CN212191791U

CN212191791U - Automatic flexible welding tablet system of robot

Info

Publication number: CN212191791U
Application number: CN202020807565.1U
Authority: CN
Inventors: 林泽钦; 王志锋; 魏旭锋; 陈宇
Original assignee: Guangdong Huibo Robot Technology Co ltd
Current assignee: Guangdong Huibo Robot Technology Co ltd
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2020-12-22
Anticipated expiration: 2030-05-14

Abstract

The utility model discloses an automatic flexible welding plate system of a robot, which comprises a control cabinet, a welding machine, a mounting rack, a sliding module, a sliding rack, a label supplying mechanism, a welding nail supplying mechanism, an mechanical arm and an actuating mechanism; the welding machine is arranged on the mounting frame, the sliding module is arranged on the mounting frame, the sliding frame is arranged on the sliding module, the label supplying mechanism, the welding nail supplying mechanism and the mechanical arm are arranged on the sliding frame, and the executing mechanism is arranged on the mechanical arm; the mechanical arm drives the executing mechanism to move among the label supplying mechanism, the welding nail supplying mechanism and the bar of the to-be-welded label; the application aims at providing an automatic flexible welding plate system of robot, can accomplish the label that the rod was not collided neat end and weld and hang, is applicable to the label of different length specification rods and welds and hang, and does not influence on-the-spot production and equipment maintenance, like rod conveyor chain etc. realizes unmanned automatic continuous production.

Description

Automatic flexible welding tablet system of robot

Technical Field

The utility model relates to a weld tablet technical field, especially relate to an automatic flexible welding tablet system of robot.

Background

In the production of bundled steel, parameter labels of bars need to be welded and hung at two ends of the bars. Wherein, one end of the bar is an aligning end, and the end surface of each bundle of bars is level; the other end face of the bar is a non-collision end, and the end face positions of the bars with different length specifications have larger difference.

At present, most of labels are manually welded and hung at two ends of a bar in a steel mill. The short bars are not collided and the ends are arranged inside the conveying chain, so that the label is inconvenient to weld. And the bar production line has fast rhythm, a large number and high field environment temperature, and potential safety hazards also exist when the manual welding plate and the crown block are lifted and transported for cross operation. The trend is to use a robot to replace manual welding, and at present, a robot welding plate system at one side of a collision end of a bar material is provided, and a robot welding plate system at a non-collision end is not provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic flexible welding tablet system of robot can accomplish the non-sign of hitting the neat end of rod and weld and hang, and the sign that is applicable to different length specification rods welds and hangs, and does not influence on-the-spot production and equipment maintenance, like rod transport chain etc. realizes unmanned automatic continuous production.

To achieve the purpose, the utility model adopts the following technical proposal: a robot automatic flexible welding plate system comprises a control cabinet, a welding machine, a mounting frame, a sliding module, a sliding frame, a label supplying mechanism, a welding nail supplying mechanism, a mechanical arm and an executing mechanism;

the welding machine is arranged on the mounting frame, the sliding module is arranged on the mounting frame, the sliding frame is arranged on the sliding module, the label supplying mechanism, the welding nail supplying mechanism and the mechanical arm are arranged on the sliding frame, and the executing mechanism is arranged on the mechanical arm;

the mechanical arm drives the executing mechanism to move among the label supplying mechanism, the welding nail supplying mechanism and the bar of the to-be-welded label;

the welding machine, the sliding module, the label supplying mechanism, the welding nail supplying mechanism, the mechanical arm and the executing mechanism are all electrically connected with the control cabinet.

Preferably, the welding nail supply mechanism comprises a vibration disc and a conveying assembly, the feeding end of the conveying assembly is opposite to the discharging end of the vibration disc, and the vibration disc and the conveying assembly are electrically connected with the control cabinet.

Preferably, the conveying assembly comprises a conveying cylinder, a sliding seat, a guide sliding rail and a conveying clamping groove, the output end of the conveying cylinder is connected with the sliding seat, the sliding seat is connected with the guide sliding rail in a sliding mode, and the conveying clamping groove is matched with the welding nails to be conveyed.

Preferably, the label supplying mechanism comprises a marking machine, a label receiving unit and a label vision unit, wherein the feeding end of the label receiving unit is opposite to the discharging end of the marking machine, and the label vision unit is opposite to the label receiving unit; the marking machine, the label receiving unit and the label visual unit are all electrically connected with the control cabinet.

Preferably, connect the mark unit including connect mark spout, inspection hole, sensor, the hole of stepping down and ejecting cylinder, the upper end that connects the mark spout is relative with the discharge end of marking machine, the sensor sets up connect the below of mark spout, the inspection hole sets up connect the mark spout, the inspection end of sensor with the inspection hole is relative, ejecting cylinder sets up connect the below of mark spout, the hole of stepping down sets up connect the mark spout, ejecting cylinder's output is located it is downthehole to step down.

Preferably, the executing mechanism comprises a mounting seat, a three-dimensional vision unit, a nail taking unit and a label taking unit, the three-dimensional vision unit, the nail taking unit and the label taking unit are all arranged on the mounting seat, and the output end of the mechanical arm is connected with the mounting seat;

the label taking unit comprises a sucker and a pipe fitting, the pipe fitting is arranged on the mounting seat, one end of the pipe fitting is communicated with the sucker, and the other end of the pipe fitting is communicated with an external vacuum generator; the nail taking unit, the external vacuum generator and the three-dimensional vision unit are all electrically connected with the control cabinet.

Preferably, the nail taking unit comprises a guide rail, a sliding groove, a floating support, a buffer part, a three-jaw cylinder, a nylon transfer block, an electrode mounting block and an electrode chuck;

the guide rail is arranged on the mounting seat, the sliding groove is arranged on the floating support, and the floating support is connected to the guide rail in a sliding mode through the sliding groove;

the three-jaw cylinder is arranged on the floating support, and the buffer part is arranged between the floating support and the mounting seat;

the nylon switching piece is provided with threely, three the nylon switching piece respectively with the three output of three-jaw cylinder is connected, the electrode installation piece is provided with threely, and is three the electrode installation piece respectively with threely the nylon switching piece is connected, the electrode chuck is provided with threely, and is three the electrode chuck is respectively with threely the electrode installation piece is connected, and is three the terminal surface cooperation centre gripping of electrode chuck welds the nail.

Preferably, the buffer part comprises a guide rod, a compression spring and a fixed seat, the fixed seat is arranged on the mounting seat, one end of the guide rod is connected with the floating support, the other end of the guide rod is connected with the fixed seat, and the compression spring is sleeved on the periphery of the guide rod between the fixed seat and the floating support; the guide rod is parallel to the guide rail.

Preferably, the slip module includes the guide holder, connects rail, gear motor, transmission tooth group and driving rack, the guide holder sets up the mounting bracket, it sets up to connect the rail the carriage, connect rail sliding connection in the guide holder, gear motor sets up the mounting bracket, transmission tooth group with gear motor's output is connected, driving rack sets up the carriage, transmission tooth group with the meshing of driving rack.

Preferably, the control cabinet comprises a main control cabinet and a mechanical arm control cabinet, the mechanical arm is electrically connected with the mechanical arm control cabinet, and the welding machine, the sliding module, the label supplying mechanism, the welding nail supplying mechanism and the executing mechanism are electrically connected with the main control cabinet.

This application adopts above-mentioned structure, can adjust the position of arm through mounting bracket, slip module and carriage cooperation, welds the sign of different length specification rods, removes carriage to different positions through the slip module, realizes arm, sign supply mechanism and weld nail supply mechanism synchronous motion, adapts to the terminal surface of different length rods. The movable regulation of carriage, equipment can not be in the top of carrying the chain, does not influence the maintenance of production site existing equipment, like rod transport chain etc. each equipment modularized design, the integrated level is higher, takes up an area of rationally.

Drawings

The accompanying drawings are provided to further illustrate the present invention, but the content in the accompanying drawings does not constitute any limitation to the present invention.

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic structural diagram of the sliding module of the present invention;

FIG. 3 is a schematic view of the label supply mechanism of the present invention;

fig. 4 is a schematic structural diagram of the label receiving unit of the present invention;

FIG. 5 is a schematic structural view of the welding pin supply mechanism of the present invention;

FIG. 6 is an enlarged partial schematic view at A of FIG. 5;

fig. 7 is a schematic structural diagram of the actuator of the present invention.

Wherein: the welding machine comprises a control cabinet 1, a welding machine 2, a mounting frame 3, a sliding module 4, a guide seat 4a, a connecting rail 4b, a speed reducing motor 4c and a transmission rack 4 d;

the automatic label printing machine comprises a sliding frame 5, a label supply mechanism 6, a marking machine 6a, a label receiving unit 6b, a label vision unit 6c, a label receiving chute 6d, a sensor 6e and an ejection cylinder 6 f;

the welding nail feeding mechanism 7, the vibrating disc 7a, the conveying assembly 7b, the conveying cylinder 7c, the sliding seat 7d, the guide sliding rail 7e and the conveying clamping groove 7 f;

the device comprises a mechanical arm 8, an actuating mechanism 9, a mounting seat 9a, a three-dimensional vision unit 9b, a nail taking unit 9c, a label taking unit 9d, a sucker 9e, a pipe fitting 9f, a guide rail 9g, a floating support 9h, a three-jaw air cylinder 9i, a nylon transfer block 9j, an electrode mounting block 9k, an electrode chuck 9l, a guide rod 9m, a compression spring 9n and a fixed seat 9 o.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Referring to fig. 1 to 7, the automatic flexible robotic plate welding system of the present embodiment includes a control cabinet 1, a welding machine 2, a mounting frame 3, a sliding module 4, a sliding frame 5, a label supplying mechanism 6, a welding nail supplying mechanism 7, a robot arm 8, and an executing mechanism 9.

The welding machine 2 is arranged on the mounting frame 3, the sliding module 4 is arranged on the mounting frame 3, the sliding frame 5 is arranged on the sliding module 4, the label supplying mechanism 6, the welding nail supplying mechanism 7 and the mechanical arm 8 are arranged on the sliding frame 5, and the executing mechanism 9 is arranged on the mechanical arm 8.

The robotic arm 8 moves the actuator 9 between the label supply mechanism 6, the weld nail supply mechanism 7 and the rod of cards to be welded.

The welding machine 2, the sliding module 4, the label supplying mechanism 6, the welding nail supplying mechanism 7, the mechanical arm 8 and the actuating mechanism 9 are all electrically connected with the control cabinet 1.

Adopt this kind of structure, can adjust the position of arm 8 through mounting bracket 3, slip module 4 and the cooperation of carriage 5, weld the sign of different length specification rods, remove carriage 5 to different positions through slip module 4, realize arm 8, sign supply mechanism 6 and weld nail supply mechanism 7 synchronous motion, adapt to the terminal surface of different length rods. The movable regulation of carriage 5, equipment can not be in the top of carrying the chain, does not influence the maintenance of production site existing equipment, like rod transport chain etc. each equipment modularized design, the integrated level is higher, takes up an area of rationally.

The working process of the system is as follows:

step 1: the control cabinet 1 acquires the label information first.

Step 2: and judging whether the specification of the bar material changes or not, and driving the executing mechanism 9 to move to the welding nail supply mechanism 7 by the mechanical arm 8 and taking a welding nail.

And step 3: A1. when the rod specification is unchanged, the label supply mechanism 6 prints the label, and performs label processing, identification, and positioning.

B1. When the specification of the bar is changed, the sliding module 4 moves to the position where the welding plate of the bar with the corresponding length specification is to be positioned, and the operation of A1 is carried out.

And 4, step 4: the actuator 9 driven by the robot arm 8 moves to the label supplying mechanism 6 and takes out the label.

And 5: the system obtains the signals of stopping the bar in place and the sliding module 4 in place, and the control cabinet 1 drives the mechanical arm to move to the end face of the bar.

Step 6: the welding machine stores energy, and the executing mechanism 9 photographs, processes and calculates the end face of the bar to determine the best welding plate position.

And 7: A2. and (4) judging that the end face of the bar can be welded, and releasing the stored energy by the welding machine 2 to weld the bar.

B2. And judging that the end face of the bar is not weldable, if not, sending an end face abnormal signal, and resetting the mechanical arm 8.

And 8: A3. the welding quality is checked by the executing mechanism 9, and the mechanical arm 8 is reset after the welding quality is qualified.

B3. And (4) checking the quality of the welding plate by the executing mechanism 9, and if the quality is not qualified, jumping back to the step 1 to act again.

And step 9: after the mechanical arm 8 is reset, the system releases the bar, and the action is finished.

Preferably, the welding pin supply mechanism 7 comprises a vibration disc 7a and a conveying assembly 7b, the feeding end of the conveying assembly 7b is opposite to the discharging end of the vibration disc 7a, and the vibration disc 7a and the conveying assembly 7b are both electrically connected with the control cabinet 1.

Adopt this kind of structure, vibration dish 7a vibrates and arranges welding nail groove predetermined direction, and this action accessible sets up the parameter of vibration dish 7a and adjusts, then transports the welding nail through conveying component 7b, makes things convenient for actuating mechanism 9 to get the welding nail and presss from both sides.

Preferably, the conveying assembly 7b comprises a conveying cylinder 7c, a sliding seat 7d, a guiding sliding rail 7e and a conveying clamping groove 7f, the output end of the conveying cylinder 7c is connected with the sliding seat 7d, the sliding seat 7d is connected with the guiding sliding rail 7e in a sliding mode, and the conveying clamping groove 7f is matched with the welding nails to be conveyed.

With this structure, the sliding direction of the sliding seat 7d is perpendicular to the conveying direction of the discharging end of the vibrating disk 7 a; conveying component 7b is used for carrying the welding nail of vibration dish 7a output alone, through the transport card groove 7f that suits with the welding nail, transport card groove 7 f's position just can put into a welding nail promptly, and when carrying at every turn, transport card groove 7f receives a welding nail from the output of vibration dish 7a to drive sliding seat 7d through carrying cylinder 7c and remove, shift out this welding nail from the output of vibration dish 7a, make things convenient for actuating mechanism 9 to press from both sides and get.

Preferably, the label supplying mechanism 6 comprises a marking machine 6a, a label receiving unit 6b and a label vision unit 6c, wherein the feeding end of the label receiving unit 6b is opposite to the discharging end of the marking machine 6a, and the label vision unit 6c is opposite to the label receiving unit 6 b; the marking machine 6a, the label receiving unit 6b and the label vision unit 6c are all electrically connected with the control cabinet 1.

By adopting the structure, the marking machine 6a can mark according to the system requirement, and the structure is the prior art and is not described herein any more. The sign vision unit 6c includes a camera or a video camera to identify and locate the sign of the sign unit 6 b.

Preferably, connect mark unit 6b including connect mark spout 6d, inspection hole, sensor 6e, the hole of stepping down and ejecting cylinder 6f, connect mark spout 6 d's upper end with marking machine 6 a's discharge end is relative, sensor 6e sets up connect mark spout 6 d's below, the inspection hole sets up connect mark spout 6d, sensor 6 e's inspection end with the inspection hole is relative, ejecting cylinder 6f sets up connect mark spout 6 d's below, the hole of stepping down sets up connect mark spout 6d, ejecting cylinder 6 f's output is located step down downthehole.

By adopting the structure, when the label falls into the label receiving chute 6d, the sensor 6e detects the label, the system drives the actuating mechanism 9 to take the label after the label is detected in place, and the ejection cylinder 6f is used for pushing the label to prevent the label from being adhered or clamped in the label receiving chute 6 d.

Preferably, the actuator 9 includes a mounting seat 9a, a three-dimensional vision unit 9b, a nail taking unit 9c and a label taking unit 9d, the three-dimensional vision unit 9b, the nail taking unit 9c and the label taking unit 9d are all arranged on the mounting seat 9a, and the output end of the mechanical arm 8 is connected with the mounting seat 9 a.

The label taking unit 9d comprises a suction cup 9e and a pipe 9f, the pipe 9f is arranged on the mounting seat 9a, one end of the pipe 9f is communicated with the suction cup 9e, and the other end of the pipe 9f is communicated with an external vacuum generator; the nail taking unit 9c, the external vacuum generator and the three-dimensional vision unit 9b are all electrically connected with the control cabinet 1.

With this structure, the three-dimensional vision unit 9b includes a housing, a camera, a light source, a scanning unit, and a control unit, the camera, the light source, and the scanning unit are all disposed in the housing, and the camera, the light source, and the scanning unit are all disposed on a side away from the staple removing unit 9 c; the camera, the light source and the scanning unit are all electrically connected with the control unit, and the control unit is electrically connected with the control cabinet 1. The conditions of the end faces of the bars can be identified through the matching of the camera, the camera and the scanning unit, and the conditions comprise concave-convex depth, bar count, label welding and hanging effects and the like. The camera, the light source and the scanning unit are arranged on one side far away from the nail taking unit 9c, so that the camera, the light source and the scanning unit can be effectively protected, and the camera, the light source or the scanning unit can be prevented from being damaged by spark sputtering during welding.

The sucking disc 9e, the pipe fitting 9f and the vacuum generator are matched to form negative pressure at the sucking disc 9e, so that the label is conveniently sucked.

Preferably, the nail taking unit 9c comprises a guide rail 9g, a sliding groove, a floating support 9h, a buffer part, a three-jaw air cylinder 9i, a nylon transfer block 9j, an electrode mounting block 9k and an electrode chuck 9 l.

The guide rail 9g is arranged on the mounting seat 9a, the sliding groove is arranged on the floating support 9h, and the floating support 9h is connected to the guide rail 9g in a sliding mode through the sliding groove.

The three-jaw cylinder 9i is disposed in the floating support 9h, and the buffer portion is disposed between the floating support 9h and the mounting seat 9 a.

The nylon adapter block 9j is provided with threely, three the nylon adapter block 9j respectively with the three output of three-jaw cylinder 9i is connected, electrode installation piece 9k is provided with threely, and is three electrode installation piece 9k respectively with threely the nylon adapter block 9j is connected, electrode chuck 9l is provided with threely, and is three electrode chuck 9l respectively with threely the electrode installation piece 9k is connected, and is three the terminal surface cooperation centre gripping of electrode chuck 9l welds the nail.

By adopting the structure, the guide rail 9g, the sliding block and the sliding groove are matched to play a good guiding role, the nylon switching block 9j, the electrode mounting block 9k and the electrode chuck 9l are connected to form three clamping arms, and the three clamping arms are matched to clamp the welding nail and weld the welding nail on the end surface of the bar. Three-jaw cylinder 9i and the cooperation of three arm lock can stably press from both sides and get the welding nail, prevent with the rod contact collision back, the welding nail drops.

Preferably, the buffering part comprises a guide rod 9m, a compression spring 9n and a fixed seat 9o, the fixed seat 9o is arranged on the mounting seat 9a, one end of the guide rod 9m is connected with the floating support 9h, the other end of the guide rod 9m is connected with the fixed seat 9o, and the compression spring 9n is sleeved on the periphery of the guide rod 9m between the fixed seat 9o and the floating support 9 h; the guide bar 9m is parallel to the guide rail 9 g.

Adopt this kind of structure, when the welding nail with treat the station contact of welding tablet, the support 9h that floats drives guide bar 9m along axial displacement, compression spring 9n is compressed and is played the cushioning effect to for getting nail unit 9c provides the cushioning effect, prevent that the welding nail from with treating producing hard contact between the welded rod, avoid damaging the rod.

Preferably, the sliding module 4 includes guide holder 4a, connection rail 4b, gear motor 4c, transmission tooth group and transmission rack 4d, guide holder 4a sets up mounting bracket 3, connection rail 4b sets up carriage 5, connection rail 4b sliding connection in guide holder 4a, gear motor 4c sets up mounting bracket 3, transmission tooth group with gear motor 4 c's output is connected, transmission rack 4d sets up carriage 5, transmission tooth group with the meshing of transmission rack 4 d.

By adopting the structure, the transmission gear group is a chain and gear combination, is connected with the gear motor 4c and the transmission rack 4d, and transmits the power of the gear motor 4c to the transmission rack 4d, thereby driving the sliding frame 5 to horizontally move along the length direction of the connecting rail 4 b.

Preferably, the control cabinet 1 includes a main control cabinet and a mechanical arm control cabinet, the mechanical arm 8 is electrically connected to the mechanical arm control cabinet, and the welding machine 2, the sliding module 4, the label supplying mechanism 6, the welding nail supplying mechanism 7 and the executing mechanism 9 are electrically connected to the main control cabinet.

Carry out independent control to arm 8 through the arm switch board, can realize new accurate operation.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims

1. A robot automatic flexible welding plate system is characterized by comprising a control cabinet, a welding machine, a mounting rack, a sliding module, a sliding frame, a label supplying mechanism, a welding nail supplying mechanism, a mechanical arm and an executing mechanism;

2. The robotic automated flexible weld plate system according to claim 1, wherein the weld nail supply mechanism includes a vibratory pan and a transport assembly, a feed end of the transport assembly being opposite a discharge end of the vibratory pan, the vibratory pan and the transport assembly both being electrically connected to the control cabinet.

3. The robotic automated flexible welding plate system according to claim 2, wherein the conveying assembly includes a conveying cylinder, a sliding seat, a guiding slide rail, and a conveying slot, an output end of the conveying cylinder is connected to the sliding seat, the sliding seat is slidably connected to the guiding slide rail, and the conveying slot is adapted to the welding nail to be conveyed.

4. The robotic automated flexible brand welding system according to claim 1, wherein said brand supplying mechanism includes a marking machine, a brand receiving unit having an infeed end opposite to an outfeed end of said marking machine, and a brand vision unit opposite to said brand receiving unit; the marking machine, the label receiving unit and the label visual unit are all electrically connected with the control cabinet.

5. The automatic flexible welding tablet system of robot of claim 4, characterized in that, the mark receiving unit includes mark receiving chute, inspection hole, sensor, hole of stepping down and ejecting cylinder, the upper end of mark receiving chute is relative with the discharge end of marking machine, the sensor sets up the below of mark receiving chute, the inspection hole sets up mark receiving chute, the inspection end of sensor with the inspection hole is relative, ejecting cylinder sets up the below of mark receiving chute, the hole of stepping down sets up mark receiving chute, the output of ejecting cylinder is located the hole of stepping down.

6. The robotic automated flexible plaque welding system according to claim 1 wherein said actuator comprises a mounting base, a three-dimensional vision unit, a staple removing unit and a plaque removing unit, said three-dimensional vision unit, said staple removing unit and said plaque removing unit being disposed on said mounting base, an output end of said robotic arm being connected to said mounting base;

7. The robotic automated flexible weld plate system according to claim 6, wherein the nail removing unit comprises a guide rail, a sliding groove, a floating support, a buffer, a three-jaw cylinder, a nylon transfer block, an electrode mounting block and an electrode chuck;

8. The automatic flexible welding plate system of robot according to claim 7, characterized in that the buffer part comprises a guide rod, a compression spring and a fixed seat, the fixed seat is arranged on the mounting seat, one end of the guide rod is connected with the floating support, the other end of the guide rod is connected with the fixed seat, the compression spring is sleeved on the periphery of the guide rod between the fixed seat and the floating support; the guide rod is parallel to the guide rail.

9. The automatic flexible welding tablet system of robot of claim 1, characterized in that, the slip module includes guide holder, connection rail, gear motor, transmission tooth group and transmission rack, the guide holder sets up in the mounting bracket, the connection rail sets up in the carriage, the connection rail sliding connection in the guide holder, gear motor sets up in the mounting bracket, the transmission tooth group with gear motor's output is connected, the transmission rack sets up in the carriage, the transmission tooth group with the meshing of transmission rack.

10. The robotic automated flexible welding system of claim 1, wherein the control cabinet comprises a main control cabinet and a robotic arm control cabinet, the robotic arm is electrically connected to the robotic arm control cabinet, and the welding machine, the slide module, the label supply mechanism, the weld nail supply mechanism, and the actuator are electrically connected to the main control cabinet.