retracts, and the cylinder 309 drives the electromagnet 304 to move upwards and is accommodated inside the cutting torch 303;
5) the cutting torch 303 cuts a groove on a blunt edge of one side of the flat steel structural member 6 to complete a groove cutting process of the blunt edge on the other side;
6) the cylinder 309 extends out, and the cylinder 309 drives the electromagnet 304 to protrude downwards to the outer side of the cutting torch 303;
7) the electromagnet 304 adsorbs the upper surface of the flat steel structural part 6 through the adsorption surface 305, and the robot 2 picks up the flat steel structural part 6 from the support rod 5 and places the flat steel structural part on the adsorption fork 903 of the overturning platform 9;
8) the adsorption fork 903 electromagnetically adsorbs the bottom surface of the flat steel structural member 6;
9) the adsorption surface 305 of the electromagnet 304 and the upper surface of the flat steel structural part 6 are desorbed;
10) the eccentric rotating plate 902 rotates 180 degrees by means of eccentric gravity, so that the flat steel structural member 6 is turned over, and the bottom surface of the flat steel structural member 6 faces upwards;
11) the adsorption surface 305 of the electromagnet 304 is in contact with the bottom surface of the flat steel structural member 6 to adsorb the turned flat steel structural member 6;
12) the adsorption fork 903 and the upper surface of the flat steel structural member 6 are desorbed;
13) the robot 2 picks up the flat steel structural part 6 adsorbed by the electromagnet 304 from the adsorption fork 903 of the overturning platform 9 and places the flat steel structural part on the support rod 5 on the cutting workbench 8;
14) the cylinder 309 contracts, and the cylinder 309 drives the electromagnet 304 to move upwards and is accommodated in the inner side of the cutting torch 303;
15) the cutting torch 303 cuts the blunt edge on the other side of the flat steel structural member 6 to complete the cutting process of the blunt edge on the other side;
16) the adsorption surface 305 of the electromagnet 304 adsorbs the flat steel structural part 6 with two plasma cutting grooves, and the flat steel structural part 6 is conveyed to the blanking and stacking station for 4 yards from the upper end of the support rod 5.
The invention relates to a robot cutting and carrying integrated workstation for building a flat steel structural member, which utilizes an intelligent control system to comprehensively arrange all equipment in the workstation, thereby improving the production efficiency of flat steel structural members; the turnover mechanism is used for realizing displacement within the range of 180 degrees, and the turnover mechanism is matched with the cutting and conveying combined robot, so that the safety in the cutting and conveying process is improved, and the efficiency of the conveying and cutting process is improved.
The invention uses the positioning detection system and the image acquisition system to realize the accurate positioning and the accurate welding of the medium plate and ensure the accuracy and the stability of the cutting; the whole cutting and carrying process of the medium plate workpiece has the advantages of automation of equipment, process digitization, production flexibility, process visualization and information integration, the labor cost is reduced, the comprehensive cost is further reduced, and the method is an effective means for transformation upgrading, realization of automation and intelligent manufacturing and improvement of market competitiveness of steel structure manufacturing enterprises.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The intelligent robot for flat plate stacking, carrying and groove cutting is characterized by comprising a robot (1), an end effector (3) and a turnover table (9), wherein the turnover table (9) is used for turning a flat plate steel structural member (6); the robot (1) is arranged on one side of the overturning platform (9), the end effector (3) is arranged at the executing end of the robot (1), and the end effector (3) is used for stacking, carrying and groove cutting of flat steel structural members (6).
2. The intelligent robot for flat plate stacking, carrying and groove cutting as claimed in claim 1, wherein the end effector (3) comprises a connecting seat (302), a cutting torch (303), a workpiece picking mechanism, a positioning detection system and an image acquisition system, wherein one end of the connecting seat (302) is connected with an execution end of the robot (1) through a flange interface (301), the other end of the connecting seat (302) is rotatably provided with the cutting torch (303), and the cutting torch (303) is used for blunt groove cutting of a flat plate steel structural member (6); the workpiece picking mechanism and the positioning detection system are both arranged on the connecting seat (302), and the workpiece picking mechanism is used for picking or releasing the flat steel structural member (6); the positioning detection system is used for detecting the position and the size of the flat steel structure; the image acquisition system is arranged on the cutting torch (303) and is used for real-time tracking of the truncated edge of the flat steel structural member (6).
3. The intelligent robot for flat plate stacking, carrying and groove cutting as claimed in claim 2, wherein the workpiece picking mechanism comprises an air cylinder (309) and an electromagnet (304), wherein the air cylinder (309) is arranged on the connecting seat (302), the output end of the air cylinder is connected with the electromagnet (304), and the electromagnet (304) is powered on or off to realize the adsorption picking and releasing of the flat plate steel structural member (6).
4. The intelligent robot for flat plate stacking, carrying and groove cutting as claimed in claim 2, wherein the workpiece picking mechanism and the positioning detection system are respectively arranged at the left side and the right side of the cutting torch (303).
5. Intelligent robot for plate palletization, handling and groove cutting according to claim 2, characterized in that the positioning detection system comprises a ranging laser sensor (306) and a grey scale vision camera (307), wherein the ranging laser sensor (306) is used for detecting the distance between the end effector (3) and the plate steel structural member (6); the grey scale vision camera (307) is used for detecting the position and the size of the flat steel structural part (6).
6. The intelligent robot for flat plate stacking, handling and groove cutting according to claim 2, wherein the image acquisition system comprises a structured light vision camera (308), and the structured light vision camera (308) is used for acquiring a blunt image of the flat plate steel structural member (6).
7. The intelligent robot for flat plate stacking, carrying and groove cutting as claimed in claim 1, wherein the overturning platform (9) comprises a fixed seat (901), an eccentric rotating plate (902) and an adsorption fork (903), wherein one end of the eccentric rotating plate (902) is rotatably connected with the fixed seat (901) through an eccentric shaft, and the other end of the eccentric rotating plate (902) is connected with the adsorption fork (903); the eccentric shaft is sleeved with a torsion spring, and the torsion spring enables the eccentric rotating plate (902) to keep the adsorption fork (903) at the highest point position.
8. The intelligent robot for flat plate stacking, carrying and groove cutting as claimed in claim 7, wherein the adsorption fork (903) is positioned at the highest point and keeps a horizontal posture; the adsorption fork (903) adsorbs a workpiece through magnetism.
9. The intelligent robot for flat plate stacking, carrying and groove cutting as claimed in claim 1, wherein a blanking stacking station (4), a loading stacking station (7) and a cutting workbench (8) are further arranged near the overturning platform (9), and a workpiece supporting mechanism is arranged on the cutting workbench (8).
10. Intelligent robot for flat plate stacking, handling and groove cutting according to claim 1, characterized in that the robot (1) is a four-axis stacking robot and is arranged on a base (1).
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| CN202210218898.4A CN114603232A (en) | 2022-03-07 | 2022-03-07 | Intelligent robot for stacking, carrying and cutting grooves of flat plates |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210218898.4A CN114603232A (en) | 2022-03-07 | 2022-03-07 | Intelligent robot for stacking, carrying and cutting grooves of flat plates |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383250A (en) * | 2022-10-26 | 2022-11-25 | 合美智汇(天津)科创有限公司 | Artificial intelligence cutting equipment |
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