CN212682858U - Shear force nail automatic welding robot equipment based on 3D vision and gantry system - Google Patents
Shear force nail automatic welding robot equipment based on 3D vision and gantry system Download PDFInfo
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- CN212682858U CN212682858U CN202021392956.8U CN202021392956U CN212682858U CN 212682858 U CN212682858 U CN 212682858U CN 202021392956 U CN202021392956 U CN 202021392956U CN 212682858 U CN212682858 U CN 212682858U
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Abstract
The utility model relates to the field of shear nail welding, in particular to an automatic shear nail welding robot device based on 3D vision and a gantry system, which comprises a track and a moving assembly, wherein the moving assembly comprises an X-axis moving assembly (1), a Y-axis moving assembly (2) and a Z-axis moving assembly (3) which move along the track; a shear nail feeding mechanism, a porcelain ring feeding mechanism, a shear nail and porcelain ring combined tool and a shear nail and porcelain ring mounting robot assembly (4) are arranged on the Y-axis moving assembly (2); a welding gun (11) is arranged on the Z-axis moving assembly (3). The utility model discloses utilize ripe triaxial longmen moving system, the automatic welding of accomplishing the shear force nail such as cooperation camera system, robot system.
Description
Technical Field
The utility model relates to a shear force nail welding field, a shear force nail automatic weld robot equipment based on 3D vision and longmen system specifically says so.
Background
A shear pin is a welded pin that is placed against the bending of a steel beam and is usually welded (resistance welded) to the steel beam on a large scale to ensure its bending resistance when subjected to external forces. The method is widely applied to steel structure engineering of bridge systems, industrial and civil building plate-beam systems, electric power systems, railways, airports and the like.
Traditionally, lines are drawn on a steel plate manually, porcelain rings are sleeved on shear nails, and then the porcelain rings are welded on the positions where the lines are drawn on the steel plate one by one. The shear nails are large in scale and quantity, large in welding work amount, severe in field construction operation environment, high in danger, large in labor intensity and low in operation efficiency.
In the prior art, the welding of the shear nails is completed by adopting line scanning laser 3D vision and two robots matched with a gantry system. The line laser 3D vision scans the shear force nail material frame and the porcelain ring material frame in sequence under the drive of the linear module, the obtained data capable of grabbing the workpiece are sent to the robot, the robot is placed on the combined tool after grabbing, and the shear force nail and the porcelain ring are connected in a sleeved mode. And then, the assembled shear nails and porcelain rings are installed on a welding gun by an installing robot, and then the gantry Z axis moves to contact the surface of the plate to be welded so as to finish welding. And then the gantry system moves to the next position to be welded according to the drawing data, and the process is repeated.
Among the prior art, the laser 3D vision system is swept to line needs to be installed on sharp module, and the unstable structure and consuming time are longer, influence whole beat. The grabbing of the shear nails and the porcelain rings is completed by the same robot, the action is complicated, and the beat is long.
Therefore, how to overcome the above technical problems and disadvantages is a problem to be solved.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at prior art not enough, provide a shear force nail automatic weld robot equipment based on 3D vision and longmen system, the utility model discloses utilize ripe triaxial longmen mobile system, coordinate automatic welding of camera system, robot system etc. completion shear force nail.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme:
a shear nail automatic welding robot device based on a 3D vision and gantry system comprises a track and a moving assembly, wherein the moving assembly comprises an X-axis moving assembly moving along the track, a Y-axis moving assembly moving along the X-axis moving assembly, and a Z-axis moving assembly moving along the Y-axis moving assembly;
the Y-axis moving assembly is provided with a shear nail feeding mechanism, a ceramic ring feeding mechanism, a shear nail and ceramic ring combined tool and a shear nail and ceramic ring mounting robot assembly; the shear nail feeding mechanism comprises a shear nail material frame, a shear nail grabbing robot, a shear nail grabbing 3D visual camera and a shear nail combination mechanism, wherein the shear nail grabbing robot is provided with a shear nail grabbing tool, and the shear nail grabbing 3D visual camera is positioned above the shear nail material frame; the ceramic ring feeding mechanism comprises a ceramic ring material frame assembly, a ceramic ring grabbing 3D vision camera, a ceramic ring grabbing robot and a ceramic ring overturning combined mechanism, wherein a ceramic ring grabbing tool is arranged on the ceramic ring grabbing robot, and the ceramic ring grabbing 3D vision camera is positioned above the ceramic ring material frame assembly; a shear nail ceramic ring mounting tool is arranged on the shear nail ceramic ring mounting robot assembly;
and a welding gun is arranged on the Z-axis moving assembly.
Further, the shear force nail porcelain ring combined tool is used for combining the shear force nail and the porcelain ring and comprises a support, a shear force nail positioning block, a porcelain ring positioning sleeve, a first optical fiber sensor and a second optical fiber sensor, wherein the shear force nail positioning block is arranged on the support, the shear force nail positioning block is positioned above the porcelain ring positioning sleeve, the first optical fiber sensor is used for detecting whether the shear force nail is assembled in place, the second optical fiber sensor is used for detecting whether the porcelain ring is assembled in place, the first optical fiber sensor and the second optical fiber sensor are connected to a signal input end of an electric control system, and a signal output end of the electric control system is connected with a shear force nail porcelain ring mounting robot assembly.
Further, porcelain ring upset combined mechanism includes porcelain ring die clamping cylinder, porcelain ring upset cylinder, porcelain ring lift cylinder, porcelain ring translation cylinder, and porcelain ring die clamping cylinder fixes the output at porcelain ring upset cylinder, and porcelain ring upset cylinder can drive the upset of porcelain ring die clamping cylinder, and the output at porcelain ring lift cylinder is fixed to porcelain ring upset cylinder, and porcelain ring lift cylinder drive porcelain ring upset cylinder goes up and down, and porcelain ring lift cylinder fixes the output at porcelain ring translation cylinder, and porcelain ring translation cylinder drive porcelain ring lift cylinder horizontal migration.
Further, the shear screw combination mechanism comprises a shear screw clamping cylinder, a shear screw rotating cylinder and a shear screw lifting cylinder, wherein the shear screw clamping cylinder is fixed at the output end of the shear screw rotating cylinder, the shear screw rotating cylinder drives the shear screw clamping cylinder to rotate, the shear screw rotating cylinder is fixed at the output end of the shear screw lifting cylinder, and the shear screw lifting cylinder drives the shear screw rotating cylinder to lift.
The utility model discloses a shear force nail automatic weld robot equipment's beneficial effect based on 3D vision and longmen system:
1. the utility model discloses the combination of shear force nail and porcelain ring adopts solitary mechanism to accomplish, has optimized the work flow of robot, and the beat is shorter, and efficiency is higher.
2. The utility model discloses a realization work flow of three robots, the beat that can effectual utilization robot can not cause the redundancy of robot time, very big improvement production efficiency, realized the optimization of price/performance ratio.
3. The utility model discloses a two 3D vision cameras have fast, efficient advantage, can constantly give the accurate coordinate information of work piece.
Drawings
Fig. 1 is a schematic structural diagram of a shear nail automatic welding robot device based on 3D vision and a gantry system of the present invention;
fig. 2 is a schematic structural diagram of the shear pin feeding mechanism and the ceramic ring feeding mechanism of the present invention;
fig. 3 is a schematic structural view of the shear nail and ceramic ring combined tool, the ceramic ring overturning combined mechanism and the shear nail combined mechanism of the present invention;
fig. 4 is a schematic structural view of the shear pin grabbing tool of the present invention;
fig. 5 is a schematic structural view of the ceramic ring grabbing tool of the present invention;
fig. 6 is a schematic structural view of the shear nail porcelain ring installation tool of the present invention.
In the figure: 1-X axis moving assembly, 2-Y axis moving assembly, 3-Z axis moving assembly, 4-shear nail porcelain ring installation robot assembly, 5-shear nail grabbing robot, 6-shear nail grabbing 3D vision camera, 7-porcelain ring grabbing 3D vision camera, 8-porcelain ring grabbing robot, 9-bracket, 10-second optical fiber sensor, 11-welding gun, 12-shear nail grabbing tool, 13-porcelain ring grabbing tool, 14-shear nail porcelain ring installation tool, 15-shear nail frame, 16-porcelain ring frame assembly, 17-shear nail positioning block, 18-first optical fiber sensor, 19-porcelain ring positioning sleeve, 20-porcelain ring clamping cylinder, 21-porcelain ring overturning cylinder, 22-porcelain ring lifting cylinder, 23-a ceramic ring translation cylinder, 24-a shear nail clamping cylinder, 25-a shear nail rotation cylinder and 26-a shear nail lifting cylinder.
Detailed Description
The following describes the automatic shear nail welding robot device based on 3D vision and gantry system in more detail by referring to the drawings and specific embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Referring to fig. 1, the shear nail automatic welding robot device based on the 3D vision and gantry system of the embodiment includes a rail and a moving assembly, where the moving assembly includes an X-axis moving assembly 1 moving along the rail, a Y-axis moving assembly 2 moving along the X-axis moving assembly 1, and a Z-axis moving assembly 3 moving along the Y-axis moving assembly 2.
Referring to fig. 1, 2 and 4-6, a shear nail feeding mechanism, a ceramic ring feeding mechanism, a shear nail and ceramic ring combined tool and a shear nail and ceramic ring mounting robot assembly 4 are arranged on the Y-axis moving assembly 2; the shear nail feeding mechanism comprises a shear nail material frame 15, a shear nail grabbing robot 5, a shear nail grabbing 3D visual camera 6 and a shear nail combination mechanism, wherein a shear nail grabbing tool 12 is arranged on the shear nail grabbing robot 5, and the shear nail grabbing 3D visual camera 6 is positioned above the shear nail material frame 15; the ceramic ring feeding mechanism comprises a ceramic ring material frame assembly 16, a ceramic ring grabbing 3D vision camera 7, a ceramic ring grabbing robot 8 and a ceramic ring overturning combination mechanism, wherein a ceramic ring grabbing tool 13 is arranged on the ceramic ring grabbing robot 8, and the ceramic ring grabbing 3D vision camera 7 is positioned above the ceramic ring material frame assembly 16; the shear nail porcelain ring mounting robot assembly 4 is provided with a shear nail porcelain ring mounting tool 14.
Referring to fig. 3, the shear nail and porcelain ring combined tool comprises a support 9, a shear nail positioning block 17, a porcelain ring positioning sleeve 19, a first optical fiber sensor 18 and a second optical fiber sensor 10, wherein the shear nail positioning block 17 is arranged on the support 9, the first optical fiber sensor 18 is used for detecting whether the shear nail is assembled in place, the second optical fiber sensor 10 is used for detecting whether the porcelain ring is assembled in place, the first optical fiber sensor 18 and the second optical fiber sensor 10 are connected to a signal input end of an electric control system, and a signal output end of the electric control system is connected with the shear nail and porcelain ring mounting robot assembly 4.
Referring to fig. 3, porcelain ring upset combined mechanism includes porcelain ring die clamping cylinder 20, porcelain ring upset cylinder 21, porcelain ring lift cylinder 22, porcelain ring translation cylinder 23, porcelain ring die clamping cylinder 20 fixes the output at porcelain ring upset cylinder 21, porcelain ring upset cylinder 21 can drive the upset of porcelain ring die clamping cylinder 20, porcelain ring upset cylinder 21 fixes the output at porcelain ring lift cylinder 22, porcelain ring lift cylinder 22 drives the lift of porcelain ring upset cylinder 21, porcelain ring lift cylinder 22 fixes the output at porcelain ring translation cylinder 23, porcelain ring translation cylinder 23 drives porcelain ring lift cylinder 22 horizontal migration.
The shear nail combination mechanism comprises a shear nail clamping cylinder 24, a shear nail rotating cylinder 25 and a shear nail lifting cylinder 26, wherein the shear nail clamping cylinder 24 is fixed at the output end of the shear nail rotating cylinder 25, the shear nail rotating cylinder 25 drives the shear nail clamping cylinder 24 to rotate, the shear nail rotating cylinder 25 is fixed at the output end of the shear nail lifting cylinder 26, and the shear nail lifting cylinder 26 drives the shear nail rotating cylinder 25 to lift.
Referring to fig. 1 and 2, a welding gun is arranged on the Z-axis moving assembly 3.
The utility model discloses a theory of operation does: a worker respectively adds the shear nails and the porcelain rings into the shear nail material frame 15 and the porcelain ring material frame assembly 16; the shear pin grabbing 3D vision camera 6 shoots the shear pin workpiece in the shear pin material frame 15, the coordinate information of the shear pin workpiece and the direction of the workpiece are given, and the shear pin grabbing robot 5 is guided to grab the shear pin in the shear pin material frame 15; the shear nail grabbing robot 5 places the grabbed shear nails on the grabbers of the shear nail clamping air cylinders 24; the ceramic ring grabbing 3D vision camera 7 shoots a ceramic ring workpiece in the ceramic ring material frame assembly 16, gives coordinate information of the ceramic ring workpiece and the positive and negative of the workpiece, and guides the ceramic ring grabbing robot 8 to grab the ceramic ring in the ceramic ring material frame assembly 16; the porcelain ring grabbing robot 8 places the grabbed porcelain rings on the grabbers of the porcelain ring clamping cylinder 20; the ceramic ring overturning combination mechanism judges whether to overturn the ceramic ring according to the information of the ceramic ring grabbing 3D vision camera 7, and then the ceramic ring is placed on the ceramic ring positioning sleeve 19; the shear nail combination mechanism sleeves the shear nail into the porcelain ring in the porcelain ring positioning sleeve 19; the shear nail porcelain ring mounting robot assembly 4 grabs the combined shear nail and porcelain ring in the shear nail porcelain ring combined tool and sends the combined shear nail and porcelain ring into a welding gun in the Z-axis moving assembly 3; the Z-axis moving assembly 3 with a welding gun moves downwards to be close to a steel plate to be welded, and after the Z-axis servo motor feeds back forcefully, a welding machine is started to finish welding; after welding is finished, the Z-axis moving assembly 3 with the welding gun is lifted for a certain distance, the X-axis moving assembly 1 retreats for a certain distance, the Z-axis moving assembly is continuously lifted to the original point, and the X-axis moving assembly 1 and the Y-axis moving assembly 2 move to the next welding position; the processes of grabbing and installing are repeated, and the welding work of the shear nails on the whole plate surface is completed.
The shear force nail porcelain ring combined tool has the main functions that the shear force nail and the porcelain ring are combined together, firstly, the porcelain ring overturning combined mechanism places the porcelain ring on the shear force nail porcelain ring combined tool, the second optical fiber sensor 10 outputs signals, then the shear force nail combined mechanism sleeves the shear force nail into the porcelain ring, the first optical fiber sensor 18 outputs the signals, when the shear force nail porcelain ring mounting robot assembly 4 receives the signals of the two optical fiber sensors, and when the rest mechanisms are all in the safe position, the shear force nail porcelain ring mounting robot assembly 4 grabs the shear force nail and the porcelain ring in the shear force nail porcelain ring combined tool.
Porcelain ring upset combined mechanism main function is with the porcelain ring upset (if the porcelain ring snatchs 3D vision camera 7 and judges that the porcelain ring direction is correct then not overturn) and put into shear force nail porcelain ring combined tooling, and its principle is: at first, the porcelain ring clamping cylinder 20 clamps the porcelain ring from the porcelain ring grabbing robot 8, whether the porcelain ring is overturned or not is judged according to the porcelain ring grabbing 3D vision camera 7, if the porcelain ring direction is reversed, the porcelain ring overturning cylinder 21 overturns 180 degrees clockwise, then the porcelain ring translation cylinder 23 advances, the porcelain ring is placed into the shear force nail porcelain ring combination tool, finally the porcelain ring lifting cylinder 22 descends, the porcelain ring is placed on the porcelain ring positioning sleeve 19, then the porcelain ring clamping cylinder 20 loosens, the porcelain ring falls down, the porcelain ring lifting cylinder 22 rises, the porcelain ring translation cylinder 23 returns to the original position, the porcelain ring overturning cylinder 21 rotates 180 degrees anticlockwise and waits for instructions on the next step. If the ceramic ring direction is positive, the ceramic ring turning cylinder 21 does not need to turn, and the actions of the ceramic ring clamping cylinder 20, the ceramic ring lifting cylinder 22 and the ceramic ring translation cylinder 23 are repeated.
The shear nail combination mechanism has the main functions that a shear nail is accurately sleeved into a porcelain ring in the shear nail and porcelain ring combination tool and comprises a shear nail clamping cylinder 24, a shear nail rotating cylinder 25, a shear nail lifting cylinder 26 and the like, firstly, the shear nail clamping cylinder 24 clamps a shear nail from the shear nail grabbing robot 5, then the shear nail rotating cylinder 25 rotates 180 degrees anticlockwise, the shear nail is sent into the shear nail and porcelain ring combination tool, finally, the shear nail lifting cylinder 26 descends, the shear nail is sleeved into the porcelain ring to complete the combination of the shear nail and the porcelain ring, then, the shear nail clamping cylinder 24 is loosened, the shear nail lifting cylinder 26 rises, the shear nail rotating cylinder 25 rotates 180 degrees clockwise to return and wait for a next command.
Shear force nail porcelain ring installation robot assembly 4, shear force nail snatch robot 5, porcelain ring snatch robot 8, shear force nail snatch 3D vision camera 6, the porcelain ring snatchs 7 hardware parts of 3D vision camera and all adopt the mature product in market, and this is not repeated.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the terms "a" or "an" and the like in the description and in the claims of this application do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The exemplary embodiments of the present invention have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various modifications and changes may be made to the specific embodiments without departing from the concept of the present invention, and various combinations of the technical features and structures of the present invention may be implemented without departing from the scope of the present invention.
Claims (4)
1. The utility model provides a shear force nail automatic weld robot equipment based on 3D vision and gantry system which characterized in that: the device comprises a track and a moving assembly, wherein the moving assembly comprises an X-axis moving assembly (1) moving along the track, a Y-axis moving assembly (2) moving along the X-axis moving assembly (1), and a Z-axis moving assembly (3) moving along the Y-axis moving assembly (2);
a shear nail feeding mechanism, a porcelain ring feeding mechanism, a shear nail and porcelain ring combined tool and a shear nail and porcelain ring mounting robot assembly (4) are arranged on the Y-axis moving assembly (2); the shear nail feeding mechanism comprises a shear nail material frame (15), a shear nail grabbing robot (5), a shear nail grabbing 3D vision camera (6) and a shear nail combination mechanism, wherein a shear nail grabbing tool (12) is arranged on the shear nail grabbing robot (5), and the shear nail grabbing 3D vision camera (6) is positioned above the shear nail material frame (15); the ceramic ring feeding mechanism comprises a ceramic ring material frame assembly (16), a ceramic ring grabbing 3D vision camera (7), a ceramic ring grabbing robot (8) and a ceramic ring overturning combined mechanism, wherein a ceramic ring grabbing tool (13) is arranged on the ceramic ring grabbing robot (8), and the ceramic ring grabbing 3D vision camera (7) is positioned above the ceramic ring material frame assembly (16); a shear nail porcelain ring mounting tool (14) is arranged on the shear nail porcelain ring mounting robot assembly (4);
and a welding gun (11) is arranged on the Z-axis moving assembly (3).
2. The shear nail automatic welding robot equipment based on the 3D vision and the gantry system is characterized in that: shear force nail porcelain ring combination frock is used for making up shear force nail and porcelain ring, including support (9) and shear force nail locating piece (17) of setting on support (9), porcelain ring position sleeve (19), first optical fiber sensor (18), second optical fiber sensor (10), shear force nail locating piece (17) are located porcelain ring position sleeve (19) top, first optical fiber sensor (18) are used for detecting whether the assembly of shear force nail targets in place, second optical fiber sensor (10) are used for detecting whether the assembly of porcelain ring targets in place, first optical fiber sensor (18), second optical fiber sensor (10) insert electrical system's signal input part, electrical system's signal output part connects shear force nail porcelain ring installation robot assembly (4).
3. The shear nail automatic welding robot equipment based on the 3D vision and the gantry system is characterized in that: porcelain ring upset combination mechanism includes porcelain ring die clamping cylinder (20), porcelain ring upset cylinder (21), porcelain ring lift cylinder (22), porcelain ring translation cylinder (23), the output at porcelain ring upset cylinder (21) is fixed in porcelain ring die clamping cylinder (20), porcelain ring upset cylinder (21) can drive porcelain ring die clamping cylinder (20) upset, the output at porcelain ring lift cylinder (22) is fixed in porcelain ring upset cylinder (21), porcelain ring lift cylinder (22) drive porcelain ring upset cylinder (21) go up and down, the output at porcelain ring translation cylinder (23) is fixed in porcelain ring lift cylinder (22), porcelain ring translation cylinder (23) drive porcelain ring lift cylinder (22) horizontal migration.
4. The shear nail automatic welding robot equipment based on the 3D vision and the gantry system is characterized in that: the shear nail combination mechanism comprises a shear nail clamping cylinder (24), a shear nail rotating cylinder (25) and a shear nail lifting cylinder (26), wherein the shear nail clamping cylinder (24) is fixed at the output end of the shear nail rotating cylinder (25), the shear nail rotating cylinder (25) drives the shear nail clamping cylinder (24) to rotate, the shear nail rotating cylinder (25) is fixed at the output end of the shear nail lifting cylinder (26), and the shear nail lifting cylinder (26) drives the shear nail rotating cylinder (25) to lift.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021392956.8U CN212682858U (en) | 2020-07-15 | 2020-07-15 | Shear force nail automatic welding robot equipment based on 3D vision and gantry system |
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| CN202021392956.8U CN212682858U (en) | 2020-07-15 | 2020-07-15 | Shear force nail automatic welding robot equipment based on 3D vision and gantry system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114101959A (en) * | 2021-12-17 | 2022-03-01 | 西南交通大学 | Automatic welding system for bridge shear nails |
-
2020
- 2020-07-15 CN CN202021392956.8U patent/CN212682858U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114101959A (en) * | 2021-12-17 | 2022-03-01 | 西南交通大学 | Automatic welding system for bridge shear nails |
| CN114101959B (en) * | 2021-12-17 | 2022-11-22 | 西南交通大学 | Automatic welding system for bridge shear nails |
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