CN211388745U

CN211388745U - Novel automatic marking robot

Info

Publication number: CN211388745U
Application number: CN201922062960.1U
Authority: CN
Inventors: 范冰
Original assignee: Jiangsu Shagang Group Co Ltd; Zhangjiagang Hongchang Steel Plate Co Ltd
Current assignee: Jiangsu Shagang Group Co Ltd; Zhangjiagang Hongchang Steel Plate Co Ltd
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-09-01
Anticipated expiration: 2029-11-26

Abstract

The utility model discloses a novel automatic marking off machine people, including robot and assembly line conveyer belt, the bottom of robot is equipped with the removal track, the removal track is located one side of assembly line conveyer belt, the robot includes body moving mechanism and longitudinal movement module and lateral shifting module, the longitudinal movement module links together with the lateral shifting module, the bottom of lateral shifting module is equipped with the marking off rifle, one side of marking off rifle is equipped with the industry camera, the lateral shifting module drives the marking off rifle along horizontal direction round trip movement, the longitudinal movement module drives the lateral shifting module along vertical direction round trip movement. The utility model has the advantages that: the operation speed can be improved, the production efficiency is increased, manual intervention is greatly reduced, and safety accidents are avoided.

Description

Novel automatic marking robot

Technical Field

The utility model belongs to the technical field of the marking device, concretely relates to novel automatic marking robot.

Background

At present, many steel plate manufacturing enterprises carry out steel plate shearing, many old shears still need measure length through the manual mode, carry out artifical mark, the length scale of steel sheet relies on stove number worker and scriber to accomplish through seeking tertiary system data, 3 people per class, need carry out the size recheck to every slab blank according to two plan manual works of cutting before the steel sheet cutting, make the cutting point mark according to the cutting requirement, this operation need accomplish in multiple length blank storehouse in advance, on-the-spot driving handling is frequent, ambient temperature is high, intensity of labour is big and there is the potential safety hazard. At present, 1CS operation posts are nervous, and manual line drawing is easy to have errors, so that the size is not planned.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, the utility model provides a following technical scheme: the utility model provides a novel automatic marking off machine people, includes robot and assembly line conveyer belt, the bottom of robot is equipped with the removal track, the removal track is located one side of assembly line conveyer belt, the robot includes body moving mechanism and longitudinal movement module and lateral shifting module, the longitudinal movement module links together with the lateral shifting module, the bottom of lateral shifting module is equipped with the marking off rifle, one side of marking off rifle is equipped with the industry camera, the lateral shifting module drives the marking off rifle along horizontal direction round trip movement, the longitudinal movement module drives the lateral shifting module along vertical direction round trip movement.

Further, body moving mechanism includes the bottom plate, bottom plate bottom both sides respectively are equipped with a stabilizer blade, the bottom of stabilizer blade all is equipped with the slide rail, the slide rail is fixed on moving the track, one side of bottom plate still is equipped with driving motor, driving motor's output extends to the below of bottom plate and is equipped with drive gear, it is equipped with the track rack of cooperation drive gear to move orbital side.

Furthermore, the longitudinal movement module comprises a cross beam, a sliding roller and an upright post, the cross beam is penetrated by the sliding roller and the upright post, a longitudinal movement motor is arranged on one side of the cross beam, which is positioned on the sliding roller, a longitudinal gear is arranged at the output end of the longitudinal movement motor, a longitudinal rack is arranged on one side of the upright post, which is opposite to the longitudinal motor, and the longitudinal gear is meshed with the longitudinal rack.

Further, the transverse moving module comprises a transverse sliding rail, a transverse rack is arranged on the transverse sliding rail, a sliding block is sleeved outside the transverse sliding rail, a transverse motor is arranged at the top of the sliding block, an output end of the transverse motor extends into the sliding block and is provided with a transverse gear (not shown in the figure), the transverse gear (not shown in the figure) is meshed with the transverse rack on the transverse sliding rail, and a scribing gun is fixed at the bottom of the sliding block.

Further, still include rotation regulation mechanism, rotation regulation mechanism includes roating seat, backup pad, rotatory rack and rotating electrical machines, roating seat and rotating electrical machines set up on the bottom plate, the top of roating seat is equipped with the backup pad, the top of backup pad is the longitudinal movement module, be equipped with rotatory rack on the outer circumference of roating seat, rotating electrical machines's output is equipped with rotatory gear, rotatory gear meshes with rotatory rack mutually.

Further, the entrance of assembly line conveyer belt is equipped with first laser detecting system, first laser detecting system includes first laser source transmitter and laser source receiver, first laser source transmitter and laser source receiver place in the both sides of assembly line conveyer belt respectively.

Further, still include second laser detecting system, second laser detecting system includes fixed plate, support frame and second laser source transmitter, the fixed plate is fixed in one side of longitudinal movement module top towards the assembly line conveyer belt, fixed plate upper portion is fixed with the support frame, the top of support frame is equipped with second laser source transmitter to one side

Furthermore, the assembly line conveyer belt comprises a plurality of conveying roller sets and a conveying support, wherein one side of the conveying roller is provided with a conveying motor, and the other side of the conveying roller is positioned on the conveying support

Further, the support frame includes the connecting rod of fixed second laser source transmitter and the connecting plate with connecting rod integrated into one piece, is provided with the connecting piece on the connecting plate, is provided with the arc wall that is used for the connecting piece to slide in order to drive mount regulation second laser source transmitter every single move angle on the support frame

Furthermore, one side of the scribing gun is connected with a longitudinal plate through a connecting plate, the longitudinal plate is hinged with a transverse plate, one side of the transverse plate is connected with an industrial camera, a hydraulic rod is arranged on the longitudinal plate, and the output end of the hydraulic rod is connected with the transverse plate

The utility model has the advantages that:

1. the utility model can improve the running speed, increase the production efficiency, greatly reduce the manual intervention and avoid the occurrence of safety accidents;

2. the utility model discloses be equipped with first laser detecting system, when the blank gets into the assembly line conveyer belt, detect through first laser detecting system, meet the roll table that can stop immediately that sticks up the head and protective apparatus is not broken by the collision.

3. The utility model discloses be equipped with second laser detecting system, through to the blank emission laser after ruling, see whether laser line and blank go up the line of drawing and whether coincide, can judge whether accurate of ruling, avoid follow-up technology to make mistakes.

Drawings

FIG. 1 is a schematic view of the robot body according to the present invention;

fig. 2 is a top view of the whole of the present invention;

FIG. 3 is a schematic view of a blank entering an in-line conveyor belt;

FIG. 4 is a schematic diagram of a second laser source emitter;

FIG. 5 is a schematic view of a structure of a traverse module.

In the figure: 1. a robot body; 2. a production line conveyor belt; 3. a moving track; 4. a line drawing gun; 5. an industrial camera; 6. a base plate; 7. a support leg; 8. a slide rail; 9. a drive motor; 10. a drive gear; 11. a track rack; 12. a cross beam; 13. a sliding roller; 14. a column; 15. a longitudinal movement motor; 16. a longitudinal gear; 17. a longitudinal rack; 18. a transverse slide rail; 19. a transverse rack; 20. a slider; 21. a transverse motor; 22. a rotating base; 23. a support plate; 24. rotating the rack; 25. a rotating electric machine; 26. a first laser source emitter; 27. a laser source receiver; 28. a fixing plate; 29. a support frame; 30. a second laser source emitter; 31. a conveying roller; 32. a delivery carriage; 33. a connecting rod; 34. a connecting plate; 35. a connecting member; 36. an arc-shaped slot; 37. a longitudinal plate; 38. a transverse plate; 39. a hydraulic lever; 40. a rotating gear; 41. a rotating electric machine; 42. a connecting plate.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example 1

Referring to fig. 1-3, a novel automatic line marking robot includes a robot body 1 and a production line conveyor belt 2, the bottom of the robot body 1 is provided with a moving track 3, the moving track 3 is disposed on one side of the production line conveyor belt 2, the bottom of the robot body 1 is provided with a bottom plate 6, two sides of the bottom plate 6 are respectively provided with a support leg 7, the bottom of the support leg 7 is provided with a slide rail 8, the slide rail 8 is fixed on the moving track 3, one side of the bottom plate 6 is further provided with a driving motor 9, an output end of the driving motor 9 extends to the lower side of the bottom plate 6 and is provided with a driving gear 10, a side edge of the moving track 3 is provided with a track rack 11 matched with the driving gear 10, the driving gear 9 drives the driving gear 10 to rotate, the gear is matched with the track rack 11 on the moving track 3 to drive the bottom plate, the upper part of the bottom plate 6 is connected with a rotating seat 22 through a rotating shaft, the top of the rotating seat 22 is provided with a supporting plate 23, the supporting plate 23 is loaded with a sliding roller 13 and a vertical column 14, the outer circumference of the rotating seat 22 is provided with a rotating rack 24, a rotating motor 25 is arranged beside the rotating seat 22, the output end of the rotating motor 25 is provided with a rotating gear 40, the rotating gear 40 is meshed with the rotating rack 24, the sliding roller 13 and the vertical column 14 are also provided with a cross beam 12, the cross beam 12 is penetrated by the sliding roller 13 and the vertical column 14, one side of the cross beam 12, which is positioned at the sliding roller 13, is provided with a longitudinal moving motor 15, the output end of the longitudinal moving motor 15 is provided with a longitudinal gear 16, one side of the vertical column 14, which is opposite to the longitudinal moving motor 15, is provided with a longitudinal rack 17, the longitudinal gear 16 is meshed, the transverse beam 12 is driven to move up and down, a transverse sliding rail 18 is fixedly connected to one side, protruding out of the upright column 14, of the transverse beam 12, a transverse rack 19 is arranged on the transverse sliding rail 18, a sliding block 20 is sleeved outside the transverse sliding rail 18, a transverse motor 21 is arranged at the top of the sliding block 20, the output end of the transverse motor 21 extends into the sliding block 20 and is provided with a transverse gear (not shown in the figure), the transverse gear (not shown in the figure) is meshed with the transverse rack 19 on the transverse sliding rail 18, the sliding block 20 is driven by a transverse motor 31 to move back and forth on the transverse rail 18, a scribing gun 4 is fixed at the bottom of the sliding block 20, an industrial camera 5 is arranged on one side of the scribing gun 4, the scribing gun 4 is used for scribing blanks on the assembly line conveyor belt 2, the industrial camera 5 is used for image collection, a first laser detection system is arranged at the inlet of, the first laser source emitter 26 and the laser source receiver 27 are respectively arranged at two sides of the assembly line conveyer belt 2, the first laser source emitter 26 and the laser source receiver 27 have a certain height, the height is matched with the height of a normal blank, under normal conditions, when the normal blank passes through the position, because the height is matched with the height of laser between the first laser source emitter 26 and the laser source receiver 27, the laser source receiver 27 can not be prevented from receiving the laser, but the laser source receiver 27 can be prevented from receiving the laser when the normal blank passes through the position, once the laser source receiver 27 can not receive the laser, the power supply of the assembly line conveyer belt 2 can be cut off immediately, the assembly line conveyer belt 2 consists of a plurality of conveyer rollers 31 and a conveyer support 32, one side of the conveyer roller 31 is provided with a conveyer motor, the other side is arranged on the conveyer support, all transfer rollers 31 can stop rotating, prevent that equipment from receiving the harm, still be equipped with fixed plate 28 in one side of the top panel assembly line conveyer belt 2 of stand 14, fixed plate 28 upper portion is fixed with support frame 29, the top of support frame 29 is equipped with second laser source transmitter 30 to one side, and second laser source transmitter 30 can send laser to the blank on, when the line drawing rifle 4 rule, collect image information through industry camera 5 and detect whether the laser spot on this blank coincides with the line drawing, detects whether accurate the line drawing.

The principle of the embodiment is as follows: when a blank enters the assembly line conveyer belt 2, firstly, the blank is detected by the first laser detection system, whether the blank is qualified or not is detected, the qualified blank is detected to continuously move to a specified detection position on the assembly line conveyer belt 2, the robot body 1 firstly collects the position information of the blank by the industrial camera 5, then, the information is sent to a corresponding control mechanism in a wireless or wired mode, the control mechanism measures distance according to the received parameter information, then, sectional marking is carried out according to the obtained data through a set numerical value, when in marking, the cross beam 12 and the marking gun 4 are firstly lowered by the longitudinal motor, the marking gun 4 is aligned to the specified position, the marking gun 4 is driven to transversely move by the transverse motor 21, a transverse line is marked on the blank, after the first line is marked, the marking gun 4 withdraws, the second laser source emitter 30 is started, the image information of the blank on the falling point and the marking is collected by the industrial camera 5, if unanimous, then the affirmation is rule accurate, then start driving motor 9, drive robot body 1 through drive gear 10 and move along moving track 3, begin to draw the second line, if inconsistent, then judge that some part of equipment appears the trouble such as part lax, through starting rotating electrical machines 25, carry out clockwise or anticlockwise rotation on the water flat line to robot body 1, it is emergent to rule the position through manual regulation, has avoided waiting for the extravagant production time in the maintenance process. The beneficial effect of this embodiment is: the first laser detection system is used for detecting, when the roller way can be immediately stopped when the head is warped, the equipment is protected from being damaged, laser is emitted to the scribed blank, whether the laser line is overlapped with the scribed line on the blank or not is judged, whether the scribed line is accurate or not can be judged, errors in subsequent processes are avoided, and the generation of defective products is reduced.

Example 2

Referring to fig. 1-5, this embodiment has the same parts as embodiment 1, except that: the supporting frame 29 comprises a connecting rod 33 for fixing the second laser source emitter 30 and a connecting plate 34 integrally formed with the connecting rod 33, a connecting piece 35 is arranged on the connecting plate 34, an arc-shaped groove 36 for driving the fixing frame to adjust the pitch angle of the second laser source emitter 30 is arranged on the supporting frame 29, when the connecting plate 34 moves to the uppermost end of an arc-shaped strip hole along with the connecting piece 35, the second laser source emitter 30 is positioned at the lowest pitch angle, when the connecting plate moves to the lowermost end of the arc-shaped strip hole, the second laser source emitter 30 is positioned at the highest pitch angle, the falling point on the blank can be changed by changing different elevation angles of the second laser source emitter 30, whether the blank coincides with the scribing line or not can be detected from different falling points, the detection accuracy is further improved, one side of the scribing gun 4 is connected with a longitudinal plate 37 through a connecting plate 42, and the longitudinal plate, one side of horizontal board 38 is connected with industry camera 5, be equipped with hydraulic stem 39 on the vertical board 37, horizontal board 38 is connected to the output of hydraulic stem 39, can provide different angles for industry camera 5 through hydraulic stem 39, increases the comprehensiveness of industry camera 5 image acquisition, makes its detection range wider.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a novel automatic marking off machine people which characterized in that: the robot comprises a robot body (1) and an assembly line conveying belt (2), wherein a moving track (3) is arranged at the bottom of the robot body (1), the moving track (3) is arranged on one side of the assembly line conveying belt (2), the robot body (1) comprises a body moving mechanism, a longitudinal moving module and a transverse moving module, the longitudinal moving module and the transverse moving module are connected together, a scribing gun (4) is arranged at the bottom of the transverse moving module, an industrial camera (5) is arranged on one side of the scribing gun (4), the transverse moving module drives the scribing gun (4) to move back and forth along the horizontal direction, and the longitudinal moving module drives the transverse moving module to move back and forth along the vertical direction.

2. The novel automatic line marking robot as claimed in claim 1, wherein: the body moving mechanism comprises a bottom plate (6), two sides of the bottom plate (6) are respectively provided with a support leg (7), the bottom of each support leg (7) is provided with a slide rail (8), the slide rails (8) are fixed on a moving track (3), one side of the bottom plate (6) is also provided with a driving motor (9), the output end of the driving motor (9) extends to the lower part of the bottom plate (6) and is provided with a driving gear (10), and the side edge of the moving track (3) is provided with a track rack (11) matched with the driving gear (10).

3. The novel automatic line marking robot as claimed in claim 1, wherein: the longitudinal movement module comprises a cross beam (12), a sliding roller (13) and an upright post (14), wherein the cross beam (12) is penetrated by the sliding roller (13) and the upright post (14), one side of the cross beam (12) positioned on the sliding roller (13) is provided with a longitudinal movement motor (15), the output end of the longitudinal movement motor (15) is provided with a longitudinal gear (16), one side of the upright post (14) opposite to the longitudinal motor is provided with a longitudinal rack (17), and the longitudinal gear (16) is meshed with the longitudinal rack (17).

4. The novel automatic line marking robot as claimed in claim 1, wherein: the transverse moving module comprises a transverse sliding rail (18), a transverse rack (19) is arranged on the transverse sliding rail (18), a sliding block (20) is sleeved outside the transverse sliding rail (18), a transverse motor (21) is arranged at the top of the sliding block (20), the output end of the transverse motor (21) extends into the sliding block (20) and is provided with a transverse gear, the transverse gear is meshed with the transverse rack (19) on the transverse sliding rail (18), and a scribing gun (4) is fixed at the bottom of the sliding block (20).

5. The novel automatic line marking robot as claimed in claim 2, wherein: still include rotation regulation mechanism, rotation regulation mechanism includes roating seat (22), backup pad (23), rotatory rack (24) and rotating electrical machines (25), roating seat (22) and rotating electrical machines (25) set up on bottom plate (6), the top of roating seat (22) is equipped with backup pad (23), the top of backup pad (23) is the longitudinal movement module, be equipped with rotatory rack (24) on the outer circumference of roating seat (22), the output of rotating electrical machines (25) is equipped with rotating gear (40), rotating gear (40) and rotatory rack (24) mesh mutually.

6. The novel automatic scribing robot according to any one of claims 1 to 5, wherein: the entrance of assembly line conveyer belt (2) is equipped with first laser detecting system, first laser detecting system includes first laser source transmitter (26) and laser source receiver (27), the both sides of assembly line conveyer belt (2) are placed respectively in first laser source transmitter (26) and laser source receiver (27).

7. The novel automatic scribing robot according to any one of claims 1 to 5, wherein: still include second laser detecting system, second laser detecting system includes fixed plate (28), support frame (29) and second laser source transmitter (30), fixed plate (28) are fixed in the one side of longitudinal movement module top towards assembly line conveyer belt (2), fixed plate (28) upper portion is fixed with support frame (29), the top of support frame (29) is equipped with second laser source transmitter (30) to one side.

8. The novel automatic scribing robot according to any one of claims 1 to 5, wherein: the assembly line conveyer belt (2) comprises a plurality of transfer roller (31) group and conveying support (32), transfer roller (31) one side is equipped with conveying motor, and the opposite side is located conveying support (32).

9. The novel automatic line marking robot as claimed in claim 7, wherein: support frame (29) including connecting rod (33) of fixed second laser source transmitter (30) and with connecting rod (33) integrated into one piece's connecting plate (34), be provided with connecting piece (35) on connecting plate (34), be provided with on support frame (29) and be used for connecting piece (35) to slide in order to drive arc wall (36) that second laser source transmitter (30) every single move angle are adjusted to the mount.

10. The novel automatic line marking robot as claimed in claim 1, wherein: one side of the scribing gun (4) is connected with a longitudinal plate (37) through a connecting plate (42), the longitudinal plate (37) is hinged with a transverse plate (38), one side of the transverse plate (38) is connected with an industrial camera (5), a hydraulic rod (39) is arranged on the longitudinal plate (37), and the output end of the hydraulic rod (39) is connected with the transverse plate (38).