CN117381249B - Automatic splice welding system for scissor-fork structural section flitch combining robot with vision - Google Patents
Automatic splice welding system for scissor-fork structural section flitch combining robot with vision Download PDFInfo
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- CN117381249B CN117381249B CN202311455956.6A CN202311455956A CN117381249B CN 117381249 B CN117381249 B CN 117381249B CN 202311455956 A CN202311455956 A CN 202311455956A CN 117381249 B CN117381249 B CN 117381249B
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- 238000003466 welding Methods 0.000 title claims abstract description 17
- 230000000712 assembly Effects 0.000 claims description 20
- 238000000429 assembly Methods 0.000 claims description 20
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 6
- 238000010008 shearing Methods 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides an automatic splice welding system of a scissor type structural section flitch combining a robot and vision, which is used for fixing and compacting rectangular pipes and flitch of the scissor type structural section, and comprises a mechanism body and a carrying gripper, wherein a pneumatic external support centering assembly, a pneumatic centering clamping assembly and a pneumatic corner pipe pressing assembly for fixing the rectangular pipes and a pneumatic corner pressing plate assembly for compacting the flitch on the rectangular pipes are arranged on the mechanism body, and the invention has the beneficial effects that: the robot +2D+3D vision is adopted to mutually cooperate, and the boom splicing and welding unmanned are realized through the handling grippers and the team forming tool, so that the working strength of workers is greatly improved, the product quality and the production efficiency are improved, and the working time is saved.
Description
Technical Field
The invention relates to the technical field of splice welding, in particular to an automatic splice welding system for a scissor-fork type structural section flitch combining robots and vision.
Background
The arm support structure is a key structural member of the scissor type aerial work platform and mainly bears the load of the work platform. At present, the prior art is to the manual handling product of this kind of piecing together some cantilever crane and put on the tool table, through dedicated profiling piecing together some, the transportation of piecing together the back and going down, working strength is big, and work efficiency is low, can't realize automatic production in batches.
Disclosure of Invention
In order to solve the problems, the invention discloses an automatic splice welding system for a scissor-fork structural section flitch combining a robot and vision, which is capable of realizing compatible multi-product production without switching tools by combining a vision system, a PLC control system and a robot system, improving production efficiency, being strong in compatibility and capable of reducing equipment cost.
The specific scheme is as follows:
The utility model provides a combine robot and visual automatic splice welding system of scissor structure section bar flitch for with the rectangular pipe of scissor structure section bar and flitch fixed compress tightly, its characterized in that: including mechanism body and transport tongs, install pneumatic external stay centering subassembly, pneumatic centering clamping assembly and pneumatic corner clamp assembly that are used for fixing the rectangular pipe on the mechanism body to and be used for compressing tightly the pneumatic corner clamp plate subassembly on the rectangular pipe, pneumatic external stay centering subassembly has two, and the front and back symmetry sets up at the top surface middle part of mechanism body for the round hole in the middle of the rectangular pipe of external stay location, pneumatic centering clamping assembly has two, and bilateral symmetry sets up on the top surface of mechanism body for centering clamping location rectangular pipe angular position, pneumatic corner clamp plate subassembly has four, and from a left side to right side evenly the subsection on the top surface of mechanism body for after the rectangular pipe location is accomplished, compress tightly the rectangular pipe and prevent that it from becoming flexible, pneumatic corner clamp plate subassembly has ten, divide into two rows of front and back symmetry setting, every five follow a left side to right side evenly the subsection on the top surface of mechanism body for compressing tightly the rectangular pipe with the flitch, the transport tongs is used for snatching the rectangular pipe and places it on the rectangular pipe.
As a further improvement of the invention, the mechanism body is of a rectangular plate-shaped structure which is horizontally arranged, the top surface is provided with a first mounting hole, a second mounting hole, a third mounting hole and a fourth mounting hole which are respectively used for mounting the pneumatic external supporting centering component, the centering clamping component, the pneumatic corner pressing component and the pneumatic corner pressing component, wherein the first mounting hole is arranged in the middle of the mechanism body and is a longitudinally arranged rectangular hole, the two pneumatic external supporting centering components are symmetrically arranged in the first mounting hole in the front-back direction, the second mounting holes are longitudinally arranged rectangular holes, the two centering clamping components are respectively arranged in the two second mounting holes and are arranged in a front-back staggered mode, the third mounting hole is four and is a transversely arranged rectangular hole, the four pneumatic corner pressing components are respectively arranged in the four third mounting holes, and the fourth mounting hole is ten pneumatic corner pressing components are respectively arranged in the ten fourth mounting holes.
As a further improvement of the invention, the pneumatic corner pressing pipe assembly comprises a pressing arm, a first air cylinder mounting seat and a first corner air cylinder, wherein the pressing arm is horizontally arranged, the middle part of the pressing arm is connected with a pin shaft of the first corner air cylinder, the first corner air cylinder is fixed in the first air cylinder mounting seat through a bolt, the first air cylinder mounting seat is fixed on the mechanism body through a bolt, and the rotating pressing of the pressing arm is realized through the extending and retracting of the first corner air cylinder.
As a further improvement of the invention, the pneumatic corner pressing plate assembly comprises a rotary pressing arm, a second cylinder mounting seat and a second corner cylinder, wherein the rotary pressing arm is horizontally arranged, the bottom of one end of the rotary pressing arm is fixedly provided with a workpiece pressing plate through a bolt, the other end of the rotary pressing arm is connected with a pin shaft of the second corner cylinder, the second corner cylinder is fixedly arranged in the second cylinder mounting seat through a bolt, the second cylinder mounting seat is fixedly arranged on the mechanism body through a bolt, and the second corner cylinder moves linearly and drives the workpiece pressing plate to rotate, press downwards and reset.
As a further improvement of the pneumatic centering clamping assembly, the pneumatic centering clamping assembly comprises two clamping blocks, an adapter plate, a centering cylinder and a third cylinder mounting seat, wherein the two clamping blocks are arranged in a front-back symmetrical mode and are respectively fixed at two ends of the centering cylinder through the adapter plate, the centering cylinder is fixed on the third cylinder mounting seat through bolts, and the third cylinder mounting seat is fixed on the mechanism body through bolts and is used for clamping the two clamping blocks to the middle position at the same time and centering and positioning of a rectangular pipe.
As a further improvement of the invention, the pneumatic external supporting centering assembly comprises a fourth cylinder mounting seat, an external supporting clamping jaw and a three-jaw cylinder, wherein the external supporting clamping jaw is fixed at the top of the three-jaw cylinder through a bolt, the three-jaw cylinder is fixed on the fourth cylinder mounting seat through a bolt, and the fourth cylinder mounting seat is fixed on the mechanism body through a bolt and is used for realizing centering positioning of a round hole in the middle of a rectangular pipe and realizing a centering function.
As a further improvement of the invention, the carrying gripper comprises a gripper mechanism body, two square electro-permanent magnet assemblies, a 3D vision camera assembly, a 2D vision camera assembly and a circular electro-permanent magnet assembly, wherein the square electro-permanent magnet assemblies are symmetrically arranged at the bottom of the gripper mechanism body left and right, the 3D vision camera assembly and the 2D vision camera assembly are respectively matched and installed on the gripper mechanism body, the circular electro-permanent magnet assembly is arranged on the side surface of the gripper mechanism body and is used for photographing workpieces of different types through the 3D vision assembly to identify the contours and the grabbing positions of the workpieces, and photographing the center positions of round holes through the 2D vision camera assembly to accurately identify the center positions of the round holes so as to realize automatic grabbing and positioning functions.
As a further development of the invention, the system operates as follows:
s1: transversely placing a rectangular pipe on the mechanism body, wherein a round hole at the middle part of the rectangular pipe is sleeved at the middle part of an outer supporting clamping jaw of the pneumatic outer supporting centering assembly;
s2: a round hole in the middle of the rectangular pipe is positioned by the outer support of the pneumatic outer support centering component;
S3: centering, clamping and positioning the angular position of the rectangular pipe through a pneumatic centering clamping assembly;
s4: after the rectangular pipe is positioned, the pneumatic corner pipe pressing assembly is used for pressing the rectangular pipe to prevent loosening;
S5: grabbing the flitch by a carrying gripper, and placing the flitch on a round hole of a rectangular pipe;
S6: the flitch is pressed on the rectangular pipe through the pneumatic corner pressing plate component.
The invention has the beneficial effects that: the robot +2D+3D vision is adopted to mutually cooperate, and the boom splicing and welding unmanned are realized through the handling grippers and the team forming tool, so that the working strength of workers is greatly improved, the product quality and the production efficiency are improved, and the working time is saved.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 shows a pneumatic corner tube pressing assembly according to the present invention.
FIG. 3 illustrates a pneumatic corner platen assembly according to the present invention.
Fig. 4 illustrates a pneumatic centering clamp assembly in accordance with the present invention.
Fig. 5 is a pneumatic outer support centering assembly of the present invention.
Fig. 6 is a handling grip of the present invention.
Fig. 7 is a schematic back view of a handling grip of the present invention.
Fig. 8 is a schematic view of different types of the scissor type structural section bar according to the present invention, wherein (a) is a 5m scissor type structural section bar and (b) is a 10-12 m scissor type structural section bar.
Fig. 9 is a schematic view of a 5m scissor type structural profile of the present invention.
FIG. 10 is a schematic view of a fixed 10-12 meter scissor structure profile in accordance with the present invention.
List of reference numerals:
1-mechanism body, 2-pneumatic corner pressing pipe assembly, 21-pressing arm, 22-first cylinder mounting seat, 23-first corner cylinder, 3-pneumatic corner pressing plate assembly, 31-workpiece pressing plate, 32-rotary pressing arm, 33-second cylinder mounting seat, 34-second corner cylinder, 4-pneumatic centering clamping assembly, 41-clamping block, 42-adapter plate, 43-centering cylinder, 44-third cylinder mounting seat, 5-pneumatic outer support centering assembly, 51-fourth cylinder mounting seat, 52-outer support clamping jaw, 53-three-jaw cylinder, 6-carrying gripper, 61-hand body, 62-square electric permanent magnet assembly, 63-3D vision camera assembly, 64-2D vision camera assembly, 65-circular electric permanent magnet assembly, 7-rectangular pipe, 8-flitch.
Description of the embodiments
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention.
As shown in the figure, the invention provides an automatic splice welding system for a scissor type structural profile flitch plate combining a robot and vision, which is used for fixedly compacting rectangular pipes 7 and flitch plates 8 of the scissor type structural profile and comprises a mechanism body 1 and a carrying grip 6, wherein four pneumatic external support centering assemblies 5, pneumatic centering clamping assemblies 4 and pneumatic corner pressing pipe assemblies 2 for fixing the rectangular pipes 7 are arranged on the mechanism body 1, two pneumatic corner pressing plate assemblies 3 for compacting the flitch plates 8 on the rectangular pipes 7 are arranged on the mechanism body 1 in a front-back symmetrical manner, two pneumatic centering clamping assemblies 4 are arranged on the top surface of the mechanism body 1 in a left-right symmetrical manner, four pneumatic corner pressing pipe assemblies 2 are uniformly distributed on the top surface of the mechanism body 1 from left to right, five pneumatic corner pressing plate assemblies 3 are symmetrically arranged on the top surface of the rectangular pipes 7 in a front-back symmetrical manner, and five pneumatic corner pressing plate assemblies are symmetrically arranged on the top surface of the rectangular pipes 7 from left to right for clamping the rectangular pipes 7 on the rectangular pipes 7, and the rectangular pipes 7 are uniformly clamped on the top surface of the rectangular pipes 7 by the gripping grip plates 8.
Wherein, cut fork structure section bar and include two models that the following table shows:
In this embodiment, the mechanism body 1 is a rectangular plate-shaped structure that is horizontally arranged, the top surface is provided with a first mounting hole, a second mounting hole, a third mounting hole and a fourth mounting hole for respectively mounting the pneumatic external support centering component 5, the centering clamping component 4, the pneumatic corner pressing pipe component 2 and the pneumatic corner pressing plate component 3, wherein the first mounting hole is arranged in the middle of the mechanism body 1 and is a longitudinally arranged rectangular hole, the two pneumatic external support centering components 5 are symmetrically arranged in the first mounting hole front and back, the second mounting holes are two longitudinally arranged rectangular holes, the two centering clamping components 4 are respectively arranged in the two second mounting holes and are arranged in a front and back staggered manner, the third mounting hole is four and is a transversely arranged rectangular hole, the four pneumatic corner pressing pipe components 2 are respectively arranged in the four third mounting holes, and the fourth mounting hole is ten pneumatic corner pressing plate components 3 are respectively arranged in the ten fourth mounting holes.
In this embodiment, the pneumatic corner pressing tube assembly 2 includes a pressing arm 21, a first cylinder mount 22 and a first corner cylinder 23, where the pressing arm 21 is horizontally disposed, the middle of the pressing arm is connected with a pin shaft of the first corner cylinder 23, the first corner cylinder 23 is fixed in the first cylinder mount 22 by a bolt, the first cylinder mount 22 is fixed on the mechanism body 1 by a bolt, and the pressing arm 21 is rotationally pressed by extending and retracting the first corner cylinder 23.
In this embodiment, the pneumatic corner pressing plate assembly 3 includes a rotary pressing arm 32, a second cylinder mounting seat 33 and a second corner cylinder 34, where the rotary pressing arm 32 is horizontally disposed, one end bottom of the rotary pressing arm is fixed with a workpiece pressing plate 31 through a bolt, the other end of the rotary pressing arm is connected with a pin shaft of the second corner cylinder 34, the second corner cylinder 34 is fixed in the second cylinder mounting seat 33 through a bolt, the second cylinder mounting seat 33 is fixed on the mechanism body 1 through a bolt, and the second corner cylinder 34 moves linearly and drives the workpiece pressing plate 31 to rotate, press down and reset.
In this embodiment, the pneumatic centering and clamping assembly 4 includes two clamping blocks 41, an adapter plate 42, a centering cylinder 43 and a third cylinder mounting seat 44, the two clamping blocks 41 are symmetrically arranged front and back, the two ends of the centering cylinder 43 are respectively fixed through the adapter plate 42, the centering cylinder 43 is fixed on the third cylinder mounting seat 44 through bolts, and the third cylinder mounting seat 44 is fixed on the mechanism body 1 through bolts, so that the two clamping blocks 41 can clamp to the middle position simultaneously, and centering positioning of the rectangular tube 7 can be realized.
In this embodiment, the pneumatic external bracing centering assembly 5 includes a fourth cylinder mounting seat 51, an external bracing clamping jaw 52 and a three-jaw cylinder 53, the external bracing clamping jaw 52 is fixed on the top of the three-jaw cylinder 53 by bolts, the three-jaw cylinder 53 is fixed on the fourth cylinder mounting seat 51 by bolts, and the fourth cylinder mounting seat 51 is fixed on the mechanism body 1 by bolts for realizing centering of a round hole in the middle of the rectangular tube 7 and realizing a centering function.
In this embodiment, the carrying gripper 6 includes a gripper mechanism body 61, a square electro-permanent magnet assembly 62, a 3D vision camera assembly 63, a 2D vision camera assembly 64 and a circular electro-permanent magnet assembly 65, the square electro-permanent magnet assembly 62 is two, and is symmetrically arranged at the bottom of the gripper mechanism body 61, the 3D vision camera assembly 63 and the 2D vision camera assembly 64 are respectively matched and installed on the gripper mechanism body 61, the circular electro-permanent magnet assembly 65 is arranged at the side surface of the gripper mechanism body 61, and is used for photographing and identifying the outline and the grabbing position of workpieces of different models through the 3D vision assembly 63, photographing the center position of a round hole through the 2D vision camera assembly 64, and realizing automatic grabbing and positioning functions.
In this embodiment, the operation steps of the system are as follows:
s1: transversely placing a rectangular tube 7 on the mechanism body 1, wherein a central round hole is sleeved in the middle of an outer supporting clamping jaw 52 of the pneumatic outer supporting centering assembly 5;
S2: a round hole in the middle of the rectangular pipe 7 is positioned by the outer support of the pneumatic outer support centering component 5;
s3: the pneumatic centering clamping assembly 4 is used for centering, clamping and positioning the angular position of the rectangular pipe 7;
s4: after the rectangular pipe 7 is positioned, the rectangular pipe 7 is pressed by the pneumatic corner pressing pipe assembly 2 to prevent loosening;
S5: grabbing the flitch 8 by a carrying gripper 6, and placing the flitch 8 on a round hole of a rectangular pipe 7;
S6: the flitch 8 is pressed on the rectangular tube 7 by the pneumatic corner pressing plate assembly 3.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (7)
1. The automatic splice welding system of the shearing fork type structural section flitch combining the robot and the vision is used for fixing and compacting rectangular pipes (7) and flitch (8) of the shearing fork type structural section, and is characterized in that: the pneumatic centering device comprises a mechanism body (1) and a carrying gripper (6), wherein a pneumatic external supporting centering component (5), a pneumatic centering clamping component (4) and a pneumatic corner pressing component (2) for fixing a rectangular pipe (7) are arranged on the mechanism body (1), and a pneumatic corner pressing plate component (3) for pressing a veneer (8) on the rectangular pipe (7), the pneumatic external supporting centering component (5) is two and symmetrically arranged in the middle of the top surface of the mechanism body (1) in front and back, a round hole for positioning the rectangular pipe (7) in the middle of the external supporting, the pneumatic centering clamping component (4) is two and symmetrically arranged on the top surface of the mechanism body (1) in left and right, the pneumatic corner pressing component (2) is four and uniformly distributed on the top surface of the mechanism body (1) from left to right, the veneer pressing component (7) is used for preventing the veneer from loosening after the positioning of the rectangular pipe (7), the pneumatic corner pressing component (3) is symmetrically arranged on the top surface of the rectangular pipe (1) from left to right, and the veneer (8) is uniformly arranged on the top surface of the rectangular pipe (7) in front and the triangular pipe (7) in front, and the veneer is uniformly arranged on the top surface of the rectangular pipe (8) in front and the left and right to be uniformly clamped by the gripper (8);
The operation steps of the system are as follows:
s1: transversely placing a rectangular pipe (7) on the mechanism body (1), wherein a middle round hole is sleeved in the middle of an outer supporting clamping jaw (52) of the pneumatic outer supporting centering assembly (5);
S2: a round hole in the middle of the rectangular pipe (7) is positioned by the outer support of the pneumatic outer support centering component (5);
S3: the pneumatic centering clamping assembly (4) is used for centering, clamping and positioning the angular position of the rectangular pipe (7);
s4: after the rectangular pipe (7) is positioned, the pneumatic corner pipe pressing assembly (2) is used for pressing the rectangular pipe (7) to prevent loosening;
s5: grabbing the flitch (8) by a carrying gripper (6), and placing the flitch (8) on a round hole of a rectangular pipe (7);
S6: the flitch (8) is pressed on the rectangular pipe (7) through the pneumatic corner pressing plate component (3).
2. The automated splice-welding system for scissor construction profile flitch combining robotics and vision according to claim 1, wherein: the mechanism body (1) is of a rectangular plate-shaped structure which is horizontally arranged, the top surface is provided with a first mounting hole, a second mounting hole, a third mounting hole and a fourth mounting hole which are respectively used for mounting a pneumatic external supporting centering component (5), a centering clamping component (4), a pneumatic corner pressing pipe component (2) and a pneumatic corner pressing plate component (3), the first mounting hole is arranged in the middle of the mechanism body (1) and is a longitudinally arranged rectangular hole, the two pneumatic external supporting centering components (5) are symmetrically mounted in the first mounting hole, the second mounting hole is a longitudinally arranged rectangular hole, the two centering clamping components (4) are respectively mounted in the two second mounting holes and are staggered in the front-back direction, the third mounting hole is a transversely arranged rectangular hole, the four pneumatic corner pressing pipe components (2) are respectively mounted in the four third mounting holes, the fourth mounting hole is ten pneumatic corner pressing plate components (3) are respectively mounted in the ten fourth mounting holes.
3. The automated splice-welding system for scissor construction profile flitch combining robotics and vision according to claim 1, wherein: the pneumatic corner pressing pipe assembly (2) comprises a pressing arm (21), a first air cylinder mounting seat (22) and a first corner air cylinder (23), wherein the pressing arm (21) is horizontally arranged, the middle of the pressing arm is connected with a pin shaft of the first corner air cylinder (23), the first corner air cylinder (23) is fixed in the first air cylinder mounting seat (22) through a bolt, the first air cylinder mounting seat (22) is fixed on the mechanism body (1) through a bolt, and the pressing arm (21) is rotationally pressed through the extension and retraction of the first corner air cylinder (23).
4. The automated splice-welding system for scissor construction profile flitch combining robotics and vision according to claim 1, wherein: the pneumatic corner pressing plate assembly (3) comprises a rotary pressing arm (32), a second cylinder mounting seat (33) and a second corner cylinder (34), wherein the rotary pressing arm (32) is horizontally arranged, one end bottom of the rotary pressing arm is fixedly provided with a workpiece pressing plate (31) through a bolt, the other end of the rotary pressing arm is connected with a pin shaft of the second corner cylinder (34), the second corner cylinder (34) is fixedly arranged in the second cylinder mounting seat (33) through a bolt, the second cylinder mounting seat (33) is fixedly arranged on the mechanism body (1) through a bolt, and the second corner cylinder (34) moves linearly and drives the workpiece pressing plate (31) to rotate, press downwards and reset.
5. The automated splice-welding system for scissor construction profile flitch combining robotics and vision according to claim 1, wherein: the pneumatic centering clamping assembly (4) comprises clamping blocks (41), adapter plates (42), centering cylinders (43) and third cylinder mounting seats (44), wherein the two clamping blocks (41) are arranged in a front-back symmetrical mode, the two ends of each centering cylinder (43) are respectively fixed through the adapter plates (42), the centering cylinders (43) are fixed on the third cylinder mounting seats (44) through bolts, and the third cylinder mounting seats (44) are fixed on the mechanism body (1) through bolts and are used for clamping the two clamping blocks (41) to the middle position simultaneously to realize centering positioning of the rectangular tube (7).
6. The automated splice-welding system for scissor construction profile flitch combining robotics and vision according to claim 1, wherein: the pneumatic external support centering assembly (5) comprises a fourth cylinder mounting seat (51), an external support clamping jaw (52) and a three-jaw cylinder (53), wherein the external support clamping jaw (52) is fixed at the top of the three-jaw cylinder (53) through bolts, the three-jaw cylinder (53) is fixed on the fourth cylinder mounting seat (51) through bolts, and the fourth cylinder mounting seat (51) is fixed on the mechanism body (1) through bolts and is used for centering round holes in the middle of the rectangular pipe (7) and realizing a centering function.
7. The automated splice-welding system for scissor construction profile flitch combining robotics and vision according to claim 1, wherein: the carrying gripper (6) comprises a gripper mechanism body (61), square electric permanent magnet assemblies (62), 3D vision camera assemblies (63), 2D vision camera assemblies (64) and round electric permanent magnet assemblies (65), wherein the square electric permanent magnet assemblies (62) are arranged at the bottom of the gripper mechanism body (61) in a bilateral symmetry mode, the 3D vision camera assemblies (63) and the 2D vision camera assemblies (64) are respectively matched and installed on the gripper mechanism body (61), the round electric permanent magnet assemblies (65) are arranged on the side face of the gripper mechanism body (61) and used for photographing and identifying workpiece outlines and grabbing positions of workpieces of different models through the 3D vision assemblies (63), and photographing and accurately identifying the center positions of round holes through the 2D vision camera assemblies (64) to achieve automatic grabbing and positioning functions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311455956.6A CN117381249B (en) | 2023-11-03 | 2023-11-03 | Automatic splice welding system for scissor-fork structural section flitch combining robot with vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311455956.6A CN117381249B (en) | 2023-11-03 | 2023-11-03 | Automatic splice welding system for scissor-fork structural section flitch combining robot with vision |
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| CN117381249A CN117381249A (en) | 2024-01-12 |
| CN117381249B true CN117381249B (en) | 2024-05-14 |
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| CN104384765A (en) * | 2014-10-14 | 2015-03-04 | 江苏湃锐自动化科技有限公司 | Automatic welding method based on three-dimensional model and machine vision and welding device based on three-dimensional model and machine vision |
| CN107160080A (en) * | 2017-06-22 | 2017-09-15 | 意欧斯智能科技股份有限公司 | A kind of assembly-welding device of goods shelf |
| CN107283109A (en) * | 2017-07-22 | 2017-10-24 | 合肥亚美科技股份有限公司 | A kind of scissor aerial work platform fork-shearing frame welds die craft equipment |
| CN110961839A (en) * | 2019-11-26 | 2020-04-07 | 湖南杰希重工有限公司 | Positioning and welding tool for scissor arm |
| CN212885922U (en) * | 2020-06-11 | 2021-04-06 | 珠海瑞凌焊接自动化有限公司 | Tenon type standard knot main chord angle steel welding system |
| CN215091660U (en) * | 2021-05-13 | 2021-12-10 | 三一帕尔菲格特种车辆装备有限公司 | Crotch welding frock |
| CN215747379U (en) * | 2021-06-01 | 2022-02-08 | 太原巨众自动化设备有限公司 | Fork welding assembly anchor clamps are cut to high altitude construction car |
| CN113601097A (en) * | 2021-07-15 | 2021-11-05 | 诺力智能装备股份有限公司 | Device for welding and positioning high-altitude platform vehicle shear fork |
| CN114193035A (en) * | 2021-12-20 | 2022-03-18 | 南京合信自动化有限公司 | 10-12 m scissor fork type fork arm flitch welding workstation |
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