[0048] The present invention will be further described below with reference to the drawings and embodiments.
[0049] As attached figure 1 As shown, the specific implementation of the present invention includes four fixed silos 100, a handling robot mechanism 200, an intelligent control system 400, a welding robot mechanism 300, a visual inspection device 500 and two mobile silos 600; four fixed silos 100, The two mobile silos 600, the welding robot mechanism 300 and the visual inspection device 500 are all placed around the handling robot mechanism 200. The fixed silo 100 is arranged at the loading station, and each fixed silo 100 has one clamping cylinder and one positioning cylinder, so there are four clamping cylinders and positioning cylinders. The welding robot mechanism 300 is placed at the welding station, the visual inspection device 500 is set at the inspection station, and the mobile silo 600 is set at the unloading station. The intelligent control system 400 is respectively connected with the welding robot mechanism 300, the visual inspection device 500 and the handling robot mechanism 200. connection.
[0050] As attached figure 2 As shown, the fixed silo 100 includes a pneumatic control cabinet 101, a fixed silo frame 102, a clamping cylinder 103, a clamping block 104, a clamping cylinder seat 105, a positioning cylinder 106, a workpiece detection switch 107 and a positioning pin 108; The warehouse frame 102 is equipped with a workpiece positioning assembly consisting of a clamping cylinder 103, a clamping block 104, a clamping cylinder seat 105, a positioning cylinder 106, a workpiece detection switch 107 and a positioning pin 108. The pneumatic control cabinet 101 is fixedly installed On the silo frame 102, the pneumatic control cabinet 101 is respectively connected to the clamping cylinder 103 and the positioning cylinder 106 for controlling the clamping cylinder 103 and the positioning cylinder 106; the workpiece detection switch 107 is installed on the side of the fixed silo frame 102, Used to detect the presence or absence of the crawler gear plate on the fixed silo frame 102; the clamping cylinder 103 is installed on one side of the fixed silo frame 102 through the clamping cylinder seat 105, and the cylinder rod end of the clamping cylinder 103 is connected with the clamping block 104. The clamping block 104 is clamped to the tooth surface of the track gear plate for position adjustment and positioning of the track gear plate; the positioning cylinder 106 is installed on the other side of the fixed silo frame 102 to locate the cylinder rod end of the cylinder 106 Connect the positioning pin 108 that is used to fit in the process hole on the crawler gear plate, and the positioning pin 108 is matched with the process hole on the crawler gear plate; the positioning cylinder 106 and the clamping cylinder 103 are connected to the solenoid valve containing the positioning cylinder and the clamping cylinder The control air circuit of the solenoid valve detects and controls the cylinder by the control air circuit. The positioning cylinder magnetic switch is installed on the positioning cylinder 106 to detect the movement state of the positioning cylinder 106 and send the movement state of the positioning cylinder 106 to the industrial control computer through the PC digital input module; the clamping cylinder magnetic switch is installed on the clamping cylinder 103 Above, it is used to detect the movement state of the clamping cylinder 103, and send the movement state of the clamping cylinder 103 to the industrial control computer through the PC digital input module; the industrial control computer sends the control signal to the relay module through the PC digital output module, The opening and closing of the positioning cylinder solenoid valve and the clamping cylinder solenoid valve are respectively controlled to realize the movement of the positioning cylinder 106 and the clamping cylinder 103.
[0051] As attached image 3 As shown, the handling robot mechanism 200 includes a handling robot 201, a handling robot control cabinet 202, a mounting flange 203, a gripper cylinder 204, and a gripper 205; the handling robot 201 is equipped with a mounting flange 203 at the end, and the mounting flange 204 is equipped with The gripper cylinder 204, the cylinder rod end of the gripper cylinder 204 is connected with three grippers 205 for clamping the track gear disc; the handling robot control cabinet 202 is placed on the side of the handling robot 201, and the handling robot control cabinet 202 is connected to the handling robot 201 And to control the movement, the end of the jaw 205 is provided with a spring steel sheet 206 for connecting the inner hole wall of the crawler gear disc. The claw cylinder 204 is connected to a control gas path containing a claw cylinder solenoid valve, a claw cylinder pressure sensor and a welding gas electric proportional valve, and the control gas path detects and controls the cylinder. The claw cylinder magnetic switch is installed on the claw cylinder 204 to detect the movement status of the claw cylinder 204, and send the movement status of the claw cylinder 204 to the handling robot controller through the handling digital input module; the handling robot controller is controlled by the handling The digital output module controls the opening and closing of the solenoid valve of the claw cylinder through the relay to realize the movement of the claw cylinder 204.
[0052] As attached Figure 4 As shown, the welding robot mechanism 300 includes a gun cleaner 301, a welding robot 302, a welding torch 303, a laser positioning sensor 304, an anti-collision sensor, a welding power source 305, a wire feeder 306, and a welding robot control cabinet 307; the welding robot 302 is set at the end Welding gun 303, anti-collision sensor and laser positioning sensor 304, welding power source 305, wire feeder 306, gun cleaner 301 and welding robot control cabinet 307 are all placed on the side of welding robot 302, welding robot control cabinet 307 is connected to the welding robot 302 and control the movement; the wire feeder 306 is connected to the welding torch 303 through a pipeline, and is used to transport the welding wire to the welding torch 303, and the welding power source 305 supplies power to the wire feeder 306. The welding gas pipe connected to the welding gun 303 is provided with a welding gas pressure sensor for detecting the welding gas pressure and a welding gas electric proportional valve for controlling the welding gas pressure.
[0053] As attached Image 6 As shown, there are two mobile silos 600, one mobile silo 600 is used to place the gear plates that pass the inspection, and the other mobile silo 600 is used to place the gear plates that fail the inspection. The two mobile silos 600 both include a sensor bracket 601, a through-beam photoelectric sensor 602, a sliding baffle 603, a silo base 604 and a cushion block 605; the top surface of the silo base 604 is evenly spaced along the circumferential direction for cushioning The cushion block 605 on the bottom surface of the crawler gear plate workpiece is provided with a sliding baffle 603 for limiting the unloading position of the crawler gear plate workpiece around the cushion block 605. The position of the sliding baffle 603 on the silo base 604 can be adjusted; two The opposite beam photoelectric sensor 602 is installed on both sides of the silo base 604 through the sensor bracket 601 and is located near the silo base 604 to detect whether the mobile silo 600 is in place.
[0054] As attached Figure 5 As shown, the visual inspection device 500 includes a hood 501, a detection system bracket 502, a sliding platform 503, a ball screw pair 504, a sliding table 505, an industrial camera 506, a lens 507, a backlight 508, and image processing software; image processing software settings On the intelligent control system 400; the detection system bracket 502 is used as the supporting body of the visual inspection device 500, the sliding table 503 is horizontally fixed to the detection system bracket 502, the sliding table 505 is installed on the sliding table 503 through the ball screw pair 504, so that the sliding table The 505 moves horizontally on the sliding platform 503; the lens 507 and the industrial camera 506 are both installed on the sliding platform 505, the lens 507 is connected to the industrial camera 506, a backlight 508 is arranged in front of the lens 507, and the backlight 508 is fixedly connected to the detection system bracket 502 The area between the lens 507 and the backlight source 508 is the welding quality inspection area of the crawler gear plate; the hood 501 is set around the inspection system bracket 502 so that a black box is formed inside the cover, and the workpiece crawler gear plate is left under the welding quality inspection area The opening to enter. The crawler gear plate workpiece is transported from the opening to the welding quality inspection area by the transportation robot, the backlight 508 is illuminated, the image of each tooth position of the workpiece is collected by the industrial camera 506, and the welding quality is further inspected by image processing.
[0055] As attached Figure 8 As shown, the control air circuit includes an air source module 1, a gripper cylinder module 8 connected to the air gripper in the handling robot mechanism 200, and a first silo module 3 and a second silo module respectively connected to the cylinders in the four fixed silos 100. The silo module 4, the third silo module 6, and the fourth silo module 7.
[0056] The air source module 1 includes an air source 11, a filter 12, an air tank 13, and a pneumatic triplet 14. The air source 11 is connected to the filter 12, the air tank 13, and the pneumatic triplet 14 through the air pipe. The pneumatic triplet 14 passes through the first After the pressure reducing valve 2 is connected to the first silo module 3 and the second silo module 4 respectively, the pneumatic triplex 14 is connected to the third silo module 6 and the fourth silo module 7 respectively after the second pressure reducing valve 5 , The pneumatic triple piece 14 and the claw cylinder module 8 are connected by a gas circuit.
[0057] The claw cylinder module 8 includes the claw cylinder electric proportional valve 81, the claw cylinder pressure sensor 82, the claw cylinder solenoid valve 83 and the claw cylinder 84. The pneumatic triple piece 14 and the claw cylinder electric proportional valve 81 are connected by a gas circuit, The electric proportional valve 81 of the claw cylinder and the pressure sensor 82 of the claw cylinder are connected by a gas path, the pressure sensor 82 of the claw cylinder and the solenoid valve 83 of the claw cylinder are connected by a gas path, and the solenoid valve 83 of the claw cylinder and the claw cylinder 84 are connected by air. Road connection.
[0058] The first silo module 3 includes a first positioning cylinder solenoid valve 31 and a first clamping cylinder solenoid valve 33. The first pressure reducing valve 2 is connected to the first positioning cylinder solenoid valve 31 and the first clamping cylinder solenoid valve 33 respectively. The first positioning cylinder solenoid valve 31 is connected to the first positioning cylinder 32 in the first fixed silo through a gas path, and the first clamping cylinder solenoid valve 33 is connected to the first clamping in the first fixed silo. The cylinder 34 is connected by a gas path.
[0059] The second silo module 4 includes a second positioning cylinder solenoid valve 41 and a second clamping cylinder solenoid valve 43. The first pressure reducing valve 2 passes through the second positioning cylinder solenoid valve 41 and the second clamping cylinder solenoid valve 43 respectively. The solenoid valve 41 of the second positioning cylinder is connected to the second positioning cylinder 42 in the second fixed silo through a gas path, and the solenoid valve 43 of the second clamping cylinder is connected to the second clamping of the second fixed silo. The cylinder 44 is connected by a gas path.
[0060] The third silo module 6 includes a third positioning cylinder solenoid valve 61 and a third clamping cylinder solenoid valve 63. The second pressure reducing valve 5 is connected to the third positioning cylinder solenoid valve 61 and the third clamping cylinder solenoid valve 63 respectively. The third positioning cylinder solenoid valve 61 is connected to the third positioning cylinder 62 in the third fixed silo through a gas path, and the third clamping cylinder solenoid valve 63 is connected to the third clamping in the third fixed silo. The cylinder 64 is connected by a gas path.
[0061] The fourth silo module 7 includes a fourth positioning cylinder solenoid valve 71 and a fourth clamping cylinder solenoid valve 73. The second pressure reducing valve 5 communicates with the fourth positioning cylinder solenoid valve 71 and the fourth clamping cylinder solenoid valve 73 respectively. The fourth positioning cylinder solenoid valve 71 is connected to the fourth positioning cylinder 72 in the fourth fixed silo through a gas path, and the fourth clamping cylinder solenoid valve 73 is connected to the fourth clamping in the fourth fixed silo. The cylinder 74 is connected by a gas path.
[0062] As attached Figure 7 As shown, the intelligent control system 400 includes an industrial control computer, PC digital input module, PC digital output module, PC analog input module, PC analog output module, handling robot controller, handling digital input module, handling digital Output module, welding robot controller, welding robot, welding digital input module, welding digital output module:
[0063] The industrial control computer is connected to the PC digital input module, the PC digital output module, the PC analog input module and the PC analog output module through the EtherCAT bus. The PC digital input module is connected to the through-beam photoelectric sensor and the positioning cylinder magnetic switch. , The clamping cylinder magnetic switch is connected with the workpiece detection switch, the PC digital output module is connected to the clamping cylinder solenoid valve and the positioning cylinder solenoid valve through the relay module, and the PC analog input module is connected to the welding gas pressure sensor through the signal conversion module. , The pressure sensor of the claw cylinder is connected, and the PC analog output module is respectively connected with the electric proportional valve of the welding gas and the electric proportional valve of the claw cylinder.
[0064] The industrial control computer reads the signals of the through-beam photoelectric sensor, positioning cylinder magnetic switch, clamping cylinder magnetic switch, and workpiece detection switch through the PC digital input module, and respectively detects whether the current qualified and unqualified silo is in place , The current status of the positioning cylinder and the clamping cylinder and whether there is material on the silo. The through-beam photoelectric sensor is used to detect whether the qualified and unqualified silos are in place. The positioning cylinder magnetic switch and the clamping cylinder magnetic switch are used to detect the current status of the positioning cylinder and the clamping cylinder. The signal of the workpiece detection switch is used To detect whether there is material on the silo.
[0065] The industrial control computer sends signals to the clamping cylinder solenoid valve and the positioning cylinder solenoid valve through the PC digital output module and the relay module. The industrial control computer controls the clamping cylinder and positioning cylinder pair through the clamping cylinder solenoid valve and positioning cylinder solenoid valve respectively. Position the workpiece on the silo.
[0066] The industrial control computer reads the welding gas pressure value detected by the welding gas pressure sensor and the claw cylinder pressure value detected by the claw cylinder pressure sensor through the PC analog input module and the signal conversion module. At the same time, the industrial control computer simulates the data through the PC The output module transmits control signals to the welding gas electric proportional valve and the claw cylinder electric proportional valve to adjust the welding gas pressure and the claw cylinder pressure respectively, so that the welding gas pressure and the claw cylinder pressure are within the range.
[0067] The industrial control computer is connected to the industrial camera of the visual inspection device through the Ethernet bus, the industrial control computer and the handling robot controller are connected through the EtherCAT bus, the handling robot controller and the handling robot are connected through the bus, and the handling robot controller is connected to the handling digital through the EtherCAT bus. The digital input module and the digital output module are connected, the digital input module is connected to the magnetic switch of the claw cylinder, and the digital output module is connected to the claw cylinder solenoid valve through a relay.
[0068] The industrial control computer exchanges data with the handling robot controller, and the handling robot controller exchanges signals with the handling robot. The handling robot controller reads the claw cylinder magnetic switch signal through the handling digital input module to obtain the current status information of the claw cylinder ; The handling robot controller controls the on and off of the claw cylinder solenoid valve signal through the handling digital output module through the relay, and then controls the claw cylinder operation.
[0069] The industrial control computer is connected to the welding robot controller through the EtherCAT bus, the welding robot controller is connected to the welding robot, and the welding robot controller is connected to the welding digital input module and the welding digital output module through the EtherCAT bus, and the welding digital input module is respectively It is connected with welding power supply, wire feeder, anti-collision sensor and laser positioning sensor, and the welding digital output module is connected with welding power supply and wire feeder respectively. The welding digital input module sends control signals to the welding power supply and wire feeder, and the process completion signals of the welding power supply and wire feeder are fed back to the welding digital output module.
[0070] The industrial control computer interacts with the welding robot controller, and the welding robot controller interacts with the welding robot. The welding robot controller reads the anti-collision sensor, laser positioning sensor, welding power supply, and wire feed through the welding digital input module. Machine signal. Anti-collision sensor When the welding torch collides, it sends a signal to the welding robot controller, and the welding robot controller controls the welding robot to stop running; the laser positioning sensor is installed at the end of the welding robot, and the workpiece is searched by the laser positioning sensor before welding. Position, correct the welding position of the welding robot.
[0071] The welding robot controller sends signals to the welding power supply and the wire feeder respectively through the welding digital output module. When the welding robot moves to the welding position, the welding robot controller sends a signal to the welding power source and wire feeder to start welding and wire feeding. After the welding is completed, the welding robot controller sends a signal to the welding power source and wire feeder to stop welding and wire feeding.
[0072] The collaborative welding and inspection process of the present invention includes the following steps:
[0073] 1. Place the gear plate on the fixed silo 100, operate the buttons on the pneumatic control cabinet 101 to control the action of the clamping cylinder 103 and the positioning cylinder 106 on the fixed silo 100 to complete the positioning of the gear plate;
[0074] 2. Operate the buttons on the 400 man-machine interface of the intelligent control system, and the whole system enters the automatic operation stage;
[0075] 3. The handling robot 201 runs to the loading station, clamps and fixes the gear plate positioned on the silo 100, and transports the gear plate to the welding station;
[0076] 4. The handling robot 201 and the welding robot 302 cooperate to complete the surfacing process of the gear plate; the welding robot 302 first uses the laser positioning sensor 304 to scan the processing surface of the gear plate, and the welding robot 302 corrects the welding track according to the information of the laser positioning sensor 304 , And then perform welding along the corrected trajectory; the handling robot 201 is responsible for the displacement of the gear plate during the processing; after the welding is completed, the welding robot 302 returns to the original position;
[0077] 5. The handling robot 201 transports the processed gear plate to the inspection station, and detects the welding quality of the gear plate through the visual inspection device 500;
[0078] The specific implementation adopts the online detection of computer intelligent image recognition, collecting and processing parts welding quality information through physical positioning detection and digital model registration, which can quickly and accurately detect parts welding quality defects.
[0079] 6. The handling robot 201 palletizes the gear discs according to the information detected by the visual inspection device 500; the gear discs that pass the quality inspection are palletized in one mobile bin 600, and the gear discs that fail the quality inspection are palletized in another. 600 miles of mobile silo;
[0080] 7. During the operation of the equipment, the intelligent control system 400 is responsible for the overall control of the entire equipment and displays the processing status of the equipment.
[0081] The process of intelligent control system 400 is as attached Picture 9 As shown, first start the initialization, and then:
[0082] 1) Check whether the welding gas pressure is normal and not within the set range, adjust the welding gas electric proportional valve, and adjust the welding gas pressure until it is normal;
[0083] 2) Check whether the pressure of the claw cylinder is normal, and it is not within the set range, adjust the electric proportional valve of the claw cylinder, and adjust the pressure of the claw cylinder until it is normal;
[0084] 3) Detect whether there is material in the silo. If there is no material, the alarm will remind you to discharge the material, until the material is detected, the alarm will stop;
[0085] 4) Then the handling robot performs the loading process. After the loading process is completed, the welding robot performs the welding process;
[0086] 5) After the welding process is completed, the visual inspection device detects whether the processing quality is qualified.
[0087] 6) The industrial camera photographs the contour of the current workpiece, transmits the data to the visual inspection device, compares the image data, and judges whether the workpiece is qualified;
[0088] 7) If the workpiece is qualified, the handling robot puts the workpiece into the qualified silo; if the workpiece is unqualified, the handling robot puts the workpiece into the unqualified silo.
