WO2023092931A1 - 基于机器人及视觉识别的热喷铝防腐处理全自动生产线 - Google Patents

基于机器人及视觉识别的热喷铝防腐处理全自动生产线 Download PDF

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Publication number
WO2023092931A1
WO2023092931A1 PCT/CN2022/087538 CN2022087538W WO2023092931A1 WO 2023092931 A1 WO2023092931 A1 WO 2023092931A1 CN 2022087538 W CN2022087538 W CN 2022087538W WO 2023092931 A1 WO2023092931 A1 WO 2023092931A1
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WO
WIPO (PCT)
Prior art keywords
rolling
robot
blanking
feeding
derusting
Prior art date
Application number
PCT/CN2022/087538
Other languages
English (en)
French (fr)
Inventor
李波
刘卓毅
刘君
涂静鑫
张志清
方曦
刘施峰
曾宪武
杨丹
卢金科
杜伟
Original Assignee
贵州电网有限责任公司
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Publication date
Application filed by 贵州电网有限责任公司 filed Critical 贵州电网有限责任公司
Priority to US18/259,781 priority Critical patent/US20240082977A1/en
Publication of WO2023092931A1 publication Critical patent/WO2023092931A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C13/00—Means for manipulating or holding work, e.g. for separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/02—Features relating to transfer of work between machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
    • C23C4/00—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge
    • C23C4/02—Pretreatment of the material to be coated, e.g. for coating on selected surface areas
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
    • C23C4/00—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge
    • C23C4/04—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge characterised by the coating material
    • C23C4/06—Metallic material
    • C23C4/08—Metallic material containing only metal elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh

Definitions

  • the invention relates to a fully automatic production line for thermal spraying aluminum anticorrosion treatment based on robots and visual recognition, and belongs to the technical field of workpiece aluminum spraying.
  • the power tower of the transmission line is an important facility of the substation. With the rapid development of the national power industry, the demand for power is increasing day by day. It is very important to ensure a safe and reliable power supply. However, because most of the towers are made of steel and are subject to various corrosion damages such as wind, sand, rain, snow, and acid rain all year round, the corrosion phenomenon is very serious, causing major economic losses and a serious waste of production resources.
  • the relatively mature anti-corrosion technologies for metal equipment include coating protective coatings, adding corrosion inhibitors and sacrificial cathodic protection.
  • the protective coating protection method is the most widely used anti-corrosion technology because of its most economical, convenient and effective advantages.
  • the current spraying method is mainly manual rust removal and spraying, which greatly limits the processing efficiency and the production cost is high.
  • the present invention provides a thermal spraying aluminum intelligent manufacturing system, which realizes automatic laser cleaning, arc spraying aluminum, automatic rolling and laser cutting of workpieces through robots, which greatly improves the quality and efficiency of spraying and overcomes the existing problems.
  • a thermal spraying aluminum intelligent manufacturing system which realizes automatic laser cleaning, arc spraying aluminum, automatic rolling and laser cutting of workpieces through robots, which greatly improves the quality and efficiency of spraying and overcomes the existing problems.
  • the technical solution of the present invention is: a fully automatic production line for thermal spraying aluminum anticorrosion treatment based on robots and visual recognition, including:
  • Automatic feeding system including loading and conveying mechanism for conveying workpieces
  • the laser rust removal system includes a rust removal robot, a laser cleaning head and a rust removal conveying mechanism, the laser cleaning head is arranged on the rust removing robot, and the rust removing conveying mechanism is arranged on both sides of the rust removing robot, And the derusting conveying mechanism can receive workpieces from the bearing conveying mechanism;
  • the thermal spraying aluminum system includes an aluminum spraying robot and a thermal spraying aluminum spray gun, the aluminum spraying robot is arranged in the conveying direction of the rust removal conveying mechanism, and the thermal spraying aluminum spray gun is arranged on the aluminum spraying robot;
  • the automatic rolling system located behind the thermal spraying aluminum system, includes a rolling bearing platform, a first rolling wheel, a second rolling wheel and a rolling driving mechanism, and the first rolling wheel is rotatably arranged on the On the rolling bearing platform, the rolling driving mechanism is arranged on the rolling bearing platform, the second rolling wheel is arranged on the rolling driving mechanism, and the rolling driving mechanism can drive the first The second rolling wheel is close to or away from the first rolling wheel;
  • a laser cutting system located behind the automatic rolling system, includes a cutting robot and a laser cutting head, and the laser cutting head is arranged on the cutting robot for cutting rolled workpieces;
  • the unloading palletizing system includes a unloading carrying transmission mechanism for receiving cut workpieces.
  • the automatic feeding system further includes a feeding truss, a feeding moving mechanism and a feeding grabbing mechanism, the feeding moving mechanism is movably arranged on the feeding truss, and the feeding The grabbing mechanism is arranged on the loading moving mechanism, and the loading grabbing mechanism is used for grabbing and placing workpieces on the loading and transporting mechanism.
  • the derusting conveying mechanism includes a derusting platform, a derusting roller, a first pinch wheel, a first driving mechanism, a second pinching wheel and a second driving mechanism, and the derusting roller can The rotation is set on the horizontal surface of the derusting cap, the first pressing wheel is arranged above the derusting cap, and the first driving mechanism can drive the first pressing wheel to move up and down.
  • the second pressing wheel is arranged on both sides of the rust removal platform, and the second driving mechanism can drive the second pressing wheel on one side to move to the opposite side.
  • the first rolling wheel includes a first rolling part and a second rolling part, both of the first rolling part and the second rolling part are in a cone shape, and the The angle between the first rolling part and the second rolling part is formed to match the outer angle of the angle steel;
  • the second rolling wheel includes a third rolling part and a fourth rolling part, and the third rolling wheel Both the pressing part and the fourth rolling part are in the shape of a cone, and an included angle is formed between the third rolling part and the fourth rolling part to match the inner angle of the angle steel.
  • the first rolling part is arranged horizontally, the second rolling part is vertically arranged, the third rolling part and the fourth rolling part are respectively connected to the The first rolling part corresponds to the second rolling part.
  • the loading transmission mechanism includes a loading platform and a loading driving roller, the loading driving roller is arranged on the loading platform, and the loading driving roller can drive the workpiece to move forward.
  • the unloading palletizing system further includes a material transfer mechanism, an unloading truss, an unloading moving mechanism, and an unloading grasping mechanism.
  • the workpiece, the blanking moving mechanism is movably installed on the blanking truss, the blanking grabbing mechanism is installed on the blanking moving mechanism, and the blanking grabbing mechanism is used to move the blanking
  • the workpieces on the material-carrying transmission mechanism are removed and stacked.
  • the blanking carrying transmission mechanism includes a blanking platform and a blanking driving roller, the blanking driving roller is arranged on the blanking platform, and the blanking driving roller can drive the workpiece to move forward.
  • the material transfer mechanism includes a material transfer bracket, a chain conveying mechanism and a material transfer lifting mechanism, one end of the chain conveying mechanism is hinged on the top of the swing material support, and the other end of the chain conveying mechanism Hinged to the top of the material-transfer lifting mechanism, the lifting mechanism and the material-transfer support are respectively located on both sides of the material-loading transmission mechanism.
  • the laser derusting system, the thermal spraying aluminum system, the automatic rolling system, the laser cutting system, and the blanking and palletizing system are all equipped with a vacuum room cover, and Connect negative pressure fume extraction system.
  • the automatic production line of thermal spray aluminum anticorrosion treatment based on robot and visual recognition provides a fully automatic intelligent production plan for automatic laser cleaning of angle steel/flat steel, automatic thermal spray aluminum, and automatic rolling production, It has the functions of automatic feeding, automatic conveying, automatic laser cleaning, automatic thermal spraying aluminum, automatic rolling, automatic cutting, automatic palletizing, etc., and can be equipped with intelligent production line control systems such as data intelligent manufacturing and information management and control platform, which greatly It greatly improves the work efficiency of angle steel/flat steel cleaning and aluminum spraying, reduces production costs, and has good economic benefits.
  • Figure 1 is the overall layout of the automatic production line for thermal spraying aluminum anticorrosion treatment based on robots and visual recognition;
  • Fig. 2 is the schematic diagram of automatic feeding system
  • Fig. 3 is a schematic view of a perspective view of the derusting conveying mechanism
  • Fig. 4 is a schematic diagram of another viewing angle of the derusting conveying mechanism
  • Fig. 5 is the side view (conveying direction) of derusting conveying mechanism
  • Fig. 6 is a schematic diagram of an automatic rolling system from a perspective
  • Fig. 7 is a schematic diagram of another perspective of the automatic rolling system
  • Fig. 8 is the side view (conveying direction) of automatic rolling system
  • Fig. 9 is the schematic diagram of unloading palletizing system
  • 61 loading transmission mechanism for blanking 62 transfer mechanism, 63 blanking truss, 64 moving mechanism for blanking, 65 grasping mechanism for blanking, 66 palletizing frame, 67 moving out guide rail;
  • this embodiment is based on robots and visual recognition of the automatic production line for thermal spraying aluminum anticorrosion treatment, including automatic feeding system 1, laser rust removal system 2, thermal spraying aluminum system 3, and automatic rolling system 4 , laser cutting system 5 and unloading palletizing system 6.
  • Automatic feeding system 1 which automatically pushes workpieces into the production line conveying system to complete the automatic feeding process.
  • a feeding carrying transmission mechanism 11 for transporting workpieces
  • the workpiece can be a flat steel/angle steel.
  • the carrying transmission mechanism When conveying, the workpiece is placed flat on the carrying transmission mechanism, wherein one side of the angle steel is in a horizontal state, and the other side is in a vertical state.
  • the loading conveying mechanism 11 includes a loading platform 111 and a loading driving roller 112, the loading driving roller 112 is rotatably mounted on the loading platform 111, and the loading driving roller 112 can drive the workpiece to move forward. Under the working state, the workpiece is placed on the feeding driving roller 112, and is driven by the feeding driving roller 112 to move forward continuously.
  • the automatic feeding system 1 also includes a feeding truss 12, a feeding moving mechanism 13 and a feeding grabbing mechanism 14, the loading moving mechanism 13 is movably installed on the feeding truss 12, and the feeding grabbing mechanism 14 is On the loading and moving mechanism 13 , the loading and grabbing mechanism 14 is used to grab and place the workpiece on the loading and transporting mechanism 11 .
  • the feeding and grasping mechanism 14 may be an electromagnetic chuck, and several electromagnetic chucks hold the surface of the workpiece, so as to realize the grasping of the workpiece.
  • the feeding moving mechanism 13 can first move along the feeding truss 12 to the top of the stacking frame, and then the feeding moving mechanism 13 drives the feeding grabbing mechanism 14 to move downward, and the feeding grabbing mechanism 14 grabs the workpiece , and then the feeding moving mechanism 13 drives the feeding grabbing mechanism 14 to move upward and move along the feeding truss 12 to the top of the feeding driving roller 112, and finally the workpiece is placed on the feeding driving roller 112, thereby completing automatic feeding.
  • Laser rust removal system 2 is mainly used to clean the surface of the workpiece.
  • the laser rust removal robot 21 comprises a rust removal robot 21, a laser cleaning head 22 and a rust removal delivery mechanism 23, the laser cleaning head 22 is installed on the rust removal robot 21, and the rust removal delivery mechanism 23 is installed on both sides of the rust removal robot 21, and
  • the derusting conveying mechanism 23 can receive workpieces from the carrying conveying mechanism.
  • the feeding driving roller 112 drives the workpiece to move to the derusting conveying mechanism 23.
  • the laser derusting robot 21 controls the laser cleaning head 22 to derust the surface of the workpiece.
  • a derusting robot 21 is installed on both sides of the derusting conveying mechanism 23, which can simultaneously derust the surface of the workpiece from both sides, and complete the derusting work on each surface of the workpiece at one time.
  • Laser cleaning is a new technology based on the interaction between laser and matter. It acts on the workpiece through ultra-high peak and short pulse laser, so that the surface dirt, rust or coating absorbs the laser and evaporates or peels off instantly, while the workpiece hardly absorbs. Laser, so as to achieve the effect of removing surface dirt without damaging the substrate. Compared with traditional cleaning methods, laser cleaning is a high-quality, efficient, energy-saving and environmentally friendly new cleaning process. Laser cleaning has the following advantages: 1. Safe, non-contact, and no damage to the substrate; 2. Accurate and controllable, optional area cleaning , and can also achieve micron-level precision control in the thickness direction; 3. Low overall cost, no consumables in the use of laser cleaning equipment, only power consumption; 4. Strong applicability and mobility, easy to integrate and automate.
  • the rust removal conveying mechanism 23 includes a rust removal platform 231, a rust removal roller 232, a first pressing wheel 233, a first driving mechanism 234, a second pressing wheel 235 and a second driving mechanism 236, and the rust removing roller 232 It can be rotatably installed on the horizontal surface of the derusting bearing platform 231, and the first pressing wheel 233 is rotatably installed on the top of the derusting bearing platform 231.
  • the first driving mechanism 234 can drive the first pressing wheel 233 to move up and down.
  • the pinch wheels 235 are installed on both sides of the derusting platform 231, and the second drive mechanism 236 can drive the second pinch wheels 235 on one side to move to the opposite side.
  • the workpiece driven by the feeding driving roller 112 is driven by the derusting roller 232 to continue to move forward.
  • the first pressing wheel 233 is driven by the first driving mechanism 234 to move downward against The upper surface of the workpiece, and the second drive mechanism 236 drives one of the second pressing wheels 235 to move laterally, so that the position of the workpiece can be relatively fixed, which can prevent its shaking from affecting the cleaning effect.
  • the automatic rolling is calibrated in advance.
  • the bottom of the side in the horizontal state is placed on the derusting roller 232, and its upper part is pressed into contact with the first pressing wheel 233, while the side in the vertical state is pressed by the second
  • the pressing wheel 235 is pushed to a predetermined position laterally.
  • the first driving mechanism 234 and the second driving mechanism 236 can be hydraulic cylinders, wherein the base of the first driving mechanism 234 is installed on the derusting support 237, and the free end of its telescopic rod is connected with the derusting wheel frame 238 , and at derusting wheel frame 238 and derusting support 237 guide bar is installed, the axial direction of guide bar is identical with the moving direction of first pinch wheel 233, and the first pinch wheel 233 is installed on the derusting wheel frame 238.
  • Thermal spraying aluminum system 3 is mainly used for arc thermal spraying aluminum on the surface of the workpiece.
  • the thermal spraying aluminum system 3 includes an aluminum spraying robot 31 and a thermal spraying aluminum spray gun 32 , the aluminum spraying robot 31 is installed in the conveying direction of the rust removal conveying mechanism 23 , and the thermal spraying aluminum spray gun 32 is installed on the aluminum spraying robot 31 .
  • the aluminum spraying robot 31 controls the thermal spraying aluminum spray gun 32 to perform arc thermal spraying aluminum on the surface of the workpiece.
  • an aluminum spraying robot 31 is installed on both sides of the conveying direction of the workpiece, which can perform arc thermal spraying aluminum treatment on the surface of the workpiece from both sides at the same time, and the aluminum spraying work on each surface of the workpiece can be completed at one time.
  • This system adopts the arc thermal spraying aluminum process, which uses the electric arc burning between two continuously fed metal wires to melt the metal, atomizes the molten metal with high-speed airflow, and accelerates the atomized metal particles to make them spray A technique for forming a coating on a workpiece.
  • Arc spraying is a thermal spraying method commonly used in practical application engineering such as steel structure anti-corrosion, wear resistance and mechanical parts maintenance. Compared with flame spraying, arc spraying has the following advantages: 1. High thermal efficiency: the utilization rate of flame spraying heat energy is only 5% to 15%; while the electric energy utilization rate of arc spraying is as high as 60% to 70%; 2. High production efficiency: The production efficiency of arc spraying technology is high.
  • the production efficiency of arc spraying is more than three times that of flame spraying; 3.
  • the bonding strength of the coating is high: arc spraying can be used without increasing the temperature of the workpiece and without using expensive substrates. Obtain higher bonding strength; 4.
  • Low production cost the cost of arc spraying is more than 30% lower than that of flame spraying; 5.
  • Simple operation, safe and reliable arc spraying equipment has no complicated operating mechanism, as long as the process parameters are adjusted according to the spraying material The quality of spraying can be guaranteed if different selections are within the specified range; and only electric energy and compressed air are used, and no flammable gases such as oxygen and acetylene are used, which is safe and reliable. It is also easy to carry out field operations; 6.
  • Pseudo-alloy coatings can be prepared: only two metal wires with different components can be prepared by arc spraying to obtain pseudo-alloy coatings to obtain unique comprehensive properties.
  • the automatic rolling system 4 is mainly used to mechanically roll the arc spray coating to ensure the coating quality.
  • the automatic rolling system 4 is located behind the thermal spraying aluminum system 3, and includes a rolling bearing platform 41, a first rolling wheel 42, a second rolling wheel 43 and a rolling driving mechanism 44, and the first rolling wheel 42 is rotatably mounted on On the rolling bearing platform 41, the rolling driving mechanism 44 is installed on the rolling bearing platform 41, and the second rolling wheel 43 is installed on the rolling driving mechanism 44, and the rolling driving mechanism 44 can drive the second rolling wheel 43 to approach Or away from the first rolling wheel 42 .
  • the rolling driving mechanism 44 drives the second rolling wheel 43 Moving down against the surface of the workpiece, the arc spray coating of the workpiece is mechanically rolled from the upper and lower directions to ensure the coating quality.
  • the rolling driving mechanism 44 is a hydraulic oil cylinder, and its base is installed on the rolling bracket 45, and the free end of its telescopic rod is connected with the rolling wheel frame 46, and the rolling wheel frame 46 is connected with the rolling frame 45.
  • Guide bar is installed, and the axial direction of guide bar is identical with the movable direction of the second rolling wheel 43, and the second rolling wheel 43 is installed on the rolling wheel frame 46.
  • the first rolling wheel 42 includes a first rolling part 421 and a second rolling part 422, the first rolling part 421 and the second rolling part 422 are in a cone shape, and the first rolling part 421 and the second rolling part 422 are formed as an angle matched with the angle steel outer angle;
  • the second rolling wheel 43 includes the third rolling part 431 and the fourth rolling part 432, the third rolling part 431 and the fourth rolling part
  • the pressing parts 432 are all in the shape of a cone, and the third rolling part 431 and the fourth rolling part 432 form an included angle matching the inner angle of the angle steel.
  • the bottom of the flat steel is pressed and contacted by the first rolling part 421 , and its upper part is pressed and contacted by the third rolling part 431 .
  • the workpiece is an angle steel
  • its horizontal bottom is pressed and contacted by the first rolling part 421
  • its horizontal upper part is pressed and contacted by the third rolling part 431
  • the inner side of its vertical side is pressed and contacted by the fourth rolling part 432
  • the outer side of the vertical side is pressed and contacted by the third rolling part 431, so that the mechanical rolling of each surface of the angle steel is completed at one time.
  • the first rolling part 421 is arranged horizontally
  • the second rolling part 422 is arranged vertically
  • the third rolling part 431 and the fourth rolling part 432 are respectively connected with the first rolling part 421 and the second rolling part 421.
  • the upper end surface of the rolling support platform 41 is inclined at 45°
  • the rolling support 45 is perpendicular to the inclined end surface.
  • the laser cutting system 5 is mainly used for cutting the workpiece.
  • the laser cutting system 5 is located behind the automatic rolling system 4 and includes a cutting robot 51 and a laser cutting head 52.
  • the laser cutting head 52 is installed on the cutting robot 51 for cutting the rolled workpiece. In the working state, when the workpiece moves to a predetermined length in front of the laser support, the laser cutting head 52 cuts the workpiece to a fixed length.
  • the unloading and palletizing system 6 is used to remove and palletize workpieces. It includes an unloading carrying transmission mechanism 61 for receiving cut workpieces.
  • the blanking carrying transmission mechanism 61 includes a blanking platform 611 and a blanking driving roller 612, the blanking driving roller 612 is rotatably mounted on the blanking platform 611, and the blanking driving roller 612 can drive the workpiece to move forward. Under the working state, after cutting, it enters on the blanking driving roller 612, and is driven by the blanking driving roller 612 to move forward continuously.
  • the blanking palletizing system 6 also includes a material transfer mechanism 62, a blanking truss 63, a blanking moving mechanism 64, and a blanking grabbing mechanism 65, and the material switching mechanism 62 can transport the workpieces on the blanking transmission mechanism 61 one by one.
  • the blanking moving mechanism 64 is movably installed on the blanking truss 63
  • the blanking grabbing mechanism 65 is installed on the blanking moving mechanism 64
  • the blanking grabbing mechanism 65 is used to remove the workpiece on the blanking carrying transmission mechanism 61 pile.
  • the blanking and grasping mechanism 65 may be an electromagnetic chuck, and several electromagnetic chucks hold the surface of the workpiece, thereby realizing the grasping of the workpiece.
  • the blanking moving mechanism 64 can first move along the blanking truss 63 to the top of the blanking driving roller 612, and then the blanking moving mechanism 64 drives the blanking grasping mechanism 65 to move downward, and the blanking grasping mechanism 65 grabs
  • the workpiece is driven by the blanking moving mechanism 64 to move the blanking grabbing mechanism 65 upwards and moves to the top of the palletizing frame 66 along the blanking truss 63, and finally the workpiece is placed in the palletizing frame 66. After the pile is full, it is moved out of the guide rail 67 to push out the stacking rack.
  • the material transfer mechanism 62 includes a material transfer bracket 621, a chain conveying mechanism 622 and a material transfer lifting mechanism 623.
  • One end of the chain conveying mechanism 622 is hinged on the top of the swing material support, and the other end of the chain conveying mechanism 622 is hinged on the material transfer lifting mechanism 623.
  • the top of the mechanism 623, the lifting mechanism and the material transfer bracket 621 are respectively located on both sides of the blanking conveying mechanism 61.
  • the material transfer lifting mechanism 623 drives the chain conveying mechanism 622 at this end upward, so that the workpiece placed on the blanking driving roller 612 is lifted up, and then the chain conveyor
  • the conveying mechanism 622 drives the workpiece forward to leave the blanking driving roller 612
  • the transfer lifting mechanism 623 drives the chain conveying mechanism 622 to move down to the lower part of the blanking driving roller 612, waiting for the next workpiece to be transferred, so that the workpiece is continuously transferred to the next Turn that end of material support 621.
  • the laser derusting system 2 In order to discharge the waste gas in time, the laser derusting system 2, the thermal spraying aluminum system 3, the automatic rolling system 4, the laser cutting system 5 and the unloading and palletizing system 6 are all equipped with a vacuum room cover, and connected to the negative pressure Soot extraction system.
  • the production process of the above-mentioned automatic production line for thermal spraying aluminum anticorrosion treatment based on robots and visual recognition is as follows: the workpieces placed in the stacking frame are grabbed one by one by the loading and grabbing laser and placed on the loading driving roller 112, Driven by the feeding driving roller 112 to move forward, and enter the derusting conveying mechanism 23 to limit and fix, and in the process of moving, the laser cleaning head 22 is controlled by the derusting robot 21 to perform derusting treatment on the surface of the workpiece.
  • the aluminum spraying robot 31 controls the thermal spraying aluminum spray gun 32 to perform electric arc thermal spraying aluminum on its surface.
  • the aluminum spraying After the aluminum spraying is completed, it enters between the first rolling wheel 42 and the second rolling wheel 43 and is mechanically squeezed, and then continues to move forward to a predetermined distance on the blanking driving roller 612. Carry out cut-to-length processing, and after completion, the workpiece is taken off and stored by the unloading palletizing system 6.
  • the above-mentioned automatic production line for thermal spraying aluminum anticorrosion treatment based on robots and visual recognition provides a fully automated intelligent production plan for automatic laser cleaning of angle steel/flat steel, automatic thermal spraying aluminum, and automatic rolling production. It has automatic feeding, automatic conveying, Automatic laser cleaning, automatic thermal spraying aluminum, automatic rolling, automatic cutting, automatic palletizing and other functions, and can be equipped with data intelligent manufacturing, information management and control platform and other production line intelligent control systems, which greatly improves the angle steel / flat steel The working efficiency of cleaning and spraying aluminum reduces the production cost and has good economic benefits.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Coating By Spraying Or Casting (AREA)
  • Laser Beam Processing (AREA)

Abstract

本发明公开了基于机器人及视觉识别的热喷铝防腐处理全自动生产线，包括：自动上料系统，包括上料承载传输机构；激光除锈系统，包括除锈机器人、激光清洗头和除锈输送机构；热喷铝系统，包括喷铝机器人和热喷铝喷枪；自动碾压系统，包括碾压承台、第一碾压轮、第二碾压轮和碾压驱动机构，所述第一碾压轮可转动设置于所述碾压承台上，所述碾压驱动机构设置于所述碾压承台上，所述第二碾压轮设置于所述碾压驱动机构上，所述碾压驱动机构可驱动所述第二碾压轮靠近或远离所述第一碾压轮；激光切割系统；下料码垛系统。本发明通过机器人可以实现工件的自动化激光清洗、电弧喷铝、自动碾压和激光切割等工序，极大的提高了喷涂质量和效率。

Description

基于机器人及视觉识别的热喷铝防腐处理全自动生产线 技术领域
本发明涉及基于机器人及视觉识别的热喷铝防腐处理全自动生产线，属于工件喷铝技术领域。
背景技术
输电线路电力铁塔是变电站的重要设施，随着国家电力事业的高速发展，对电力的需求日渐增多，保证安全可靠的电力供应至关重要。但由于电塔的材质多为钢铁材料且常年受到风沙雨雪，酸雨等各种各样的腐蚀损害，导致其锈蚀现象十分严重，造成了重大的经济损失，严重浪费生产资源。目前对金属设备比较成熟的防腐蚀技术有，涂覆防护涂层、添加缓蚀剂和牺牲阴极保护法。其中涂覆防护涂层保护法因为其最经济，方便，有效等优点，是应用最广泛的防腐蚀技术。然而，目前喷涂的方式主要是人工手动除锈、喷涂，极大的限制了处理效率，生产成本较高。
发明内容
基于上述，本发明提供一种热喷铝智能制造系统，通过机器人实现工件的自动化激光清洗、电弧喷铝、自动碾压和激光切割等工序，极大的提高了喷涂质量和效率，以克服现有技术的不足。
本发明的技术方案是：基于机器人及视觉识别的热喷铝防腐处理全自动生产线，包括：
自动上料系统，包括上料承载传输机构，用于输送工件；
激光除锈系统，包括除锈机器人、激光清洗头和除锈输送机构，所述激光清洗头设置于所述除锈机器人上，所述除锈输送机构设置于所述除锈机器人的两侧，并且所述除锈输送机构可接收来自所述承载传输机构上的工件；
热喷铝系统，包括喷铝机器人和热喷铝喷枪，所述喷铝机器人设置于所述除锈输送机构的输送方向，所述热喷铝喷枪设置于所述喷铝机器人上；
自动碾压系统，位于所述热喷铝系统后，包括碾压承台、第一碾压轮、第二碾压轮和碾压驱动机构，所述第一碾压轮可转动设置于所述碾压承台上，所述碾压驱动机构设置于所述碾压承台上，所述第二碾压轮设置于所述碾压驱动机构上，所述碾压驱动机构可驱动所述第二碾压轮靠近或远离所述第一碾压轮；
激光切割系统，位于所述自动碾压系统后，包括切割机器人和激光切割头，所述激光切割头设置于所述切割机器人上，用于切割碾压后的工件；
下料码垛系统，包括下料承载传输机构，用于接收切割后的工件。
在其中一个例子中，所述自动上料系统还包括上料桁架、上料移动机构和上料抓取机构，所述上料移动机构可移动设置于所述上料桁架上，所述上料抓取机构设置于所述上料移动机构上，所述上料抓取机构用于抓取并将工件摆放于所述上料承载传输机构上。
在其中一个例子中，所述除锈输送机构包括除锈承台、除锈滚轮、第一压紧轮、第一驱动机构、第二压紧轮和第二驱动机构，所述除锈滚轮可转动设置于所述除锈承台的水平面上，所述第一压紧轮设置于所述除锈承台的上方，所述第一驱动机构可驱动所述第一压紧轮上下移动，所述第二压紧轮设置于所述除锈承台的两侧，所述第二驱动机构可驱动其中一侧的所述第二压紧轮向相对侧移动。
在其中一个例子中，所述第一碾压轮包括第一碾压部和第二碾压部，所述第一碾压部和所述第二碾压部均呈锥体状态，并且所述第一碾压部和所述第二碾压部之间形成为与角钢外角匹配的夹角；所述第二碾压轮包括第三碾压部和第四碾压部，所述第三碾压部和所述第四碾压部均呈锥体状，并且所述第三碾压部和所述第四碾压部之间形成为与角钢内角匹配的夹角。
在其中一个例子中，所述所述第一碾压部呈水平布置，所述第二碾压部呈竖向布置，所述第三碾压部和所述第四碾压部分别与所述第一碾压部和所述第二碾压部相对应。
在其中一个例子中，所述上料承载传输机构包括上料承台和上料驱动滚轮，所述上料驱动滚轮设置于所述上料承台上，所述上料驱动滚轮可带动工件向前移动。
在其中一个例子中，所述下料码垛系统还包括转料机构、下料桁架、下料移动机构和下料抓取机构，所述转料机构可逐个输送所述下料承载传输机构上的工件，所述下料移动机构可移动安装在所述下料桁架上，所述下料抓取机构安装在所述下料移动机构上，所述下料抓取机构用于将所述下料承载传输机构上的工件取下码垛。
在其中一个例子中，所述下料承载传输机构包括下料承台和下料驱动滚轮， 所述下料驱动滚轮设置于所述下料承台上，所述下料驱动滚轮可带动工件向前移动。
在其中一个例子中，所述转料机构包括转料支架、链条输送机构和转料升降机构，所述链条输送机构的一端铰接于所述摆料支架的顶部，所述链条输送机构的另一端铰接于所述转料升降机构的顶部，所述升降机构和所述转料支架分别位于所述下料承载传输机构的两侧。
在其中一个例子中，所述激光除锈系统、所述热喷铝系统、所述自动碾压系统、所述激光切割系统和所述下料码垛系统上均设有吸尘房罩，并连接负压式烟尘排放系统。
本发明的有益效果是：本发明基于机器人及视觉识别的热喷铝防腐处理全自动生产线为角钢/扁钢的自动激光清洗、自动热喷铝、自动碾压生产提供了全自动化智能生产方案，具有自动上料、自动输送、自动激光清洗、自动热喷铝、自动碾压、自动切割、自动码垛等功能，并可配置数据智能制造、信息化管控平台等生产线智能化控制系统，极大的提高了角钢/扁钢的清洗、喷铝的工作效率，降低了生产成本，具有较好的经济效益。
附图说明
图1为基于机器人及视觉识别的热喷铝防腐处理全自动生产线的总体布局图；
图2为自动上料系统的示意图；
图3为除锈输送机构一视角下的示意图；
图4为除锈输送机构另一视角下的示意图；
图5为除锈输送机构的侧视图(输送方向)；
图6为自动碾压系统一视角下的示意图；
图7为自动碾压系统另一视角下的示意图；
图8为自动碾压系统的侧视图(输送方向)；
图9为下料码垛系统的示意图；
附图标记说明：
1自动上料系统；
11上料承载传输机构，12上料桁架，13上料移动机构，14上料抓取机构；
111上料承台，112上料驱动滚轮；
2激光除锈系统；
21除锈机器人，22激光清洗头，23除锈输送机构；
231除锈承台，232除锈滚轮，233第一压紧轮，234第一驱动机构，235第二压紧轮，236第二驱动机构，237除锈支架，238除锈轮架；
3热喷铝系统；
31喷铝机器人，32热喷铝喷枪；
4自动碾压系统；
41碾压承台，42第一碾压轮，43第二碾压轮，44碾压驱动机构，45碾压支架，46碾压轮架；
421第一碾压部，422第二碾压部；
431第三碾压部，432第四碾压部；
5激光切割系统；
51切割机器人，52激光切割头；
6下料码垛系统；
61下料承载传输机构，62转料机构，63下料桁架，64下料移动机构，65下料抓取机构，66码垛框，67移出导轨；
611下料承台，612下料驱动滚轮
621转料支架，622链条输送机构，623转料升降机构。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施的限制。
请参阅图1至图9，本实施方式基于机器人及视觉识别的热喷铝防腐处理全自动生产线，包括自动上料系统1、激光除锈系统2、热喷铝系统3、自动碾压系统4、激光切割系统5和下料码垛系统6。
自动上料系统1，将工件自动推入生产线输送系统，完成自动上料工序。包 括上料承载传输机构11，用于输送工件。本实施例中，工件可以为扁钢/角钢，输送时，工件平放于承载传输机构上，其中角钢的一侧面呈水平状态，另一侧面呈竖向状态。
具体地，上料承载传输机构11包括上料承台111和上料驱动滚轮112，上料驱动滚轮112可转动安装在上料承台111上，上料驱动滚轮112可带动工件向前移动。工作状态下，工件摆放于上料驱动滚轮112上，由上料驱动滚轮112带动其不断向前移动。
具体地，自动上料系统1还包括上料桁架12、上料移动机构13和上料抓取机构14，上料移动机构13可移动安装在上料桁架12上，上料抓取机构14按在上料移动机构13上，上料抓取机构14用于抓取并将工件摆放于上料承载传输机构11上。本实施例中，上料抓取机构14可以为电磁吸盘，由若干电磁吸盘吸住工件的表面，从而实现对工件的抓取。工作状态下，上料移动机构13可先沿上料桁架12移动至堆料框上方，然后上料移动机构13带动上料抓取机构14向下移动，上料抓取机构14抓取住工件，再由上料移动机构13带动上料抓取机构14向上移动并沿上料桁架12移动至上料驱动滚轮112上方，最后将工件摆放于上料驱动滚轮112上，从而完成自动化上料。
激光除锈系统2，主要用于对工件表面进行清洗。激光除锈机器人21包括除锈机器人21、激光清洗头22和除锈输送机构23，激光清洗头22安装在除锈机器人21上，除锈输送机构23安装在除锈机器人21的两侧，并且除锈输送机构23可接收来自承载传输机构上的工件。工作状态下，上料驱动滚轮112驱动工件移动至除锈输送机构23上，在移动过程中，由激光除锈机器人21控制激光清洗头22对工件表面进行除锈处理。本实施例中，在除锈输送机构23的两侧各安装有一个除锈机器人21，可同时从两侧对工件表面进行除锈处理，一次即可完成工件各个表面的除锈工作。
激光清洗是基于激光与物质相互作用的一种新技术，通过超高峰值、短脉冲激光作用于工件，使得表面污物、锈蚀或涂层等吸收激光发生瞬间蒸发或剥离，而工件几乎不吸收激光，从而达到清除表面污物而不损伤基材效果。相比于传统的清洗方法，激光清洗是一种优质高效、节能环保的清洗新工艺，激光清洗具有以下优势：1、安全，非接触、基材无损伤；2、精准可控，可选区清洗，亦可在 厚度方向实现微米级精度控制；3、综合成本低，激光清洗设备使用中无耗材，仅消耗电能；4、适用性和机动性强，易于集成与自动化。
具体地，除锈输送机构23包括除锈承台231、除锈滚轮232、第一压紧轮233、第一驱动机构234、第二压紧轮235和第二驱动机构236，除锈滚轮232可转动安装在除锈承台231的水平面上，第一压紧轮233可转动安装在除锈承台231的上方，第一驱动机构234可驱动第一压紧轮233上下移动，第二压紧轮235安装在除锈承台231的两侧，第二驱动机构236可驱动其中一侧的第二压紧轮235向相对侧移动。工作状态下，由上料驱动滚轮112驱动过来的工件，被除锈滚轮232带动其继续向前移动，移动过程中，由第一驱动机构234驱动第一压紧轮233向下移动抵靠于工件的上表面，而第二驱动机构236驱动其中一个第二压紧轮235横向移动，从而使得工件的位置得以相对固定，可避免其晃动影响清洗效果，同时更为重要的是，为后续工件的自动化碾压提前校准位置。应当注意的是，当工件为角钢时，呈水平状态的侧面的底部置于除锈滚轮232上，其上部与第一压紧轮233挤压接触，而其呈竖向状态的侧面被第二压紧轮235推动至横向预定位置处。本实施例中，第一驱动机构234和第二驱动机构236可以为液压油缸，其中第一驱动机构234的底座安装于除锈支架237上，其伸缩杆的自由端与除锈轮架238连接，并且在除锈轮架238与除锈支架237安装有导向杆，导向杆的轴向与第一压紧轮233的移动方向相同，第一压紧轮233安装在除锈轮架238上。
热喷铝系统3，主要用于对工件表面进行电弧热喷铝操作。热喷铝系统3包括喷铝机器人31和热喷铝喷枪32，喷铝机器人31安装在除锈输送机构23的输送方向，热喷铝喷枪32安装在喷铝机器人31上。工作状态下，当工件向前移动至喷铝机器人31位置时，喷铝机器人31控制热喷铝喷枪32对工件的表面进行电弧热喷铝操作。本实施例中，在工件输送方向的两侧各安装有一个喷铝机器人31，可同时从两侧对工件表面进行电弧热喷铝处理，一次即可完成工件各个表面的喷铝工作。
本系统采用电弧热喷铝工艺，是利用燃烧于两根连续送进的金属丝之间的电弧来熔化金属，用高速气流把熔化的金属雾化，并对雾化的金属粒子加速使它们喷向工件形成涂层的技术。电弧喷涂是钢结构防腐蚀、耐磨损和机械零件维修等 实际应用工程中普遍使用的一种热喷涂方法。电弧喷涂相对火焰喷涂电弧喷涂具有以下优势：1、热效率高：火焰喷涂热能的利用率只有5％～15％；而电弧喷涂的电能利用率髙达60％～70％；2、生产效率高：电弧喷涂技术的生产效率高，一般情况，电弧喷涂的生产效率是火焰喷涂的3倍以上；3、涂层的结合强度高：电弧喷涂可在不提高工件温度、不使用贵重底材的条件下获得较高的结合强度；4、生产成本低：电弧喷涂的成本比火焰喷涂低30％以上；5、操作简单、安全可靠：电弧喷涂设备没有复杂的操作机构，只要把工艺参数根据喷涂材料的不同选在规定的范围之内，均可保证喷涂的质量；而且仅使用电能和压缩空气，不用氧气和乙炔等易燃气体，安全可靠。也易于进行野外作业；6、可制备伪合金涂层：电弧喷涂只需两根不同成分的金属丝材就可制备出伪合金涂层，以获得独特的综合性能。
自动碾压系统4，主要用于对电弧喷涂涂层进行机械碾压，以保证涂层质量。自动碾压系统4位于热喷铝系统3后，包括碾压承台41、第一碾压轮42、第二碾压轮43和碾压驱动机构44，第一碾压轮42可转动安装在碾压承台41上，碾压驱动机构44安装在碾压承台41上，第二碾压轮43安装在碾压驱动机构44上，碾压驱动机构44可驱动第二碾压轮43靠近或远离第一碾压轮42。工作状态下，由除锈输送机构23输送过来的工件，进入到第一碾压轮42和第二碾压轮43之间，在移动过程中，碾压驱动机构44驱动第二碾压轮43向下移动抵靠于工件的表面上，从而分别从上下方向对工件的电弧喷涂涂层进行机械碾压，以保证涂层质量。本实施例中，碾压驱动机构44为液压油缸，其底座安装于碾压支架45上，其伸缩杆的自由端与碾压轮架46连接，并且在碾压轮架46与碾压支架45安装有导向杆，导向杆的轴向与第二碾压轮43的活动方向相同，第二碾压轮43安装在碾压轮架46上。
具体地，第一碾压轮42包括第一碾压部421和第二碾压部422，第一碾压部421和第二碾压部422均呈锥体状态，并且第一碾压部421和第二碾压部422之间形成为与角钢外角匹配的夹角；第二碾压轮43包括第三碾压部431和第四碾压部432，第三碾压部431和第四碾压部432均呈锥体状，并且第三碾压部431和第四碾压部432之间形成为与角钢内角匹配的夹角。从而当工件为扁钢时，扁钢的底部被第一碾压部421挤压接触，其上部被第三碾压部431挤压接触。当工 件为角钢时，其水平底部被第一碾压部421挤压接触，其水平上部被第三碾压部431挤压接触，其竖直侧面的内侧被第四碾压部432挤压接触，其竖直侧面的外侧被第三碾压部431挤压接触，从而一次性完成对角钢的各个表面的机械碾压。
具体地，第一碾压部421呈水平布置，第二碾压部422呈竖向布置，第三碾压部431和第四碾压部432分别与第一碾压部421和第二碾压部422相对应，从而可以同时满足对扁钢和角钢的全面碾压而无需更换模具。本实施例中，碾压承台41的上端面呈45°倾斜状态，碾压支架45垂直于该倾斜端面。
激光切割系统5，主要用于对工件进行切断处理。激光切割系统5位于自动碾压系统4后，包括切割机器人51和激光切割头52，激光切割头52安装在切割机器人51上，用于切割碾压后的工件。工作状态下，当工件移动至激光支架前方预定长度后，激光切割头52对工件进行定长切割。
下料码垛系统6，用于将工件取下码垛。包括下料承载传输机构61，用于接收切割后的工件。
具体地，下料承载传输机构61包括下料承台611和下料驱动滚轮612，下料驱动滚轮612可转动安装在下料承台611上，下料驱动滚轮612可带动工件向前移动。工作状态下，切割后的进入到下料驱动滚轮612上，由下料驱动滚轮612带动其不断向前移动。
具体地，下料码垛系统6还包括转料机构62、下料桁架63、下料移动机构64和下料抓取机构65，转料机构62可逐个输送下料承载传输机构61上的工件，下料移动机构64可移动安装在下料桁架63上，下料抓取机构65安装在下料移动机构64上，下料抓取机构65用于将下料承载传输机构61上的工件取下码垛。本实施例中，下料抓取机构65可以为电磁吸盘，由若干电磁吸盘吸住工件的表面，从而实现对工件的抓取。工作状态下下料移动机构64可先沿下料桁架63移动至下料驱动滚轮612上方，然后下料移动机构64带动下料抓取机构65向下移动，下料抓取机构65抓取住工件，再由下料移动机构64带动下料抓取机构65向上移动并沿下料桁架63移动至码垛框66上方，最后将工件摆放于码垛框66中，堆满后由移出导轨67将码垛架推出即可。
具体地，转料机构62包括转料支架621、链条输送机构622和转料升降机构623，链条输送机构622的一端铰接于摆料支架的顶部，链条输送机构622的 另一端铰接于转料升降机构623的顶部，升降机构和转料支架621分别位于下料承载传输机构61的两侧。工作状态下，切割后的工件移动至下料驱动滚轮612上，转料升降机构623驱动该端的链条输送机构622向上，使得摆放于下料驱动滚轮612上的工件并顶起，再由链条输送机构622带动工件向前离开下料驱动滚轮612，然后转料升降机构623再驱动链条输送机构622向下移动至下料驱动滚轮612下方，等待转移下一个工件，如此不断将工件转移至靠近转料支架621的那端。
为了将废气及时排出，在激光除锈系统2、热喷铝系统3、自动碾压系统4、激光切割系统5和下料码垛系统6上均设有吸尘房罩，并连接负压式烟尘排放系统。
上述基于机器人及视觉识别的热喷铝防腐处理全自动生产线的生产工艺为：摆放于堆料框中的工件，被上料抓取激光逐个抓取并摆放在上料驱动滚轮112上，然后由上料驱动滚轮112带动向前移动，并进入到除锈输送机构23中进行限位固定，并在移动过程中被除锈机器人21控制激光清洗头22对工件的表面进行除锈处理。经除锈处理的工件在移动过程中被喷铝机器人31控制热喷铝喷枪32对其表面进行电弧热喷铝操作。喷铝完成后进入到第一碾压轮42和第二碾压轮43之间并被机械挤压，然后继续向前移动至下料驱动滚轮612上预定距离时，由激光切割系统5对工件进行定长切割处理，完成后由下料码垛系统6将工件取下存放。
上述基于机器人及视觉识别的热喷铝防腐处理全自动生产线为角钢/扁钢的自动激光清洗、自动热喷铝、自动碾压生产提供了全自动化智能生产方案，具有自动上料、自动输送、自动激光清洗、自动热喷铝、自动碾压、自动切割、自动码垛等功能，并可配置数据智能制造、信息化管控平台等生产线智能化控制系统，极大的提高了角钢/扁钢的清洗、喷铝的工作效率，降低了生产成本，具有较好的经济效益。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求 为准。

Claims (10)

  1. 基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，包括：
    自动上料系统(1)，包括上料承载传输机构(11)，用于输送工件；
    激光除锈系统(2)，包括除锈机器人(21)、激光清洗头(22)和除锈输送机构(23)，所述激光清洗头(22)设置于所述除锈机器人(21)上，所述除锈输送机构(23)设置于所述除锈机器人(21)的两侧，并且所述除锈输送机构(23)可接收来自所述承载传输机构上的工件；
    热喷铝系统(3)，包括喷铝机器人(31)和热喷铝喷枪(32)，所述喷铝机器人(31)设置于所述除锈输送机构(23)的输送方向，所述热喷铝喷枪(32)设置于所述喷铝机器人31)上；
    自动碾压系统(4)，位于所述热喷铝系统(3)后，包括碾压承台(41)、第一碾压轮(42)、第二碾压轮(43)和碾压驱动机构(44)，所述第一碾压轮(42)可转动设置于所述碾压承台(41)上，所述碾压驱动机构(44)设置于所述碾压承台(41)上，所述第二碾压轮(43)设置于所述碾压驱动机构(44)上，所述碾压驱动机构(44)可驱动所述第二碾压轮(43)靠近或远离所述第一碾压轮(42)；
    激光切割系统(5)，位于所述自动碾压系统(4)后，包括切割机器人(51)和激光切割头(52)，所述激光切割头(52)设置于所述切割机器人(51)上，用于切割碾压后的工件；
    下料码垛系统(6)，包括下料承载传输机构(61)，用于接收切割后的工件。
  2. 根据权利要求1所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述自动上料系统(1)还包括上料桁架(12)、上料移动机构(13)和上料抓取机构(14)，所述上料移动机构(13)可移动设置于所述上料桁架(12)上，所述上料抓取机构(14)设置于所述上料移动机构(13)上，所述上料抓取机构(14)用于抓取并将工件摆放于所述上料承载传输机构(11)上。
  3. 根据权利要求1所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述除锈输送机构(23)包括除锈承台(231)、除锈滚轮(232)、第一压紧轮(233)、第一驱动机构(234)、第二压紧轮(235)和第二驱动机构(236)，所述除锈滚轮(232)可转动设置于所述除锈承台(231)的水平面上，所述第一压紧轮(233)设置于所述除锈承台(231)的上方， 所述第一驱动机构(234)可驱动所述第一压紧轮(233)上下移动，所述第二压紧轮(235)设置于所述除锈承台(231)的两侧，所述第二驱动机构(236)可驱动其中一侧的所述第二压紧轮(235)向相对侧移动。
  4. 根据权利要求3所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述第一碾压轮(42)包括第一碾压部(421)和第二碾压部(422)，所述第一碾压部(421)和所述第二碾压部(422)均呈锥体状态，并且所述第一碾压部(421)和所述第二碾压部(422)之间形成为与角钢外角匹配的夹角；所述第二碾压轮(43)包括第三碾压部(431)和第四碾压部(432)，所述第三碾压部(431)和所述第四碾压部(432)均呈锥体状，并且所述第三碾压部(431)和所述第四碾压部(432)之间形成为与角钢内角匹配的夹角。
  5. 根据权利要求4所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述所述第一碾压部(421)呈水平布置，所述第二碾压部(422)呈竖向布置，所述第三碾压部(431)和所述第四碾压部(432)分别与所述第一碾压部(421)和所述第二碾压部(422)相对应。
  6. 根据权利要求1所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述上料承载传输机构(11)包括上料承台(111)和上料驱动滚轮(112)，所述上料驱动滚轮(112)设置于所述上料承台(111)上，所述上料驱动滚轮(112)可带动工件向前移动。
  7. 根据权利要求1所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述下料码垛系统(6)还包括转料机构(62)、下料桁架(63)、下料移动机构(64)和下料抓取机构(65)，所述转料机构(62)可逐个输送所述下料承载传输机构(61)上的工件，所述下料移动机构(64)可移动安装在所述下料桁架(63)上，所述下料抓取机构(65)安装在所述下料移动机构(64)上，所述下料抓取机构(65)用于将所述下料承载传输机构(61)上的工件取下码垛。
  8. 根据权利要求7所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述下料承载传输机构(61)包括下料承台(611)和下料驱动滚轮(612)，所述下料驱动滚轮(612)设置于所述下料承台(611) 上，所述下料驱动滚轮(612)可带动工件向前移动。
  9. 根据权利要求8所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述转料机构(62)包括转料支架(621)、链条输送机构(622)和转料升降机构(623)，所述链条输送机构(622)的一端铰接于所述摆料支架的顶部，所述链条输送机构(622)的另一端铰接于所述转料升降机构(623)的顶部，所述升降机构和所述转料支架(621)分别位于所述下料承载传输机构(61)的两侧。
  10. 根据权利要求1所述的基于机器人及视觉识别的热喷铝防腐处理全自动生产线，其特征在于，所述激光除锈系统(2)、所述热喷铝系统(3)、所述自动碾压系统(4)、所述激光切割系统(5)和所述下料码垛系统(6)上均设有吸尘房罩，并连接负压式烟尘排放系统。
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