CN214161190U - Automatic system of bending of vision - Google Patents

Abstract

The utility model discloses an automatic system of bending of vision has related to an automatic system of bending, especially an utilize vision to carry out automatic system of bending, including the place, the top fixed mounting support frame in place, the support frame is the type of falling L, one side fixed mounting vision machine of support frame, the six robots of top fixed mounting in place, one side of six robots is equipped with the material loading level, it installs to go up the material loading level the top in place, the opposite side of six robots is equipped with down the material level, the installation of material level down the top in place. The utility model determines the position state of the workpiece in the loading material skip car through the vision machine, guides the six-axis robot to grab the position coordinate, and the six-axis robot sucks the pipe fitting through the magnetic chuck and then puts the pipe fitting on the pipe bender; and after the pipe bending is finished, the robot takes down the finished product and puts the finished product into a blanking position skip car.

Description

Automatic system of bending of vision

Technical Field

The utility model belongs to the technical field of automatic system of bending system and specifically relates to automatic system of bending of vision.

Background

Steel pipes are not only used for transporting fluids and powdery solids, exchanging heat energy, manufacturing mechanical parts and containers, but also are economical steels. The steel pipe is used for manufacturing the building structure net rack, the supporting column and the mechanical support, so that the weight can be reduced, the metal can be saved by 20-40%, and the industrialized mechanized construction can be realized. The steel pipe is used for manufacturing the highway bridge, so that steel can be saved, the construction is simplified, the area of a coating protective layer can be greatly reduced, and the investment and the maintenance cost are saved.

When the steel pipe is assembled, the steel pipe needs to be bent, and the traditional steel pipe bending mode is manual feeding, bending by a pipe bending machine and manual discharging, so that the dependence on manual operation is large, the repeated labor intensity of personnel is high, and the requirement of high yield cannot be met.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model

The utility model aims at providing an automatic system of bending of vision to solve the problem that the traditional steel pipe mode of bending is artifical material loading-bending machine system-artifical unloading, and is big to artifical dependence, and personnel's repeated intensity of labour is big, and can't satisfy the demand of high productivity among the above-mentioned background art.

Technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: automatic system of bending of vision, including the place, the top fixed mounting support frame in place, the support frame is the type of falling L, one side fixed mounting vision machine of support frame, the six robots of top fixed mounting in place, one side of six robots is equipped with the material loading level, it installs to go up the material level the top in place, the opposite side of six robots is equipped with down the material level, the installation of material level is down the top in place.

Preferably, the one end installation tongs mount of six robots, one side fixed mounting gripping apparatus of tongs mount, install magnetic chuck on the gripping apparatus, grab and have two pairs of clamping jaws, go on when satisfying last unloading, magnetic chuck can the demagnetization.

Preferably, the material loading level includes two first mounts, two first mount symmetry is fixed the top in place, two the material loading frame is installed in the middle matching of first mount, the material loading frame removes the installation skip, will through screw and nut first mount with material loading frame reciprocal anchorage, material loading frame with the skip phase-match.

Preferably, the device comprises two second fixing frames, the two second fixing frames are symmetrically fixed at the top of the field, the middle of each second fixing frame is matched with a blanking frame, the blanking frame is movably provided with a blanking vehicle, the second fixing frames are mutually fixed with the blanking frame through screws and nuts, and the blanking frame is matched with the blanking vehicle.

Preferably, go up skip one side demountable installation handle, one side demountable installation handle of skip down, the handle is easily dismantled.

Preferably, be equipped with the guardrail around the six robots, guardrail fixed mounting be in on the ground, the guardrail is used for restricting the transportation orbit of six robots, prevents that the return bend from dropping carelessly, causes the injury to the staff.

Preferably, the import department of material loading position is equipped with material loading passageway and material loading door, the rotatable installation of one side of material loading passageway material loading door, the import department of material unloading position is equipped with unloading passageway and unloading door, the rotatable installation of one side of unloading passageway material unloading door.

Preferably, the middle of material loading level and bending machine is equipped with the mould platform, and the mould platform adopts rubber roll and servo motor combination mode, and the work piece passes through 2D camera visual detection angle, corrects the pipe fitting rotation angle, and the steel pipe is rectified the back manipulator and is snatched the steel pipe and carry out the material loading.

Advantageous effects

Compared with the prior art, the beneficial effects of the utility model are that: the utility model determines the position state of the workpiece in the loading material skip car through the vision machine, guides the robot to grab the position coordinate, and the robot sucks the pipe fitting through the magnetic chuck and then puts the pipe fitting into the loading port of the pipe bender; and after the pipe bending is finished, the robot takes down the finished product and puts the finished product into a blanking position skip car.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of a six-axis robot and a gripper fixing frame according to the present invention;

FIG. 3 is a schematic view of the structure of the vision machine of the present invention;

FIG. 4 is a schematic view of the loading structure of the present invention;

fig. 5 is a schematic structural view of the first fixing frame of the present invention;

fig. 6 is a schematic structural view of the feeding frame of the present invention;

fig. 7 is a schematic structural view of the feeding cart of the present invention.

In the figure: 1. the robot comprises a field, 2, a support frame, 3, a vision machine, 4, a six-axis robot, 5, a feeding position, 51, a first fixing frame, 52, a feeding frame, 53, a feeding vehicle, 5a, a feeding channel, 5b, a feeding door, 6, a discharging position, 6a, a discharging channel, 6b, a discharging door, 7, a gripper fixing frame, 8 and a guardrail.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In an embodiment, please refer to fig. 1 to 7, the present invention provides a technical solution: automatic system of bending of vision, including place 1, the top fixed mounting support frame 2 of place 1, support frame 2 is the type of falling L, one side fixed mounting vision machine 3 of support frame 2, the six robots of top fixed mounting 4 of place 1, one side of six robots 4 is equipped with material level 5, it installs to go up material level 5 the top of place 1, the opposite side of six robots 4 is equipped with down material level 6, material level 6 installs down the top of place 1.

In this embodiment, the bending machine is mounted on one side of the loading position.

In an embodiment, referring to fig. 2, one end of the six-axis robot 4 is provided with a gripper fixing frame 7, one side of the gripper fixing frame 7 is fixedly provided with a gripper, the gripper is provided with a magnetic chuck, the gripper is provided with two pairs of clamping jaws, loading and unloading can be performed simultaneously, and the magnetic chuck can be demagnetized.

In an embodiment, referring to fig. 4-7, the loading level 5 includes two first fixing frames 51, the two first fixing frames 51 are symmetrically fixed on the top of the field 1, a loading frame 52 is installed between the two first fixing frames 51 in a matching manner, and a loading vehicle 53 is installed on the loading frame 52 in a moving manner. The first fixing frame 51 and the feeding frame 52 are fixed to each other through screws and nuts, and the feeding frame 52 is matched with the feeding trolley 53.

In an embodiment, referring to fig. 1, the blanking position 6 includes two second fixing frames symmetrically fixed on the top of the field 1, a blanking frame is installed between the two second fixing frames in a matching manner, and the blanking frame is movably installed with a blanking vehicle. The second fixing frame and the blanking frame are fixed with each other through screws and nuts, and the blanking frame is matched with the blanking vehicle.

In an embodiment, referring to fig. 7, a handle is detachably mounted on one side of the feeding cart 53, and a handle is detachably mounted on one side of the discharging cart, and the handle is easy to detach.

In an embodiment, referring to fig. 1, a guardrail 8 is disposed around the six-axis robot 4, and the guardrail 8 is fixedly mounted on the field 1. The guardrail is used for limiting the transportation track of the six-axis robot, and prevents the bent pipe from accidentally falling to cause injury to workers.

In an embodiment, referring to fig. 1, a feeding channel 5a and a feeding gate 5b are disposed at an inlet of the feeding level 5, the feeding gate 5b is rotatably mounted at one side of the feeding channel 5a, a discharging channel 6a and a discharging gate 6b are disposed at an inlet of the discharging level 6, and the discharging gate 6b is rotatably mounted at one side of the discharging channel 6 a.

In an embodiment, referring to fig. 1 to 7, a mold platform is arranged between the feeding level and the bending machine, the mold platform adopts a combination mode of a rubber roller and a servo motor, a workpiece visually detects an angle through a 2D camera, corrects a rotation angle of a pipe fitting, and a manipulator grabs the steel pipe for feeding after the steel pipe is corrected.

The working principle is as follows: the utility model discloses a position of steel pipe in the control vision machine 3, the definite skip 53, and then the operation of six robots of control 4 snatchs the steel pipe through the magnetic chuck, then puts into the bending machine with the steel pipe, and then the return bend operation, after the steel pipe is by the return bend, the operation of control vision machine 3, the position of the skip under the definite, and then the steel pipe after six robots of operation 4 will return bend is put into the skip under the material.

Claims (7)

1. Automatic system of bending of vision, including place (1), its characterized in that: the top fixed mounting support frame (2) of place (1), support frame (2) are the type of falling L, one side fixed mounting vision machine (3) of support frame (2), the six robots of top fixed mounting (4) of place (1), one side of six robots (4) is equipped with material loading level (5), material loading level (5) are installed the top of place (1), the opposite side of six robots (4) is equipped with down material level (6), material level (6) are installed down the top of place (1).

2. The vision automated bending system according to claim 1, wherein: one end of the six-axis robot (4) is provided with a gripper fixing frame (7), one side of the gripper fixing frame (7) is fixedly provided with a gripper, and the gripper is provided with a magnetic suction disc.

3. The vision automated bending system according to claim 1, wherein: go up material level (5) and include two first mount (51), two first mount (51) symmetry is fixed the top of place (1), two the centre matching of first mount (51) installs material loading frame (52), material loading frame (52) removal installation skip (53).

4. The visual automated bending system according to claim 3, wherein: the blanking position (6) comprises two second fixing frames, the two second fixing frames are symmetrically fixed at the top of the field (1), the two second fixing frames are matched with the middle of the second fixing frames, and the blanking frames are movably provided with blanking vehicles.

5. The visual automated bending system according to claim 4, wherein: the handle is detachably mounted on one side of the feeding vehicle (53), and the handle is detachably mounted on one side of the discharging vehicle.

6. The vision automated bending system according to claim 1, wherein: be equipped with guardrail (8) around six robots (4), guardrail (8) fixed mounting be in on the place (1).

7. The vision automated bending system according to claim 1, wherein: the import department of material loading position (5) is equipped with material loading passageway (5a) and material loading door (5b), the rotatable installation in one side of material loading passageway (5a) material loading door (5b), the import department of material unloading position (6) is equipped with unloading passageway (6a) and unloading door (6b), the rotatable installation in one side of unloading passageway (6a) unloading door (6 b).

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