WO2020024169A1 - Automatic welding device, clamping robot, and automatic welding method - Google Patents

Abstract

An automatic welding device, a clamping robot, and an automatic welding method. The automatic welding device comprises: a material stacking mold (12) used for placing materials to be welded that comprise transverse steel bars and longitudinal steel bars arranged crosswise, wherein the transverse steel bars and the longitudinal steel bars form a steel bar mesh (10); a clamping robot (13) used for determining whether gaps exist between the transverse reinforcing bars and the longitudinal reinforcing bars, and clamping the transverse reinforcing bar and the longitudinal reinforcing bar having a gap therebetween so that the two are in close contact with each other; and a welding robot ( 14) used for welding the transverse reinforcing bars and the longitudinal reinforcing bars that are in close contact with each other.

Description

Automatic welding equipment, clamping robot and automatic welding method Ranch

[Technical Field]

The present application relates to the field of automatic welding, and in particular to an automatic welding device, a clamping robot, and an automatic welding method.

 【Background technique】

Many building structures, such as ceilings, exterior walls, and bridges, need to be bent and assembled into a reinforced mesh for welding and installation. In the prior art, the welding of the reinforcing mesh is performed manually, and when the manual welding is performed, the assembled reinforcing mesh needs to be put into a fixture before welding.

However, the reinforcing meshes placed in the jig are not always in a state that can be directly welded, and there will be gaps between the reinforcements at the positions to be welded in the mesh to prevent the welding from proceeding. For the gap to be welded, manual intervention is required, and because the steel mesh is large, there are many locations to be welded on the mesh, which requires manual operation at different positions. Therefore, in the manual intervention of clamping, it takes a long time and consumes too much energy of workers.

At present, manual welding of steel meshes has the disadvantages of high work intensity, harsh working environment, long welding time, and wasted labor.

 [Summary of the Invention]

The technical problem mainly solved by the present application is to provide an automatic welding equipment, a clamping robot and an automatic welding method, which can realize the automation of reinforcement mesh welding, improve the production efficiency, reduce the work intensity of workers, shorten the welding time, and save labor.

In order to solve the above technical problems, the first technical solution adopted in the present application is to provide an automatic welding equipment, including: a coded tire for placing materials to be welded, wherein the materials to be welded include transverse reinforcing bars arranged in cross And a longitudinal reinforcing bar, the transverse reinforcing bar and the longitudinal reinforcing bar form a reinforcing mesh; a clamping robot for judging whether a gap exists between the transverse reinforcing bar and the longitudinal reinforcing bar at a position to be welded, and the transverse reinforcing bar where the gap exists Clamping with the longitudinal steel bar so that the transverse steel bar and the longitudinal steel bar are close to each other at the position to be welded; a welding robot is used to align the transverse steel bar and the longitudinal steel bar that are close to each other at the position to be welded Rebar is welded.

In order to solve the above technical problem, the second technical solution adopted in the present application is to provide a clamping robot, which is used for clamping the transverse and longitudinal steel bars in the steel mesh to be welded, including a first control Device, a first robot arm, a clamping device, and a first camera component, the clamping device and the first camera component are disposed at an end of the first robot arm, and the first controller controls the first A robotic arm moves and judges whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the position to be welded according to an image collected by the first camera component, and the first controller further controls the clamp The tightening device clamps the transverse reinforcing bar and the longitudinal reinforcing bar with a gap.

In order to solve the above technical problem, the third technical solution adopted in the present application is to provide an automatic welding method for receiving materials to be welded, wherein the materials to be welded include transverse and longitudinal bars that are arranged in a crosswise arrangement, and the transverse bars and Longitudinal rebars form a rebar network; determine whether there is a gap between the transverse rebar and the longitudinal rebar at the welding position of the material to be welded; if there is no gap, go directly to the next step; if there is a gap, then The transverse and longitudinal steel bars in the gap are clamped before entering the next step; the transverse and longitudinal steel bars that are close to each other at the position to be welded are welded.

The beneficial effect of the present application is that, different from the prior art, the present application places a reinforcing mesh on a coded tire, and clamps the horizontal reinforcing bar and the longitudinal reinforcing bar with a gap at the position to be welded on the reinforcing mesh by a clamping robot, so that the horizontal Reinforcing bars and longitudinal bars are close to each other, and the horizontal and vertical bars that are close to each other at the location to be welded are welded by the welding robot, thereby realizing automation of the reinforcement mesh welding, improving production efficiency, reducing worker work intensity, short welding time, and saving labor force.

 [Brief Description of the Drawings]

FIG. 1 is a schematic structural diagram of an embodiment of the automatic welding equipment of the present application;

2 is a schematic structural diagram of an embodiment of a transport track of the present application;

3 is a schematic structural diagram of an embodiment of a first mechanical arm of a clamping robot of the present application;

4 is a schematic structural diagram of an embodiment of an automatic welding robot according to the present application;

FIG. 5 is a schematic flowchart of an embodiment of an automatic welding method according to the present application.

【detailed description】

This application provides an automatic welding device, a clamping robot, and an automatic welding method. In order to make the purpose, technical solution, and technical effect of this application more clear and clear, the following further describes this application in detail, and it should be understood that the specific implementation regulations described herein It is only used to explain this application and is not used to limit this application.

The automatic welding equipment, the clamping robot and the automatic welding method proposed in the present application are described in detail below with reference to the drawings.

Please refer to FIG. 1, which is a schematic structural diagram of an embodiment of an automatic welding device according to the present application. The automatic welding equipment of this embodiment includes a code material tyre 12, a clamping robot 13, a welding robot 14, a welding machine (not labeled), and a gun cleaner 15. Through the cooperative operation of the above equipment, the automatic welding equipment can complete the materials to be welded. Welding work.

In this embodiment, the automatic welding equipment performs a welding operation on the material to be welded on the coded tire 12, wherein the material to be welded is a reinforcing mesh formed by a combination of horizontal reinforcing bars and longitudinal reinforcing bars. In other embodiments, the material to be welded may be another combination of steel bars that need to be welded, formed by the intersection and tightness of horizontal or vertical and vertical bars, or other objects that can be welded, such as steel plates, iron, steel columns, etc. structure.

In this embodiment, the material to be welded is used as the reinforcing mesh 10 to describe the automatic welding equipment of the present application in detail.

Wherein, the code material tyre 12 is located on the conveying track 11, and the reinforcing mesh 10 carried by the coded tire 12 is conveyed to the welding area (not labeled) provided with the clamping robot 13 and the welding robot 14 through the conveying track 11 so as to clamp the robot 13 and the welding robot 14 perform clamping and welding of the reinforcing mesh 10.

Please refer to FIG. 2. FIG. 2 is a schematic structural diagram of an embodiment of a transport track of the present application. A detailed description of the transport track 11 of the present application will be made with reference to FIGS. 1 and 2.

A reverse welding area 22 and a front welding area 21 are provided on the left side of the conveying track 11, and a feeding area 24 and a discharging area 23 are provided on the right side of the conveying track 11 opposite to the welding area. When the coded tire 12 that does not carry the reinforced mesh 10 is moved to the loading area 23 through the conveying track 11, the reinforced mesh 10 is placed on the loading area 121 of the coded tire 12 manually or mechanically. Similarly, after the coded tire 12 receives the reinforcing mesh 10 from the feeding area 24, the reinforcing mesh 10 is sequentially conveyed to the front welding area 21 and the reverse welding area 22, which is located in the clamping of the front welding area 21 and the reverse welding area 22 The robot 13 and the welding robot 14 weld the reinforcing mesh 10 placed on the bearing area 121. After the welding is completed, the code tire 12 carrying the welded reinforcing mesh 10 is moved to the blanking area 23 through the conveying track 11, The reinforcing mesh 10 will be removed from the load-bearing area 121 of the coded tire 12 manually or mechanically.

In this embodiment, the conveying track 11 for moving the coded tire 12 is a circular track composed of straight lines and arcs. The feeding area 24 and the discharging area 23 are provided on one of the linear tracks of the circular track. The front land 21 and the back land 22 are located on another straight line opposite to the straight line.

In other embodiments, the conveying track 11 may also be a straight line, a curve, or other shapes. The feeding area 24 and the discharging area 23 may be combined into one area, or there may be multiple feeding areas 24 and the discharging area 23, which are welded. There can be only one zone or multiple zones. Each welding zone corresponds to one welding surface of the reinforcing mesh 10 that needs to be welded. The code tire 12 can be moved forward or backward on the conveying track. The coded tire 12 can transport the reinforced mesh 10 to the welding area, and the welding of the reinforced mesh 10 and the placement and removal of the reinforced mesh 10 are sufficient, which is not limited herein.

In this embodiment, the load-bearing area 121 of the code material mold 12 for supporting the reinforcing mesh 10 is disposed on the side of the code material mold 12 facing the welding robot 13 and the welding robot 14, and the load area 121 has a square groove structure. In other embodiments, the load-bearing area 121 may also be arc-shaped, trapezoidal, tapered or other structures that are convenient for carrying the materials to be welded, which is not limited herein.

In order to facilitate welding and clamping of the reinforcement mesh 10 provided on the load-bearing area 121, a turning mechanism 122 is also provided on the side wall of the load-bearing area 121 of the coded tire 12, and the turning mechanism 122 is connected to the reinforcement mesh 10. After the welding robot on the front welding zone has welded one side of the reinforcing mesh 10, when the reinforcing mesh 10 is moved to the welding area on the reverse side through the coded tire 12, the turning mechanism 122 flips the reinforcing mesh 10 to make the Another position where the clamping robot 13 and the welding robot 14 whose surfaces to be welded are flipped to the welding area on the opposite side is convenient for clamping and welding the surfaces to be welded. Two turning mechanisms 122 are generally provided, which are located on two opposite sides of the bearing area 121, and the two are arranged coaxially. In addition, a fixing device for fixing the reinforcing mesh 10 may also be provided on the opposite ends of the turning mechanism 122 to prevent the reinforcing mesh 10 from moving during the turning.

In other embodiments, the turning mechanism 122 may also turn the reinforcing mesh 10 when the coded tire 12 transports the reinforcing mesh 10 from the reverse welding area to the front welding area. It can also be that when the coded tire 12 transports the reinforcing mesh 10 to one of the welding areas, a welding surface corresponding to the welding area of the reinforcing mesh 10 is flipped by the turning mechanism 122 to facilitate the clamping robot 13 and the welding robot. 14 For clamping and welding positions, the reversing mechanism 122 can reverse the reinforcing mesh 10 one or more times in the front welding zone and the reverse welding zone. The turning angle of the turning mechanism 122 can be 180 degrees, 90 degrees, 270 degrees, etc. Any angle is only required to enable the welding robot 14 to complete the welding on the reinforcing mesh 10, which is not limited herein.

The clamping robot 13 is disposed in the front welding area and the reverse welding area, and the clamping robots 13 are provided on both sides of the conveying track 11. The clamping robots 13 on both sides of the conveying track 11 are symmetrically disposed with respect to the conveying track 11. The clamping robot 13 is used to determine whether there is a gap between the horizontal reinforcing bar (not labeled) and the longitudinal reinforcing bar (not labeled) at the position to be welded on the welded surface of the reinforcing mesh 10, and the horizontal reinforcing bar and the longitudinal direction where there is a gap at the welding position The reinforcing bars are clamped so that the horizontal reinforcing bars and the longitudinal reinforcing bars abut each other at the position to be welded.

The clamping robot 13 of the present application will be described in detail below with reference to FIGS. 1, 2 and 3.

In order to realize the above functions of the clamping robot 13, the clamping robot 13 includes a first controller 131, a first mechanical arm 132, a first machine base 133, a clamping device 134, a first camera assembly 135, and a second camera assembly 136. The clamping device 134, the first camera assembly 135, and the second camera assembly 136 are disposed at the ends of the first robot arm 132. The other end of the first robot arm 132 is connected to the top end of the first machine base 133, and the clamping robot 13 is fixed on the welding area through the first machine base 133.

The bottom end of the clamping device 134 facing the reinforced mesh 10 is provided with two handles 1341, and the handle 1341 of the clamping device 134 is connected to the air cylinder 1342. Each of the handles 1341 is correspondingly connected to a different air cylinder 1342, and there is a gap on the reinforced mesh 10 In the position to be welded, the clamping robot 13 drives the handle 1341 to contact the horizontal and vertical bars at the position to be welded, and transmits the kinetic energy of pull up and down to the handle 1341 through the air cylinder 1342 connected to the handle 1341, so that The two pull handles 1341 apply downward and upward pulling forces to the horizontal reinforcing bars and the longitudinal reinforcing bars, respectively, so that the horizontal reinforcing bars and the longitudinal reinforcing bars at the positions to be welded are abutted against each other.

In this embodiment, the shape of the pull handle 1341 is an L-shape, and the horizontal bottom ends of the pull handles 1341 are provided with opposite protrusions (not labeled) provided to facilitate pull-up and down-pressure and welding to the reinforcing mesh. And the grooves (not labeled), the vertical lengths of the adjacent handles 1341 are different, and the horizontal bottom ends of the handles 1341 of the same clamping device 134 are not located on the same horizontal plane.

In other embodiments, the shape of the handle 1341 can be an X shape that intersects with each other or parallel to each other, and can also be a claw shape that is convenient to hold, and an arc shape or other shape that is convenient for pulling up. The length and shape of the handle 1341 can also be maintained It is consistent, as long as the shape and structure of the handle 1341 can realize the clamping of the horizontal and vertical bars at the position to be welded, which is not limited here.

In the above embodiment, in addition to the cylinder 1342, the device connected to the handle 1341 and transmitting kinetic energy may be other power devices such as a motor, a hydraulic device, and the like. The force applied by the handle 1341 to the horizontal reinforcing bar and the longitudinal reinforcing bar may be lateral or oblique. The force that can make the horizontal reinforcing bar and the longitudinal reinforcing bar in other directions only need to abut the horizontal reinforcing bar and the longitudinal reinforcing bar at the welding position, which is not limited here.

The clamping device 134 further includes a fixing plate (not labeled) and a vertical plate (not labeled), wherein the fixing plate is located on the side of the cylinder 1342 away from the handle 1341, and the cylinder 1342 is located on the side of the fixing plate and is fixed to the clamp by the fixing plate On the tightening device 134, the air cylinders 1342 on the same clamping device 134 are spaced from each other on the fixing plate. The vertical plate is located laterally of the clamping device 134, and the vertical plate is connected to the side of the fixed plate. The clamping device 134 is connected to the first robot arm 132 through the vertical plate. A first camera module 135 and a second camera module 136 are also provided on the fixed plate and the vertical plate.

The first camera component 135 and the second camera component 136 are located in the lateral and middle portions of the clamping device 134, respectively, and the first camera component 135 and the second camera component 136 each include a structural light source and a camera. To facilitate the distinction, the structural light source and camera on the first camera component 135 are the first camera 1352 and the first structural light source 1351, and the structural light source and camera on the second camera component 136 are the second structural light source 1361 and the second camera, respectively. 1362. The first camera 1352 and the first structured light source 1351 of the first camera assembly 135 are located on the same side of the clamping device 134. The first camera 1352 is fixed on the side of the vertical plate facing the cylinder 1342, and the first structured light source 1351 is disposed on The fixing plate faces the side of the handle 1341 and is located on the side of the cylinder 1342 facing the first camera 1352. The second structure light source 1361 is also disposed on the side of the fixing plate facing the handle 1341, and is located on the side of the cylinder 1342 away from the first structure light source 1351, and is opposite to the first structure light source 1351. The second camera 1362 is located on the side of the fixing plate away from the handle 1341, and is located in the middle of the side. An opening (unlabeled) is provided on the fixing plate opposite to the lens (not labeled) of the second camera 1362, and the opening is located on the two In the gap formed by the two cylinders 1342, the second camera 1362 obtains an image of the position to be welded on the reinforcing mesh 10 through this opening. The first camera component 135 and the second camera component 136 are both used for image acquisition of the longitudinal reinforcing bars and transverse reinforcing bars at the positions to be welded, and transmit the obtained image information to the first controller 131. Among them, the first structural light source 1351 and the second structural light source 1361 are used to project a structured light spot to the horizontal and vertical bars at the position to be welded. After the structured light spot is projected, the camera pair located in the same camera module as the structured light source The horizontal and vertical bars at the location of the structured light spot were used for image acquisition.

In the above embodiment, the first structured light source 1351 and the second structured light source 1361 use a laser cross-line light source to project a structured light spot, and the structured light spot projected on the horizontal and vertical reinforcing bars is a cross-shaped light spot, and the first structured light source 1351, the first camera 1352 corresponding to the second structural light source 1361, and the second camera 1362 respectively obtain an image at a position to be welded having the cross-shaped light spot by taking a picture of the cross-shaped light spot projected by the laser cross-line light source on the reinforcing mesh 10, The image is transmitted to the first controller 131, and the first controller 131 can quickly calculate the spatial coordinates of the welding point and the clamping position from the image to improve the recognition efficiency.

In other embodiments, the first structured light source 1351, the second structured light source 1361 may be red light positioning lights, red light positioning lights, laser positioning lights, infrared positioning lights, and other light sources that can be used for positioning. The light spot at the position to be welded can also be a circle, triangle, I-shaped, T-shaped, etc. The light spot is convenient for the first controller 131 to calculate the coordinates of the welding point and the clamping position, as long as the first controller 131 can pass the first camera 1352. The light spot in the image captured and transmitted by the second camera 1362 can quickly calculate the spatial coordinates of the welding point and the clamping position, and details are not described herein.

The first controller 131 is used to control the clamping device 134 to clamp the horizontal and vertical bars with a gap at the welding position, and obtain the welding point position coordinates of the to-be-welded position without a gap. The first controller 131 is used below. The operation of clamping the position to be welded where there is a gap somewhere on the reinforcement mesh 10 is taken as an example to describe the function of the first controller 131.

After the bar code 12 transports the reinforcing mesh 10 to one of the front welding area or the reverse welding area, the turning mechanism 22 turns a welding surface corresponding to the welding area of the reinforcing mesh 10 to the clamping robot 13 and After the welding robot 14 clamps and welds the position, the first controller 131 stores in advance the teaching data of the position of the reinforcement mesh 10 and the welding method, and the first controller 131 controls the first A robotic arm 132 moves the clamping device 134 and the first camera assembly 135 to the position to be welded of the reinforcing mesh 10, and the first controller 131 sends an instruction to the first camera assembly 135. After the first camera assembly 135 receives the instruction, The first structural light source 1351 that controls the first camera assembly 135 projects a structured light spot to the horizontal and vertical rebars at the position to be welded, while the first camera 1352 of the first camera assembly 135 takes pictures of the horizontal and longitudinal rebars at the position to be welded Image acquisition is performed to obtain an image with a structured light spot, and the image is transmitted to the first controller 131, and the first controller 131 The image determines whether there is a gap between the horizontal and vertical bars at the position to be welded. If there is no gap, the actual close position of the horizontal and vertical bars at the position to be welded is recorded as the position of the welding point, and the position of the welding point is obtained Coordinates for subsequent welding by the welding robot 14.

If there is a gap, the first controller 131 obtains the clamping position of the position to be welded according to the image transmitted by the first camera assembly 135, and controls the first robot arm 132 to move the two handles 1341 of the clamping device 134 to the position to be welded The clamping position of the horizontal reinforcing bar and the longitudinal reinforcing bar at the location controls the cylinder 1342 connected to the handle to output kinetic energy to the pulling handle, so that the pulling handle 1341 on the clamping device 134 clamps the horizontal reinforcing bar and the longitudinal reinforcing bar with a gap. After the clamping device 134 is clamped, the first controller 131 sends an instruction to the second camera component 136. After the second camera component 136 receives the instruction, the second camera component 136 controls the second structural light source 1361 to the position to be welded. The horizontal rebar and the longitudinal rebar project a structured light spot, and the second camera component 136 uses the second camera 1362 to acquire the image of the horizontal rebar and the longitudinal rebar at the position to be welded, acquire an image with the structured light spot, and transmit the image to the first A controller 131. The first controller 131 judges the actual close position of the horizontal and vertical reinforcing bars at the position to be welded according to the image collected by the second camera component 136, records them as welding points, and obtains the coordinates of the welding points for The welding robot 14 performs subsequent welding.

The welding robot 14 and the clamping robot 13 are adjacent to each other, and both are disposed in the front welding area and the reverse welding area. The welding robot 14 and the clamping robot 13 are provided on both sides of the conveying track 11, and the welding robots on both sides of the conveying track 11 14 and the clamping robot 13 are arranged symmetrically with respect to the conveying track 11. After the welding robot 14 determines the position of the welding point on the first controller 131, the welding robot 14 performs welding on the horizontal and vertical bars that are close to each other at the welding position on the reinforcing mesh 10 according to the coordinates of the position of the welding point.

Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of an embodiment of a welding robot according to the present application. The welding robot according to the present application will be described in detail with reference to FIGS. 1 and 4.

The welding robot 14 includes a second controller 141, a second robot arm 142, a welding gun 143, a second base 144, and a welding machine (not shown) connected to the welding robot 14. The second robot arm 142 is connected to the top end of the second machine base 144, and the welding robot 14 is fixed on the welding area through the second machine base 144.

The welding torch 143 is disposed at the other end of the second robotic arm 142, and the second controller 141 controls the second robotic arm 142 to move the welding torch to the welding point position, and welds the horizontal and vertical reinforcing bars at the welding point position.

In the above embodiment, the first controller 131 and the second controller 141 are two different controllers. In other embodiments, the first controller 131 and the second controller 141 may be integrated in the same controller. It is only required that the controller can control the clamping robot 13 and the welding robot 14 to clamp and weld the reinforcing mesh 10 in the welding zone, which is not limited herein.

In this embodiment, in order to clean the welding slag generated during the welding of the welding robot and improve the production efficiency, the automatic welding equipment is further provided with a gun cleaner 15 which is arranged on one side of the welding robot 14 and clamps the robot. 13 is located on the other side of the welding robot 14 away from the gun cleaner 15.

In this embodiment, for safety, there are safety fences (not labeled) on the outside of the front welding zone and the side welding zone, and the first controller 131 and the second controller 41 are respectively clamped by the robot 13 and the welding robot 14 Set on both sides of the safety fence.

Beneficial effects of the present application: Different from the prior art, the present application places a reinforcing mesh on a coded tire, and clamps the horizontal reinforcing bar and the longitudinal reinforcing bar with a gap at the position to be welded on the reinforcing mesh by a clamping robot, so that the horizontal reinforcing bar The steel bars and the longitudinal bars are abutted against each other, and the horizontal bars and the longitudinal bars are abutted against each other at the welding position by a welding robot. This application can realize the automation of reinforcement mesh welding, improve production efficiency, and reduce welding costs.

Based on the same inventive concept, the present application also proposes a clamping robot.

The clamping robot 13 is used to determine whether there is a gap between the horizontal reinforcing bar (not labeled) and the longitudinal reinforcing bar (not labeled) at the position to be welded on the welded surface of the reinforcing mesh 10, and the horizontal reinforcing bar and the longitudinal direction where there is a gap at the welding position The reinforcing bars are clamped so that the horizontal reinforcing bars and the longitudinal reinforcing bars abut each other at the position to be welded.

The clamping robot 13 of the present application will be described in detail below with reference to FIGS. 1 and 3.

In order to realize the above functions of the clamping robot 13, the clamping robot 13 includes a first controller 131, a first mechanical arm 132, a first machine base 133, a clamping device 134, a first camera assembly 135, and a second camera assembly 136. The clamping device 134, the first camera assembly 135, and the second camera assembly 136 are disposed at the ends of the first robot arm 132. The other end of the first robot arm 132 is connected to the top end of the first machine base 133, and the clamping robot 13 is fixed on the welding area through the first machine base 133.

The bottom end of the clamping device 134 facing the reinforced mesh 10 is provided with two handles 1341, and the handle 1341 of the clamping device 134 is connected to the air cylinder 1342. Each of the handles 1341 is correspondingly connected to a different air cylinder 1342, and there is a gap on the reinforced mesh 10 In the position to be welded, the clamping robot 13 drives the handle 1341 to contact the horizontal and vertical bars at the position to be welded, and transmits the kinetic energy of pull up and down to the handle 1341 through the air cylinder 1342 connected to the handle 1341, so that The two pull handles 1341 apply downward and upward pulling forces to the horizontal reinforcing bars and the longitudinal reinforcing bars, respectively, so that the horizontal reinforcing bars and the longitudinal reinforcing bars at the positions to be welded are abutted against each other.

In this embodiment, the shape of the pull handle 1341 is an L-shape, and the horizontal bottom ends of the pull handles 1341 are provided with opposite protrusions (not labeled) provided to facilitate pull-up and down-pressure and welding to the reinforcing mesh. And the grooves (not labeled), the vertical lengths of the adjacent handles 1341 are different, and the horizontal bottom ends of the handles 1341 of the same clamping device 134 are not located on the same horizontal plane.

In other embodiments, the shape of the handle 1341 can be an X shape that intersects with each other or parallel to each other, and can also be a claw shape that is convenient to hold, and an arc shape or other shape that is convenient for pulling up. The length and shape of the handle 1341 can also be maintained It is consistent, as long as the shape and structure of the handle 1341 can realize the clamping of the horizontal and vertical bars at the position to be welded, which is not limited here.

In the above embodiment, in addition to the cylinder 1342, the device connected to the handle 1341 and transmitting kinetic energy may be other power devices such as a motor, a hydraulic device, and the like. The force applied by the handle 1341 to the horizontal reinforcing bar and the longitudinal reinforcing bar may be lateral or oblique. The force that can make the horizontal reinforcing bar and the longitudinal reinforcing bar in other directions only need to abut the horizontal reinforcing bar and the longitudinal reinforcing bar at the welding position, which is not limited here.

The clamping device 134 further includes a fixing plate (not labeled) and a vertical plate (not labeled), wherein the fixing plate is located on the side of the cylinder 1342 away from the handle 1341, and the cylinder 1342 is located on the side of the fixing plate and is fixed to the clamp by the fixing plate On the tightening device 134, the air cylinders 1342 on the same clamping device 134 are spaced from each other on the fixing plate. The vertical plate is located laterally of the clamping device 134, and the vertical plate is connected to the side of the fixing plate. A first camera module 135 and a second camera module 136 are also provided on the fixed plate and the vertical plate.

The first camera component 135 and the second camera component 136 are located in the lateral and middle portions of the clamping device 134, respectively, and the first camera component 135 and the second camera component 136 each include a structural light source and a camera. To facilitate the distinction, the structural light source and camera on the first camera component 135 are the first camera 1352 and the first structural light source 1351, and the structural light source and camera on the second camera component 136 are the second structural light source 1361 and the second camera, respectively. 1362. The first camera 1352 and the first structured light source 1351 of the first camera assembly 135 are both located on the same side of the clamping device 134, wherein the first camera 1352 is located on the side of the vertical plate facing the cylinder 1342, and the first structured light source 1351 is provided at a fixed position. The plate faces the side of the handle 1341 and is located on the side of the cylinder 1342 that faces the first camera 1352. The second structured light source 1361 of the second camera assembly 136 is also disposed on the side of the fixing plate facing the handle 1341, and is located on the side of the cylinder 1342 away from the first structured light source 1351, and is opposite to the first structured light source 1351. The second camera 1362 is located on the side of the fixing plate away from the handle 1341, and is located in the middle of the side. An opening (unlabeled) is provided on the fixing plate opposite to the lens (not labeled) of the second camera 1362, and the opening is located in two In the gap formed by the cylinder 1342, the second camera 1362 obtains an image of the position to be welded on the reinforcing mesh 10 through this opening. The first camera component 135 and the second camera component 136 are both used for image acquisition of the longitudinal reinforcing bars and transverse reinforcing bars at the positions to be welded, and transmit the obtained image information to the first controller 131. Among them, the first structural light source 1351 and the second structural light source 1361 are used to project a structured light spot to the horizontal and vertical bars at the position to be welded. After the structured light spot is projected, the camera pair located in the same camera module as the structured light source The horizontal and vertical bars at the location of the structured light spot were used for image acquisition.

In the above embodiment, the first structured light source 1351 and the second structured light source 1361 use a laser cross-line light source to project a structured light spot, and the structured light spot projected on the horizontal and vertical reinforcing bars is a cross-shaped light spot, and the first structured light source 1351, the first camera 1352 corresponding to the second structural light source 1361, and the second camera 1362 respectively obtain an image at a position to be welded having the cross-shaped light spot by taking a picture of the cross-shaped light spot projected by the laser cross-line light source on the reinforcing mesh 10, The image is transmitted to the first controller 131, and the first controller 131 can quickly calculate the spatial coordinates of the welding point and the clamping position from the image to improve the recognition efficiency.

In other embodiments, the first structured light source 1351, the second structured light source 1361 may be red light positioning lights, red light positioning lights, laser positioning lights, infrared positioning lights, and other light sources that can be used for positioning. The light spot at the position to be welded can also be a circle, triangle, I-shaped, T-shaped, etc. The light spot is convenient for the first controller 131 to calculate the coordinates of the welding point and the clamping position, as long as the first controller 131 can pass the first camera 1352. The light spot in the image captured and transmitted by the second camera 1362 can quickly calculate the spatial coordinates of the welding point and the clamping position, and details are not described herein.

The first controller 131 is used to control the clamping device 134 to clamp the horizontal and vertical bars with a gap at the welding position, and obtain the welding point position coordinates of the to-be-welded position without a gap. The first controller 131 is used below. The operation of clamping the position to be welded where there is a gap somewhere on the reinforcement mesh 10 is taken as an example to describe the function of the first controller 131.

When the coded tire 12 transports the reinforcing mesh 10 to one of the front welding area or the reverse welding area, the turning mechanism 22 turns a welding surface corresponding to the welding area of the reinforcing mesh 10 to the clamping robot 13 and welding. After the robot 14 clamps and welds the position, the first controller 131 stores in advance the teaching data of the position of the reinforcing mesh 10 and the welding method, and the first controller 131 controls the first based on the teaching data. The robotic arm 132 moves the clamping device 134 and the first camera assembly 135 to the position to be welded of the reinforcing mesh 10, the first controller 131 sends an instruction to the first camera assembly 135, and after receiving the instruction, the first camera assembly 135 controls The first structural light source 1351 of the first camera component 135 projects a structured light spot to the horizontal and vertical reinforcing bars at the position to be welded, and at the same time, the first camera 1352 of the first camera module 135 takes pictures of the horizontal and longitudinal reinforcing bars at the position to be welded Image acquisition, acquiring an image with a structured light spot, and transmitting the image to the first controller 131, and the first controller 131 according to the image acquired by the first camera component 135 Determine whether there is a gap between the horizontal and vertical bars at the position to be welded. If there is no gap, record the actual close position of the horizontal and vertical bars at the position to be welded as the position of the welding point, and obtain the position of the welding point. Coordinates for subsequent welding by the welding robot 14.

If there is a gap, the first controller 131 obtains the clamping position of the position to be welded according to the image transmitted by the first camera assembly 135, and controls the first robot arm 132 to move the two handles 1341 of the clamping device 134 to the position to be welded The clamping position of the horizontal reinforcing bar and the longitudinal reinforcing bar at the location controls the cylinder 1342 connected to the handle to output kinetic energy to the pulling handle, so that the pulling handle 1341 on the clamping device 134 clamps the horizontal reinforcing bar and the longitudinal reinforcing bar with a gap. After the clamping device 134 is clamped, the first controller 131 sends an instruction to the second camera component 136. After the second camera component 136 receives the instruction, the second structural light source 1361 controlled by the second camera component 136 is directed to the position to be welded. The horizontal and vertical bars of the projected structured light spot, while the second camera 1362 of the second camera assembly 136 performs image acquisition of the horizontal and vertical bars at the location to be welded, acquires an image with the structured light spot, and transmits the image to The first controller 131, the first controller 131 determines the actual abutment position of the horizontal reinforcing bar and the longitudinal reinforcing bar at the position to be welded according to the image collected by the second camera component 136, records it as a welding point, and obtains the coordinates of the welding point to The welding robot 14 is used for subsequent welding.

Beneficial effects of the present application: Different from the prior art, the present application places a reinforcing mesh on a coded tire, and clamps the horizontal reinforcing bar and the longitudinal reinforcing bar with a gap at the position to be welded on the reinforcing mesh by a clamping robot, so that the horizontal reinforcing bar The steel bars and the longitudinal bars are abutted against each other, and the horizontal bars and the longitudinal bars are abutted against each other at the welding position by a welding robot. This application can realize the automation of reinforcement mesh welding, improve production efficiency, and reduce welding costs.

Based on the same inventive concept, this application also proposes an automatic welding method.

Please refer to FIG. 3, which is a schematic flowchart of an embodiment of an automatic welding method according to the present application. Wherein, the welding robot and the clamping robot in the automatic welding method include the welding robot and the clamping robot as described above, and details are not described herein.

S501: Receiving a material to be welded, wherein the material to be welded includes a transverse reinforcing bar and a longitudinal reinforcing bar which are arranged in an intersecting manner, and the transverse reinforcing bar and the longitudinal reinforcing bar form a reinforcing mesh.

The automatic welding equipment receives the materials to be welded through the loading area on the coded tires. After receiving the materials to be welded, the coded tires transport the reinforced mesh carried by the coded tires to the welding area provided with the clamping robot and the welding robot. So that the clamping robot and the welding robot can perform the clamping and welding of the reinforcement mesh. The conveying track is also provided with a feeding area and a feeding area. When the coded tire that does not carry the reinforcing mesh moves to the loading area through the conveying track, the reinforcing mesh is manually or mechanically placed on the coded tire. Loading area. Similarly, after receiving the reinforcing mesh from the loading area, the coded tires are transported to the welding area, and the clamping robot and the welding robot weld the reinforcing mesh placed on the load bearing area. After the welding is completed, the load bearing When the coded tire of the welded steel mesh moves to the blanking area through the conveying track, the steel mesh will be removed from the loading area of the coded tire by manual or mechanical means.

In this embodiment, the material to be welded is a reinforcing mesh formed by a combination of horizontal and vertical reinforcing bars. In other embodiments, the material with welding can be intersected with other horizontal or vertical and longitudinal reinforcing bars, and the steel bars that need to be welded are formed by being tightly intersected. The combined structure may also be other structures composed of steel plates, iron, steel columns, and other objects that can be welded.

In this embodiment, the load-bearing area is a square groove structure. In other embodiments, the load-bearing area may also be arc-shaped, ladder-shaped, or other structures that are convenient for welding materials in the load-bearing belt, which is not limited herein.

In this embodiment, the conveying track for moving the coded tire is a circular track composed of a straight line and an arc, and the feeding area and the unloading area are arranged on one of the linear tracks of the circular track, opposite to the straight line. The other straight line is provided with a front welding area and a back welding area.

In other embodiments, the conveying track may also be a straight line, a curve, or other shapes. The loading area and the unloading area may be combined into one area, or there may be multiple loading areas and unloading areas. There may be only one welding area. You can also set multiple, each welding zone corresponds to one side of the reinforcement mesh, the code tires can move forward or backward on the conveying track, as long as the code tires can transport the reinforcement mesh to the welding Zone, it is sufficient to realize the welding of the reinforcement mesh and the placement and removal of the reinforcement mesh, which is not limited here.

The side wall of the load-bearing area of the code material is also provided with a turning mechanism, which is connected to the reinforcing mesh. After the welding robot in the front welding zone has welded one side of the steel mesh, the steel mesh is moved to the code material. In the reverse welding area, the clamping robot and the welding robot that turn the other surface of the reinforcing mesh to be welded to the reverse welding area by the turning mechanism are convenient for clamping and welding the welding surface.

In other embodiments, the steel mesh can be reversed when the coded tire conveys the reinforcing mesh from the reverse welding area to the front welding area, or when the coded tire conveys the reinforced mesh to one of the welding areas. A welding device corresponding to the welding area of the steel mesh is turned by a turning device to a position convenient for clamping and welding by the clamping robot and the welding robot. The turning device can perform the reinforcement mesh in the front welding area and the reverse welding area. The turning angle of the turning device can be 180 degrees, 90 degrees, 270 degrees and so on. It only needs to enable the welding robot to complete the welding of the reinforcement mesh, which is not limited here.

S502: Determine whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the welding position of the material to be welded; if there is no gap, go directly to the next step; if there is a gap, the horizontal direction where the gap exists Rebar and longitudinal bars are clamped before moving on to the next step.

When the coded tire conveys the reinforcing mesh to one of the front welding area or the reverse welding area, the turning device flips a welding surface corresponding to the welding area of the reinforcing mesh to a clamping robot and a welding robot for clamping. After tightening and welding the position, the first controller stores the welding position of the reinforcement mesh and the teaching data of the welding method in advance. The first controller controls the first robot arm to clamp the device and the first camera according to the teaching data. The component is moved to the position to be welded by the reinforcement mesh. The first camera module sends a command to the first camera module. After the first camera module receives the instruction, it controls the structural light source of the first camera module to the horizontal steel bar and the longitudinal direction at the position to be welded. The reinforcing bar projects a structured light spot, and at the same time, the camera of the first camera assembly performs image acquisition of the horizontal and vertical bars at the position to be welded, acquires an image with the structured light spot, and transmits the image to the first controller, the first controller Judging whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the position to be welded according to the image collected by the first camera component, No gap, the welding position will be at a lateral position of the longitudinal reinforcement and reinforcement against the actual recording position as the solder, the solder obtaining position coordinates to said welding robot for subsequent welding.

If there is a gap, the first controller obtains the clamping position of the position to be welded according to the image transmitted by the first camera assembly, and controls the first robotic arm to move the two handles of the clamping device to the transverse reinforcing bar at the position to be welded. The clamping position of the longitudinal steel bars controls the cylinder connected to the handles to output kinetic energy to the handles, so that the handles on the clamping device clamp the horizontal steel bars and longitudinal steel bars with gaps.

In this embodiment, the clamping robot is disposed in the front welding zone and the reverse welding zone, and clamping robots are provided on both sides of the conveying track, and the clamping robots on both sides of the conveying track are symmetrically disposed with respect to the conveying track.

In this embodiment, the handles are located at the bottom end of the clamping device, and the two handles of the clamping device are respectively connected to one cylinder. When a position to be welded with a gap appears on the reinforcing mesh, the two handles are at the position to be welded. The horizontal bars in contact with the longitudinal bars, and the kinetic energy transmitted by the cylinder connected to the handle causes the two handles to apply downward and upward forces to the horizontal bars and the longitudinal bars, respectively, so that the horizontal bars and the longitudinal bars at the position to be welded Close to each other.

In this embodiment, the shape of the handles is L-shaped, and the horizontal bottom ends of the handles opposite to each other are provided with protrusions (not labeled) and depressions opposite to each other, which are convenient to achieve pull-up and depression and welding to the reinforcing mesh. Slots (not labeled), the vertical lengths of adjacent handles are different. In other embodiments, the shapes of the handles may be X-shapes that intersect with each other or parallel to each other, and may also be claw shapes that are convenient to hold, and arc shapes or other shapes that are convenient for pulling up. The lengths and shapes of the handles may also be consistent. It is only necessary that the shape and structure of the handle can clamp the horizontal and vertical bars at the position to be welded, which is not limited here.

In the above embodiment, the device for transmitting kinetic energy to the handle can also be other power devices such as a motor. The handle can also be applied to the horizontal and vertical reinforcements horizontally or obliquely, and other components can be used to make the horizontal reinforcement and the vertical reinforcement tight. As long as the horizontal reinforcing bar and the longitudinal reinforcing bar at the welding position are close to each other, it is not limited here.

In the above embodiment, the laser light is used as the structural light source, and the structured light spot projected on the horizontal and vertical steel bars is a cross-shaped light spot. The image obtained by photographing the cross-shaped light spot projected by the laser cross-line light source on the reinforcing mesh After passing to the first controller, the first controller can quickly calculate the spatial coordinates of the welding point and the clamping position through the cross-shaped light spot, thereby improving the recognition efficiency.

In other embodiments, the structural light source may be a red light positioning light, a red light positioning light, a laser positioning light, an infrared positioning light and other light sources that can be used for positioning, and the light spot projected at the position to be welded may also be round. Shapes, triangles, I-shaped, T-shaped, and other light spots that are convenient for the first controller to calculate the coordinates of the welding point and the clamping position. Only the first controller can quickly calculate the spatial coordinates of the welding point and the clamping position through the light spot. Yes, I won't go into details.

S503: Weld the horizontal reinforcing bars and the longitudinal reinforcing bars that are close to each other at the position to be welded.

After the first position of the welding robot on the clamping robot determines the position of the welding point, according to the coordinates of the position of the welding point, the horizontal and vertical steel bars that are close to each other at the welding position on the reinforcement web are welded.

In this embodiment, in order to clean up welding slag generated during welding of the welding robot and improve production efficiency, a gun cleaner is also provided on one side of the welding robot, and the clamping robot is located on the other side of the welding robot.

Beneficial effects of the present application: Different from the prior art, the present application places a reinforcing mesh on a coded tire, and clamps the horizontal reinforcing bar and the longitudinal reinforcing bar with gaps at the position to be welded on the reinforcing mesh by a clamping robot to make the horizontal reinforcing bar The steel bars and the longitudinal bars are abutted against each other, and the horizontal bars and the longitudinal bars are abutted against each other at the welding position by a welding robot. This application can realize the automation of reinforcement mesh welding, improve production efficiency, and reduce welding costs.

The above description is only an implementation of the present application, and does not limit the scope of patent protection of the present application. Any equivalent structure or equivalent process transformation made using the description and drawings of the present application, or directly or indirectly used in other related The technical fields are equally included in the patent protection scope of this application. Ranch

Claims (20)

1. An automatic welding equipment, characterized in that the automatic welding equipment includes:

   The coded tire is used for placing materials to be welded, wherein the materials to be welded include transverse and longitudinal reinforcing bars arranged in a cross, and the transverse reinforcing bars and the longitudinal reinforcing bars form a reinforcing mesh;

   A clamping robot, configured to determine whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at a position to be welded, and clamp the horizontal reinforcing bar and the longitudinal reinforcing bar having a gap, so that the horizontal reinforcing bar and the longitudinal reinforcing bar Close to each other at the positions to be welded;

   A welding robot is used for welding the horizontal reinforcing bars and the longitudinal reinforcing bars that are close to each other at the position to be welded.
2. The automatic welding equipment according to claim 1, wherein the automatic welding equipment further comprises a conveying track, and a loading area, a blanking area, and a welding area are provided on a lateral side of the conveying track, and the welding area The clamping robot and the welding robot are arranged inside, and the coded tire is set on the conveying track, and is used for receiving the steel mesh from the loading area and then conveying it to the welding area, and The steel mesh welded in the welding zone is further conveyed to the blanking zone.
3. The automatic welding equipment according to claim 2, characterized in that the welding zone comprises a front welding zone and a reverse welding zone for welding the front and back sides of the steel mesh, respectively, on the coded tire. A reversing mechanism is provided for reversing the reinforcement mesh after the reinforcement mesh is welded in one of the front welding area and the reverse welding area, so that the reinforcement mesh can be used in all places. Further welding is performed in the other of the front welding area and the back welding area.
4. The automatic welding equipment according to claim 2, wherein the conveying track is a circular track.
5. The automatic welding equipment according to claim 1, wherein the clamping robot includes a first controller, a first mechanical arm, a clamping device, and a first camera assembly, the clamping device and the first A camera component is disposed at an end of the first robotic arm, and the first controller controls the first robotic arm to move, and judges the position at the position to be welded based on the image collected by the first camera component. Whether there is a gap between the transverse reinforcing bar and the longitudinal reinforcing bar, the first controller further controls the clamping device to clamp the transverse reinforcing bar and the longitudinal reinforcing bar where there is a gap.
6. The automatic welding equipment according to claim 5, wherein the first controller controls the first robot arm to move the clamping device and the first camera assembly to For the position to be welded, the first camera component performs image acquisition on the horizontal and vertical rebars at the position to be welded, and the first controller judges the image based on the image collected by the first camera component Whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the position to be welded, and if there is a gap, the clamping device further clamps the horizontal reinforcing bar and the longitudinal reinforcing bar having a gap, and if there is no gap, the The actual abutment positions of the horizontal and vertical reinforcing bars are recorded as welding spot positions for subsequent welding by the welding robot.
7. The automatic welding equipment according to claim 6, wherein the clamping robot further comprises a second camera assembly provided at an end of the first robot arm, wherein the second camera assembly faces the clamp The horizontal and vertical bars after clamping are performed by a tightening device to perform image acquisition, and the first controller judges the actual tightness of the horizontal and vertical bars after clamping according to the images collected by the second camera assembly. The position is recorded as the position of the welding point for subsequent welding by the welding robot.
8. The automatic welding device according to claim 7, wherein the first camera component is disposed laterally of the clamping device, and the second camera component is disposed at a middle portion of the clamping device.
9. The automatic welding equipment according to claim 7, wherein the first camera component and / or the second camera component respectively comprise a structured light source and a camera, and the structured light source faces a lateral direction at the position to be welded. The reinforcing bars and longitudinal bars project structured light spots, the camera performs image acquisition on the positions of the structured light spots on the horizontal bars and longitudinal bars, and the first controller determines the horizontal bars and the bars based on the collected images. Whether there is a gap between the longitudinal reinforcing bars and / or the actual abutment position of the transverse reinforcing bars and the longitudinal reinforcing bars.
10. The automatic welding device according to claim 9, wherein the structured light spot is a cross-shaped light spot.
11. The automatic welding equipment according to claim 6, wherein the welding robot comprises a second controller, a second robot arm, and a welding gun, the welding gun is disposed on the second robot arm, and the second control The first robot controller controls the second robot arm to move the welding gun to the welding spot position, and performs welding on the horizontal and vertical reinforcing bars, wherein the first controller and the second controller are the same Controller or different controller.
12. The automatic welding equipment according to claim 1, wherein the automatic welding equipment further comprises a gun cleaner, the gun cleaner is disposed on one side of the welding robot, and is used to clean up the welding machine during welding. Generated welding slag.
13. A clamping robot, characterized in that the clamping robot is used for clamping the transverse and longitudinal steel bars in a steel mesh to be welded, and includes a first controller, a first mechanical arm, a clamping device, and a first camera. Assembly, the clamping device and the first camera assembly are disposed at an end of the first robotic arm, and the first controller controls the first robotic arm to move, and according to the first camera assembly The acquired image determines whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the position to be welded, and the first controller further controls the clamping device to perform a process on the horizontal reinforcing bar and the longitudinal reinforcing bar where the gap exists. Clamping.
14. The clamping robot according to claim 13, wherein the first controller controls the first robot arm to transfer the clamping device and the first camera assembly to the first robotic arm based on pre-stored teaching data. For the position to be welded, the first camera component performs image acquisition on the horizontal and vertical rebars at the position to be welded, and the first controller judges the image based on the image collected by the first camera component Whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the position to be welded, and if there is a gap, the clamping device further clamps the horizontal reinforcing bar and the longitudinal reinforcing bar having a gap, and if there is no gap, the The actual abutment positions of the horizontal and vertical reinforcing bars are recorded as welding spot positions for subsequent welding by the welding robot.
15. The clamping robot according to claim 14, wherein the first camera component is disposed laterally of the clamping device, and the second camera component is disposed at a middle portion of the clamping position.
16. The clamping robot according to claim 14, further comprising a second camera assembly disposed at an end of the second robot arm, wherein the second camera assembly faces the clamp The horizontal and vertical bars after clamping are performed by a tightening device to perform image acquisition, and the first controller judges the actual tightness of the horizontal and vertical bars after clamping according to the images collected by the second camera assembly. The position is recorded as the position of the welding point for subsequent welding by the welding robot.
17. The clamping robot according to claim 16, wherein the first camera component and / or the second camera component respectively include a structural light source and a camera, and the structural light source projects to the horizontal reinforcing bar and the longitudinal reinforcing bar Structured light spot, the camera collects images of the horizontal and vertical steel bar projection structures on which the structured light spot is projected, and the first controller judges between the horizontal and vertical steel bars based on the collected images Whether there is a gap and / or the actual abutment position of the transverse and longitudinal bars.
18. The clamping robot according to claim 17, wherein the structured light spot is a cross-shaped light spot.
19. An automatic welding method, characterized in that the automatic welding method includes steps:

    Receiving the material to be welded, wherein the material to be welded includes cross bars and longitudinal bars arranged in a cross, and the cross bars and the longitudinal bars form a reinforcing mesh;

    Determine whether there is a gap between the horizontal reinforcing bar and the longitudinal reinforcing bar at the welding position of the material to be welded; if there is no gap, go directly to the next step; if there is a gap, then Longitudinal reinforcement is clamped before proceeding to the next step;

    Welding the horizontal reinforcing bars and the longitudinal reinforcing bars abutting each other at the position to be welded.
20. The automatic welding method according to claim 19, wherein after the step of receiving the material to be welded, further comprising the step of:

    The material to be welded is conveyed to a designated position.