CN210587771U - Automatic welding robot system for labels - Google Patents
Automatic welding robot system for labels Download PDFInfo
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- CN210587771U CN210587771U CN201921450777.2U CN201921450777U CN210587771U CN 210587771 U CN210587771 U CN 210587771U CN 201921450777 U CN201921450777 U CN 201921450777U CN 210587771 U CN210587771 U CN 210587771U
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- 238000003466 welding Methods 0.000 title claims abstract description 314
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 76
- 239000010959 steel Substances 0.000 claims abstract description 76
- 239000000463 material Substances 0.000 claims description 19
- 238000004140 cleaning Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
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- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000010923 batch production Methods 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
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Abstract
The application provides a label automatic welding robot system, which comprises a steel conveying line, a welding robot, a welding device and label nail supply equipment; wherein, the welding device is arranged at the free end of the welding robot; the free end moving range of the welding robot covers the brand nail supply equipment; the welding device is provided with a label sucker and a telescopic welding gun; the welding device sucks the label from the label nail supply device through the label sucker; and the welding device welds the label sucked on the label sucker on the steel of the steel conveying line through the feeding motion of the telescopic welding gun. This application sets up welding set at welding robot's free end to order about welding set and acquire welding nail and sign respectively, and through the completion welding action of the flexible welder constant force that can accomplish reciprocating feed motion, fixed distance, thereby improve welding quality, reduce the error rate.
Description
Technical Field
The application relates to the technical field of steel, in particular to an automatic label welding robot system.
Background
The label is used for marking the basic information of the steel, including the type, specification, production date and the like of the steel. In batch production, the steel material of each basic unit can be labeled according to the basic unit of the steel material batch. For example, to facilitate shipping from the factory, the bars are usually provided in bundles as a basic unit. The type, size and date of production of each bundle of rods are identical, so that after the rods are bundled, it is necessary to add labels to each bundle of rods in units of bundles.
Because the steel material is limited in material characteristics and shape characteristics, the tag cannot be attached to the steel material by means of pins or sticking, and therefore, the tag is usually welded to the surface of the steel material by means of welding. The existing label welding method generally adopts a manual mode, namely, a welding worker manually sets the label at a preset position and controls a welding gun to carry out a welding process. Because steel welding is carried out by basic units, manual welding efficiency is low, and the method cannot be applied to a production process with high yield. Automatic welding can be realized in a machine control mode.
Typically, the automatic welding process requires two conveyor lines, one for steel and the other for labels. In practical application, two transfer chains can keep synchronous operation, are equipped with the welding station on the transfer chain, and when sign and steel transported to the welding station, welder start-up work welded the sign on the steel. The sign is directly welded on the steel by the welding gun in the welding process, so the high temperature generated in the welding process can cause great damage to the sign and the steel. In order to reduce the damage to the sign and the steel, the welding process of the sign generally needs to be matched and positioned by using a welding nail and used as a supporting device for welding the sign to the steel so as to reduce excessive melting of the sign and the steel in the welding process. However, the welding nail is short in length, so that clamping and fixing are not convenient in the welding process, the welding process is not convenient to implement, and the failure rate of the welding process is high.
SUMMERY OF THE UTILITY MODEL
The application provides a sign automatic weld robot system to solve the problem that traditional sign automatic weld method fault rate is high.
The application provides an automatic label welding robot system, which comprises a steel conveying line and a welding robot arranged on one side of the steel conveying line; further comprising: a welding device and a card nail supply device;
the welding device is arranged at the free end of the welding robot; the brand nail supply equipment and the welding robot are arranged on the same side of the steel conveying line; the free end moving range of the welding robot covers the card nail supply device;
the welding device is provided with a label sucker and a telescopic welding gun; the welding device sucks the label from the label nail supply device through the label sucker; and the welding device welds the label sucked on the label sucker on the steel of the steel conveying line through the feeding motion of the telescopic welding gun.
Optionally, the card nail supply device comprises a label positioning device and a welding nail sorting device; the label positioning device and the welding nail sorting device are arranged on the same platform; the label positioning device is located below the label printer to receive the printed label.
Optionally, the sign positioning device includes: the guide plate, the positioning hole and the adjusting mechanism;
the positioning holes are formed in the guide plate, the adjusting mechanism comprises a plurality of positioning plates capable of translating relative to the guide plate, and the positioning plates are respectively arranged at the bottom and two sides of the guide plate so as to control the label welding hole positions on the guide plate to be aligned with the positioning holes.
Optionally, the label positioning device further comprises a detection switch; the detection switch sets up the bottom of deflector, detection switch connects welding robot, in order to detect whether the deflector has the sign to fall the position.
Optionally, the weld nail sorting device includes: the nail feeding device comprises a vibration disc, a conveying guide rail and a nail feeding platform;
one end of the conveying guide rail is connected with the outlet of the vibration disc, and the other end of the conveying guide rail is connected with the nail feeding platform, so that the welding nails are conveyed to the nail feeding platform one by one along the conveying guide rail under the vibration effect of the vibration disc; and a plurality of nail feeding stations are arranged on the nail feeding platform.
Optionally, the card nail supply device further comprises a nail cleaning device; the nail cleaning device is arranged on a platform where the label positioning device and the welding nail sorting device are arranged;
the nail cleaning device comprises a fixing frame and a nail removing sheet arranged on the fixing frame; the nail removing sheet is provided with a U-shaped opening capable of clamping the cap end of the welding nail, so that the welding nail is separated from the end part of the telescopic welding gun through the limiting effect of the U-shaped opening.
Optionally, the nail cleaning device further comprises a waste nail slide way; the waste nail slide way is arranged below the nail removing sheet and connected with the fixing frame so as to lead out separated welding nails.
Optionally, the welding device further comprises a distance control device, and the distance control device comprises a distance sensor and a control cylinder;
the control cylinder is connected with the telescopic welding gun to control the feeding motion of the telescopic welding gun during welding; the distance sensor is connected with the control cylinder to measure the feed movement distance of the telescopic welding gun.
Optionally, the distance sensor is a photoelectric distance measuring sensor; a reflector is arranged at the movable end of the control cylinder; the light emitting direction of the distance sensor is perpendicular to the reflector.
Optionally, the control cylinder is a screw-type cylinder; the distance control device also comprises a welding gun base and a guide slideway;
the movable end of the control cylinder contacts the side part of the welding gun base, and the top surface of the welding gun base is connected with the telescopic welding gun; and a sliding block is arranged on the bottom surface of the welding gun base and slides in the direction of the guide slide way through the sliding block.
Optionally, the welding device is further provided with a card cleaning device; the card clearing device comprises a card pushing cylinder and a card pushing plate connected with the movable end of the card pushing cylinder; the retractable welding gun penetrates through the through hole in the card pushing plate; the tile pushing cylinder drives the tile pushing plate to move so as to separate the residual signs on the telescopic welding gun.
Optionally, a vision device is also included; the welding robot is internally provided with a controller;
the video acquisition direction of the vision device is over against the steel conveying line so as to acquire a steel image on the steel conveying line and position the welding position; the vision device is electrically connected to the controller of the welding robot to send the located welding position to the controller of the welding robot.
Optionally, the vision device includes an image collector and a data processor; the image collector is connected with the data processor;
the image collector is used for collecting steel images of the steel conveying line, collecting welding gun images of the welding device and sending the collected steel images and the welding gun images to the data processor;
the data processor is configured to locate a welding position based on the steel material image, determine whether a welding nail or a label remains on the welding device based on the welding gun image, and send the welding position or the remaining result to a controller of the welding robot.
According to the technical scheme, the automatic label welding robot system comprises a steel conveying line, a welding robot, a welding device and label nail supply equipment; wherein, the welding device is arranged at the free end of the welding robot; the free end moving range of the welding robot covers the brand nail supply equipment; the welding device is provided with a label sucker and a telescopic welding gun; the welding device sucks the label from the label nail supply device through the label sucker; and the welding device welds the label sucked on the label sucker on the steel of the steel conveying line through the feeding motion of the telescopic welding gun. This application sets up welding set at welding robot's free end to order about welding set and acquire welding nail and sign respectively, and through the completion welding action of the flexible welder constant force that can accomplish reciprocating feed motion, fixed distance, thereby improve welding quality, reduce the error rate.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an automatic label welding robot system according to the present application;
FIG. 2 is a schematic diagram of a top view of an automated signage welding robotic system according to the present application;
FIG. 3 is a schematic view of a welding state of the robotic system for automatic label welding according to the present application;
FIG. 4 is a schematic view of a distance sensor configuration of a robotic system welding apparatus for automated signage welding according to the present application;
FIG. 5 is a schematic diagram of a control cylinder of a robotic system welding apparatus for automated signage welding according to the present application;
FIG. 6 is a schematic diagram of a placard positioning device of an automated placard welding robotic system according to the present application;
FIG. 7 is a schematic structural diagram of a nail removal device of an automated signage welding robot system according to the present disclosure;
fig. 8 is a schematic structural diagram of a brand clearing device of the automatic label welding robot system according to the present application.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.
Referring to fig. 1, a schematic structural diagram of an automatic label welding robot system according to the present invention is shown. As can be seen from fig. 1, 2, and 3, the present application provides an automatic label welding robot system, which includes a steel material conveying line 1 and a welding robot 2. The steel material conveying line 1 may have various forms, such as a conveyor belt, a conveyor chain, and a conveyor roller, according to the type of steel material actually transported and a workshop environment. Welding robot 2 sets up one side of steel transfer chain 1, welding robot 2's actual position can be on the basis that does not influence 1 transportation process of steel transfer chain, is close to steel transfer chain 1 as far as possible to reduce welding robot 2's among the welding process action stroke.
For carrying out the welding process, the welding robot 2 is a six-axis robot arm. In practical application, six arms include stiff end (fixed baseplate) and expansion end, and stiff end and expansion end can be through 5 at least rotatable action arms, and the stiff end is fixed subaerial, and the expansion end can move the arbitrary space point position in the certain limit through the drive effect of a plurality of action arms.
In the technical scheme that this application provided, sign automatic weld robot system still includes: a welding device 3 and a card nail supply apparatus 4. Wherein, the welding device 3 is internally provided with a welding gun to carry out welding action; the tag and tack supply device 4 is used to supply tags and tacks to the welding apparatus 3. Welding set 3 sets up welding robot 2's free end, and welding robot 2 can drive welding set 3 and move at operating range to obtain sign and welding nail in 4 positions departments of tablet nail supply apparatus, and with sign and welding nail welding on steel transfer chain 1. Therefore, the nail supply device 4 is disposed on the same side of the steel material conveying line 1 as the welding robot 2. The free end range of motion of the welding robot 2 covers the card nail supply apparatus 4.
In order to realize constant-force and fixed-distance welding, as shown in fig. 4, a label suction cup 31 and a telescopic welding gun 32 are arranged on the welding device 3; the welding device 3 sucks a sign from the sign nail supply device 4 through the sign suction cup 31; the welding device 3 welds the label sucked by the label suction cup 31 to the steel material of the steel material conveying line 1 by the feeding motion of the telescopic welding gun 32. The feeding motion described in the present application refers to a motion of the retractable welding torch in the direction of the label and the steel material during the welding process.
Further, as shown in fig. 4 and 5, the welding device 3 further includes a distance control device 33, and the distance control device 33 includes a distance sensor 331 and a control cylinder 332. In practical application, the control cylinder 332 is connected to the telescopic welding gun 32 to control the feeding movement of the telescopic welding gun 32 during welding; the distance sensor 331 is connected to the control cylinder 332 to measure the feed movement distance of the telescopic welding gun 32. The distance sensor 331 may be a sensor device based on a sliding resistance principle, an optical principle, or a capacitance principle, for acquiring a distance moved by the telescopic welding gun. The control cylinder 332 can control the amount of gas charged in the cylinder through the gas pump and the solenoid valve, so as to change the position of the piston in the cylinder and drive the telescopic welding gun 32 to complete the feeding motion. The present embodiment can obtain the feeding amount of the feeding movement of the welding process by the distance sensor 331, so that the welding distance of each welding tends to be consistent.
In some embodiments of the present application, the distance sensor 331 is an electro-optical distance measuring sensor, such as an infrared or laser probe. A reflector 333 is arranged at the movable end of the control cylinder 332; the light emitting direction of the distance sensor 331 is perpendicular to the reflecting plate 333. In practical application, because the photoelectric distance measuring sensor is the non-contact range finding, consequently can reduce the range finding error that the entity material warp and cause, can be on the basis of guaranteeing range finding precision and response speed, possess higher reliability to the higher welding environment of adaptation welding set 3 temperature.
In some embodiments of the present application, as shown in fig. 5, the control cylinder 332 is a screw-type cylinder; the distance control device 33 further includes a torch base 334 and a guide runner 335. The movable end of the control cylinder 332 contacts the side of the welding gun base 334, and the top surface of the welding gun base 334 is connected with the telescopic welding gun 32; the bottom surface of the welding gun base 334 is provided with a slide block so as to slide in the direction of the guide slide way 335 through the slide block. In this embodiment, the telescopic welding gun 32 mounted on the guide rail can move back and forth, and the screw-type cylinder is mounted on the welding gun base 334, so that the movable end of the cylinder abuts against the slider from the rear. The cylinder is compressed backward each time the front end of the clamping jaw on the welding robot 2 contacts the welding end face. The air cylinder is enabled to have constant thrust under the same air pressure, and the contact pressure of the welding nail and the steel bar is constant when the gun head is compressed.
Because the welding process can generate higher temperature, the label is possibly adhered to the welding gun after welding, so that the welding failure is caused, and the subsequent welding process is also influenced, therefore, the adhered label needs to be removed in time. Namely, in some embodiments of the present application, as shown in fig. 8, the welding device 3 is further provided with a card cleaner 6; the card cleaning device 6 comprises a card pushing cylinder 61 and a card pushing plate 62 connected with the movable end of the card pushing cylinder 61; a through hole is formed in the card pushing plate 62, and the telescopic welding gun 32 penetrates through the through hole in the card pushing plate 62; the card pushing cylinder 61 drives the card pushing plate 62 to move so as to separate the residual labels on the telescopic welding gun 32.
In the technical scheme that this application provided, as shown in fig. 2, tablet nail supply equipment 4 is used for providing sign and welding nail for welding process to make welding robot 2 can drive welding set 3, take respectively. Thus, the card nail supply apparatus 4 includes a label positioning device 41 and a weld nail sorting device 42; the label positioning device 41 and the welding nail sorting device 42 are arranged on the same platform so as to reduce the movement distance corresponding to the taking movement of the welding robot 2 driving the welding device 3. The label positioning device 41 is located below the label printer to receive the printed label.
Further, as shown in fig. 6, the sign positioning means 41 includes: a guide plate 411, a positioning hole 412 and an adjusting mechanism 413. The positioning hole 412 is disposed on the guide plate 411, and the adjusting mechanism 413 includes a plurality of positioning plates capable of translating relative to the guide plate 411, and the plurality of positioning plates are disposed at the bottom and both sides of the guide plate 411 respectively to control the label welding hole on the guide plate 411 to align with the positioning hole 412. In practical applications, the printed label drops by gravity onto the guide plate 411, and slides to the bottom of the guide plate 411 through the inclined surface of the guide plate 411. The sign is also subjected to adjustment mechanisms 413 to bring it to the optimum designated position, i.e. so that the sign welding hole locations are aligned with the positions of the positioning holes 412.
Further, the sign positioning device 41 further includes a detection switch 414; the detection switch 414 is disposed at the bottom of the guide plate 411, and the detection switch 414 is connected to the welding robot 2 to detect whether the guide plate 411 has a label place. When the position is successfully located, the welding robot 2 normally controls the taking; when the positioning is unsuccessful, the picking action of the welding robot 2 can be suspended to wait for the positioning success of the label, or an alarm signal can be generated to inform related personnel to process.
As shown in fig. 2, the weld nail sorting apparatus 42 includes: vibration plate 421, conveying guide 422 and nail feeding platform 423. One end of the conveying guide rail 422 is connected with the outlet of the vibration disc 421, and the other end of the conveying guide rail 422 is connected with the nail feeding platform 423, so that the welding nails are conveyed to the nail feeding platform 423 one by one along the conveying guide rail 422 under the vibration action of the vibration disc 421; a plurality of nail feeding stations are arranged on the nail feeding platform 423. In practical application, the welding nails can be stacked in the vibration tray 421, and gradually and respectively arranged in a regular state along with the vibration generated by the vibration tray 421, and then gradually conveyed to the conveying guide 422 so as to reach the nail feeding platform 423. The welding device 3 can first take out the welding nails through the matching structure at the end of the welding gun, and suck the label through the label suction cup 31 at the position of the label positioning device 41.
Because the welding process can generate higher temperature, welding nails can be adhered to a welding gun after welding, and the subsequent welding process is influenced. Therefore, in some embodiments of the present application, as shown in fig. 7, the card nail supply apparatus 4 further includes a nail cleaning device 43; the nail cleaning device 43 is arranged on the platform where the label positioning device 41 and the welding nail sorting device 42 are arranged. The nail cleaning device 43 comprises a fixing frame 431 and a nail removing sheet 432 arranged on the fixing frame 431; the nail removing plate 432 is provided with a U-shaped opening capable of clamping the cap end of the welding nail, so that the welding nail is separated from the end part of the telescopic welding gun 32 through the limiting effect of the U-shaped opening. Further, the nail cleaning device 43 further comprises a waste nail slide 433; the waste nail slide 433 is arranged below the nail removing sheet 432 and is connected with the fixing frame 431 so as to lead out separated welding nails.
In order to achieve more precise welding control, in some embodiments of the present application, the placard automatic welding robot system further includes a vision device 5. And the welding robot 2 has a built-in controller. The vision device 5 is used for collecting images of a welding site to assist in controlling the welding process, and can also be used for monitoring the operation condition of the welding site in real time to eliminate troubles in time.
Namely, the video acquisition direction of the vision device 5 is over against the steel product conveying line 1 so as to acquire steel product images on the steel product conveying line 1 and position the welding position; the vision device 5 is electrically connected to the controller of the welding robot 2 to send the located welding position to the controller of the welding robot 2.
Further, the vision device 5 includes an image collector and a data processor; the image collector is connected with the data processor; the image collector is used for collecting steel images of the steel conveying line 1, collecting welding gun images of the welding device 3, and sending the collected steel images and the collected welding gun images to the data processor; the data processor is configured to locate a welding position based on the steel material image, determine whether a welding nail or a label remains on the welding apparatus 3 based on the welding gun image, and transmit the welding position or the remaining result to the controller of the welding robot 2.
In practical applications, for example, bundles of rods are taken, the image collector in the vision device 5 may obtain an image on the steel conveying line 1, so as to send the obtained image to the data processor. The data processor may perform image analysis based on the acquired images to determine which layer of the bar is the weld location. And transmits the determined welding position to the controller of the welding robot 2. The welding robot 2 moves the welding device 3 to the welding position according to the positioned welding position by starting operation.
Further, the vision device 5 may include an image collector, a light source, a software system, and the like, wherein the image collector may collect images through binocular vision, and identify the end faces of the steel bundles through the software system to perform accurate positioning of spatial three-dimensional coordinates, and screen and sort the three-dimensional coordinates of all the steel bars according to a triple priority, thereby determining the most suitable coordinates for welding. The specific working process is as follows: after the steel bundle is in place, the PLC sends a positioning signal to enable the left camera and the right camera to simultaneously and automatically shoot the end face of the steel bundle, the vision device 5 conducts steel bar three-dimensional coordinate positioning on the shooting result through a binocular algorithm, then triple priority sequencing is conducted on a series of obtained three-dimensional space coordinates, and the most suitable welded steel bar coordinates are sent to the PLC to drive the welding robot 2 to weld according to the coordinates. It is thus clear that this application can standardize the welding step through vision device 5, and 3D binocular vision welds the sign system and strictly carries out according to the standard, avoids the various nonstandard operations of manual work going on. Meanwhile, welding efficiency is improved and labor cost is reduced. In addition, potential safety hazards caused by personnel entering the welding label can be avoided, and safety factors can be greatly improved after the robot is adopted.
According to the technical scheme, the automatic label welding robot system comprises a steel conveying line 1, a welding robot 2, a welding device 3 and a label nail supply device 4; wherein, the welding device 3 is arranged at the free end of the welding robot 2; the free end moving range of the welding robot 2 covers the brand nail supply device 4; the welding device 3 is provided with a label sucker 31 and a telescopic welding gun 32; the welding device 3 sucks the sign from the sign nail supply device 4 through the sign suction cup 31; the welding device 3 welds the label sucked by the label suction cup 31 to the steel material of the steel material conveying line by the feeding motion of the telescopic welding gun 32. This application sets up welding set 3 at welding robot 2's free end to order about welding set 3 and acquire welding nail and sign respectively, and through the completion welding action that can accomplish reciprocating feed motion's flexible welder 32 constant force, fixed distance, thereby improve welding quality, reduce the error rate.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (13)
1. A label automatic welding robot system comprises a steel conveying line (1) and a welding robot (2) arranged on one side of the steel conveying line (1); it is characterized by also comprising: a welding device (3) and a card nail supply device (4);
the welding device (3) is arranged at the free end of the welding robot (2); the brand nail supply equipment (4) and the welding robot (2) are arranged on the same side of the steel conveying line (1); the free end moving range of the welding robot (2) covers the card nail supply device (4);
the welding device (3) is provided with a label sucker (31) and a telescopic welding gun (32); the welding device (3) sucks the label from the label nail supply device (4) through the label sucker (31); and the welding device (3) welds the label sucked on the label sucker (31) on the steel of the steel conveying line (1) through the feeding motion of the telescopic welding gun (32).
2. The placard automatic welding robot system according to claim 1, wherein the placard nail supplying apparatus (4) includes a placard positioning device (41) and a welding nail sorting device (42); the label positioning device (41) and the welding nail sorting device (42) are arranged on the same platform; the label positioning device (41) is located below the label printer to receive the printed label.
3. The placard automatic welding robot system according to claim 2, wherein the placard positioning means (41) comprises: a guide plate (411), a positioning hole (412) and an adjusting mechanism (413);
the positioning holes (412) are formed in the guide plate (411), the adjusting mechanism (413) comprises a plurality of positioning plates capable of translating relative to the guide plate (411), and the plurality of positioning plates are respectively arranged at the bottom and two sides of the guide plate (411) so as to control the label welding hole positions on the guide plate (411) to be aligned with the positioning holes (412).
4. The placard automatic welding robot system according to claim 3, wherein the placard positioning means (41) further comprises a detection switch (414); the detection switch (414) is arranged at the bottom of the guide plate (411), and the detection switch (414) is connected with the welding robot (2) to detect whether the guide plate (411) has a label placement position or not.
5. The placard automatic welding robotic system according to claim 2, wherein said weld nail sorting device (42) comprises: a vibrating disk (421), a conveying guide rail (422) and a nail supplying platform (423);
one end of the conveying guide rail (422) is connected with an outlet of the vibration disc (421), and the other end of the conveying guide rail is connected with the nail feeding platform (423), so that the welding nails are conveyed to the nail feeding platform (423) one by one along the conveying guide rail (422) under the vibration effect of the vibration disc (421); and a plurality of nail feeding stations are arranged on the nail feeding platform (423).
6. The placard automatic welding robot system according to claim 2, wherein the placard nail supplying apparatus (4) further comprises a nail cleaning device (43); the nail cleaning device (43) is arranged on a platform where the label positioning device (41) and the welding nail sorting device (42) are arranged;
the nail cleaning device (43) comprises a fixing frame (431) and a nail removing sheet (432) arranged on the fixing frame (431); the nail removing sheet (432) is provided with a U-shaped opening capable of clamping the cap end of the welding nail, so that the welding nail is separated from the end part of the telescopic welding gun (32) through the limiting effect of the U-shaped opening.
7. The placard automatic welding robot system according to claim 6, wherein the nail removing means (43) further comprises a waste nail chute (433); the waste nail slide way (433) is arranged below the nail removing sheet (432) and connected with the fixing frame (431) to guide out separated welding nails.
8. The placard automatic welding robot system according to claim 1, wherein the welding means (3) further comprises a distance control means (33), the distance control means (33) comprising a distance sensor (331) and a control cylinder (332);
the control cylinder (332) is connected with the telescopic welding gun (32) to control the feed motion of the telescopic welding gun (32) during welding; the distance sensor (331) is connected with the control cylinder (332) to measure the feed movement distance of the telescopic welding gun (32).
9. The placard automatic welding robot system according to claim 8, wherein the distance sensor (331) is a photoelectric ranging sensor; a reflector (333) is arranged at the movable end of the control cylinder (332); the light emitting direction of the distance sensor (331) is perpendicular to the reflector (333).
10. The placard automatic welding robot system according to claim 8, wherein the control cylinder (332) is a screw type cylinder; the distance control device (33) further comprises a welding gun base (334) and a guide slideway (335);
the movable end of the control cylinder (332) is in contact with the side part of the welding gun base (334), and the top surface of the welding gun base (334) is connected with the telescopic welding gun (32); the bottom surface of the welding gun base (334) is provided with a sliding block so as to slide in the direction of the guide slide way (335) through the sliding block.
11. The robotic system for automatic welding of signs according to claim 1, characterized in that said welding means (3) is further provided with means for clearing signs (6); the card cleaning device (6) comprises a card pushing cylinder (61) and a card pushing plate (62) connected with the movable end of the card pushing cylinder (61); a through hole is formed in the card pushing plate (62), and the telescopic welding gun (32) penetrates through the through hole in the card pushing plate (62); the card pushing cylinder (61) drives the card pushing plate (62) to move so as to separate the residual labels on the telescopic welding gun (32).
12. The signage automated welding robotic system of claim 1, further comprising a vision device (5); the welding robot (2) is internally provided with a controller;
the video acquisition direction of the vision device (5) is over against the steel conveying line (1) so as to acquire steel images on the steel conveying line (1) and position the welding position; the vision device (5) is electrically connected to the controller of the welding robot (2) to send the located welding position to the controller of the welding robot (2).
13. The placard automatic welding robotic system according to claim 12, wherein said vision means (5) comprises an image collector and a data processor; the image collector is connected with the data processor;
the image collector is used for collecting steel images of the steel conveying line (1), collecting welding gun images of the welding device (3) and sending the collected steel images and the collected welding gun images to the data processor;
the data processor is configured to locate a welding position based on the steel material image, and to determine whether a welding nail or a label remains on the welding device (3) based on the welding gun image, and to send the welding position or the remaining result to the controller of the welding robot (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921450777.2U CN210587771U (en) | 2019-08-30 | 2019-08-30 | Automatic welding robot system for labels |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921450777.2U CN210587771U (en) | 2019-08-30 | 2019-08-30 | Automatic welding robot system for labels |
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| CN210587771U true CN210587771U (en) | 2020-05-22 |
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| CN201921450777.2U Withdrawn - After Issue CN210587771U (en) | 2019-08-30 | 2019-08-30 | Automatic welding robot system for labels |
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| CN (1) | CN210587771U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421289A (en) * | 2019-08-30 | 2019-11-08 | 江苏金恒信息科技股份有限公司 | Label automatic welding machine people's system |
| CN111361819A (en) * | 2020-05-27 | 2020-07-03 | 江苏金恒信息科技股份有限公司 | Wire rod tag hanging system and method |
| CN110421289B (en) * | 2019-08-30 | 2024-04-26 | 江苏金恒信息科技股份有限公司 | Automatic label welding robot system |
-
2019
- 2019-08-30 CN CN201921450777.2U patent/CN210587771U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421289A (en) * | 2019-08-30 | 2019-11-08 | 江苏金恒信息科技股份有限公司 | Label automatic welding machine people's system |
| CN110421289B (en) * | 2019-08-30 | 2024-04-26 | 江苏金恒信息科技股份有限公司 | Automatic label welding robot system |
| CN111361819A (en) * | 2020-05-27 | 2020-07-03 | 江苏金恒信息科技股份有限公司 | Wire rod tag hanging system and method |
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Assignee: Nanjing Jiangbei new area Yangzi Technology Finance Leasing Co.,Ltd. Assignor: JIANGSU JINHENG INFORMATION TECHNOLOGY Co.,Ltd. Contract record no.: X2021320000059 Denomination of utility model: Sign automatic welding robot system Granted publication date: 20200522 License type: Exclusive License Record date: 20210804 |
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