Six-axis robot steel coil inner ring welding system with identifying and guiding functions

Abstract

The invention discloses a six-axis robot steel coil inner ring welding system with recognition and guiding functions, and relates to the technical field of steel coil welding, the six-axis robot steel coil inner ring welding system comprises a six-axis robot body, a steel coil inner ring spot welding clamp and a pushing and blocking device, and the output end of the six-axis robot body is provided with the steel coil inner ring spot welding clamp through a flange plate; a pushing and blocking device is arranged on the outer side of the six-axis robot body, and the light source back plate is installed at the outer end of the fixing support. Through the structure that the push-and-block device is arranged on the outer side of the six-axis robot body, the auxiliary push-and-block device and the light source back plate are combined, the problems that the environment is dark and exposure is insufficient when an industrial camera photographs are solved, and the situation that the recognition precision is reduced due to background content rejection when the industrial camera recognizes is prevented; and the position and state of the welded steel coil can be mastered more accurately by a welding system, the welding precision and quality are improved, the six-axis robot is ensured to enter normally under the condition that the steel coil collapses, and the problems of possible core pulling or collapse ejection of the inner ring of the steel coil and the like are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil welding, and in particular to a six-axis robot steel coil inner ring welding system with identification and guidance functions. Background Art

[0002] During the hot-rolled strip production process, the hot-rolled strip is coiled by the coiler to form a steel coil. The coil head may collapse and the inner ring may become loose, which is not conducive to the subsequent coiling operation. Welding the inner ring of the steel coil can effectively avoid these problems and improve the quality and performance of the steel coil. Since the welding of the inner ring of the steel coil often needs to be carried out in harsh environments such as high temperature and high labor intensity, robotic automated welding can reduce the risk of manual operation and ensure the accuracy and consistency of welding.

[0003] The defects of the steel coil inner ring welding system in the prior art are:

[0004] 1. Patent document CN117086539A discloses a control method and control system for a steel coil inner ring spot welding robot. The inner ring spot welding robot control system lacks auxiliary devices. When entering the inner ring of the steel coil, it may cause the inner ring of the steel coil to be ejected or collapsed, which is not conducive to the welding system accurately grasping the position and status of the welded steel coil.

[0005] 2. Patent document CN111112817B discloses an automatic spot welding machine for the inner ring of a cold-rolled steel coil and its use method. The automatic spot welding machine for the inner ring of a steel coil cannot guide the spot welding machine to work. When the clamp enters and exits the inner ring of the steel coil, it is easy to cause scratches or even core pulling of the inner ring due to the collapse of the lead.

[0006] 3. Patent document CN216227691U discloses a spot welding machine for the inner ring of a steel coil. This machine may damage the inner ring during subsequent transportation of the welding gun, making it impossible to ensure effective contact between layers during welding. Defects such as pores, slag inclusions, and incomplete fusion are likely to occur during the welding process.

[0007] 4. Patent document CN113857726B discloses an automatic welding device for the inner ring of a hot-rolled steel coil. This device cannot ensure the stability of the inner ring of the steel coil during welding. It is prone to problems such as welding position deviation or uneven welding due to slipping, and cannot guarantee the safety and stability of the welding process. Summary of the Invention

[0008] The purpose of the present invention is to provide a six-axis robot steel coil inner ring welding system with identification and guidance functions to solve the problems raised in the above background technology.

[0009] To achieve the above objectives, the present invention provides the following technical solutions: a six-axis robot steel coil inner ring welding system with identification and guidance functions, comprising a six-axis robot body, a steel coil inner ring spot welding fixture, and a push-blocking device, wherein the output end of the six-axis robot body is mounted with the steel coil inner ring spot welding fixture via a flange, and the push-blocking device is provided on the outside of the six-axis robot body, and is mounted opposite to the six-axis robot body;

[0010] The pushing device includes a fixed seat, a fixed bracket, a light source backplate, a driving slider, a horizontal adjustment bracket and a transparent acrylic plate. The fixed bracket is installed on the top of the fixed seat, the light source backplate is installed on the outer end of the fixed bracket, the driving slider is installed on the top of the fixed seat, the horizontal adjustment bracket is installed on the top of the driving slider, and the horizontal adjustment bracket is located on the outside of the fixed bracket. The transparent acrylic plate is installed on one end of the horizontal adjustment bracket close to the spot welding fixture of the inner ring of the steel coil.

[0011] Preferably, the pushing device also includes a visual light source assembly, a pushing cylinder and an origin sensor, the visual light source assembly is installed on the bottom wall of the horizontal adjustment bracket, and the visual light source assembly is matched with the transparent acrylic plate, the pushing cylinder is installed on the top of the fixed seat, and the piston end of the pushing cylinder is connected to the top of the horizontal adjustment bracket through a connecting block, and the origin sensor is installed on the top of the pushing cylinder.

[0012] Preferably, a robot base is installed at the bottom end of the six-axis robot body, and an industrial camera is installed at the inner center position of the steel coil inner ring spot welding fixture.

[0013] Preferably, a rangefinder is installed on the inner wall of the steel coil inner ring spot welding fixture, a laser welding head is installed on the inner side of the steel coil inner ring spot welding fixture, and an air blowing solenoid valve is installed on the inner wall of the steel coil inner ring spot welding fixture.

[0014] Preferably, a pressing device is installed at the bottom end of the steel coil inner ring spot welding fixture, and an in-place sensor is installed at the outer end of the pressing device, and the in-place sensor cooperates with the origin sensor.

[0015] Preferably, a smoothing component is provided on the inner side of the steel coil inner ring spot welding fixture, and the smoothing component includes a cylinder support part, a cylinder solenoid valve, a cylinder sensor and a smoothing rubber plate. The cylinder support part is installed on the inner wall of the steel coil inner ring spot welding fixture, and the smoothing rubber plate is connected to the cylinder output end of the cylinder support part, and the cylinder output end of the cylinder support part passes through the outer side of the steel coil inner ring spot welding fixture.

[0016] Preferably, the cylinder solenoid valve is installed on the inner wall of the steel coil inner ring spot welding fixture, and the cylinder sensor is installed on the inner side of the steel coil inner ring spot welding fixture, and the cylinder sensor detects the working status of the cylinder support part.

[0017] Preferably, the steel coil inner ring welding system is electrically connected to a software client system, and the software client system internally integrates an image acquisition unit, an image algorithm processing unit, an interaction unit and an alarm unit, the image acquisition unit is electrically connected to an industrial camera, the image algorithm processing unit is used to calculate and compare the outer diameter, width boundary and angular position of the steel coil head on the circumference, the interaction unit displays the collapse state of the steel coil head and the head identification result, and the alarm unit warns the staff when it detects abnormal work.

[0018] A method for using a six-axis robot steel coil inner ring welding system with an identification and guidance function is applicable to a six-axis robot steel coil inner ring welding system with an identification and guidance function. Preferably, the method for using the steel coil inner ring welding system includes the following steps:

[0019] Step S1: After the steel coil leaves the production line and moves to the designated saddle, the inner ring welding system is started. After the six-axis robot body is started, it begins to self-check the status of the spot welding fixture of the inner ring of the steel coil;

[0020] Step S2: After confirming that the steel coil is placed normally, the steel coil is moved to a certain position away from the end face of the steel coil according to the steel coil position data. After receiving the photo start signal, the visual light source component on the push-block device starts to operate and start the light source backplane operation;

[0021] Step S3: The push-blocking device operates again to move the transparent acrylic plate toward the end face of the steel coil, and adjusts the movement and position of the spot welding fixture of the inner ring of the steel coil into the inner ring of the steel coil according to the steel coil position data and the camera's recognition of the steel coil collapse state;

[0022] Step S4: The smoothing component drives the smoothing rubber plate to fit the inner ring of the steel coil and then starts to rotate clockwise for smoothing. After receiving the signal from the sensor that the pressing device is in place, the laser welding head starts light welding. After welding is completed, the next welding cycle begins.

[0023] Preferably, the step S1 further includes the following steps:

[0024] Step S11: After the self-check is normal, the six-axis robot body switches to calculate and compare the outer diameter and width boundaries of the steel coil;

[0025] In the step S2, the following steps are also included:

[0026] Step S21: After the industrial camera takes a picture, the image algorithm processing unit obtains the angular position of the steel coil head on the circumference and sends it to the six-axis robot body;

[0027] In step S3, the following steps are also included:

[0028] Step S31: After the steel coil inner ring spot welding fixture enters the steel coil inner ring, the push-blocking device starts to retract. After receiving the origin sensor signal, the steel coil inner ring spot welding fixture starts the entire welding process.

[0029] In the step S4, the following steps are also included:

[0030] Step S41: After welding is completed, the coil is moved to a certain position away from the end face of the coil according to the coil position data to take a second photo to confirm the state of the coil head after welding.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention provides a pushing and blocking device on the outside of the six-axis robot body. The visual light source component on the pushing and blocking device starts the operation of the light source backplane after receiving the photo start signal. The structure of the combination of the auxiliary pushing and blocking device and the light source backplane solves the problem of insufficient exposure in a dark environment when the industrial camera takes photos, prevents the background content from being mixed during recognition by the industrial camera, resulting in reduced recognition accuracy, reduces the debugging and inspection time during welding, helps the welding system to more accurately grasp the position and status of the welded steel coil, improves welding accuracy and quality, reduces the scrap rate and thus improves production efficiency. The external pushing and blocking device ensures that the six-axis robot can enter normally when the steel coil collapses, effectively solves the problems of possible core pulling or collapse ejection of the inner ring of the steel coil, and further improves the safety performance of the welding system when it is working. The pushing and blocking device meets the welding requirements of the inner ring of steel coils of different sizes and shapes, and has strong versatility and adaptability.

[0033] 2. The present invention installs a steel coil inner ring spot welding fixture through a flange at the output end of the six-axis robot body. The steel coil inner ring welding system uses the six-axis robot as a motion actuator. The robot is equipped with an independently designed integrated steel coil inner ring spot welding fixture and a peripheral equipment pushing and blocking device. It realizes functions with a visual recognition algorithm as the core. The industrial camera on the integrated fixture and the inner ring collapse lead recognition system realize the judgment of the collapse degree of the steel coil inner ring and the position of the inner ring lead. The steel coil inner ring spot welding fixture adopts a conical cover structure to solve the problem of the lead head collapsing and even the inner ring core pulling when the fixture enters and exits the steel coil inner ring. The pneumatic support structure and the external rubber plate integrated on the steel coil inner ring spot welding fixture can realize the collapse and smoothing of the inner ring magnesium powder when it slips. The pressing device and laser welding device integrated on the steel coil inner ring spot welding fixture can realize the welding and fixation of the steel coil inner ring with different thickness parameters, thereby further improving the welding quality of the steel coil inner ring.

[0034] 3. The present invention ensures the welding quality and requirements of different thicknesses and different numbers of layers by adopting a process structure design of pressing first and then welding. At the same time, an extremely flexible pressing device is adopted to ensure effective contact between layers during welding. The inner ring of the steel coil is pressed to eliminate gaps and unevenness caused by material deformation, curling, etc., so that the welding surface is more fitted, thereby improving the welding quality. Ensuring the flatness and tightness of the inner ring of the steel coil before welding can reduce the probability of defects such as pores, slag inclusions, and unfusion during the welding process, and prevent defects from adversely affecting the strength and stability of the weld joint. The pressing first and then welding process makes the inner ring of the steel coil form a more stable structure, increases the steel coil's ability to withstand axial loads and shear forces, and improves the overall performance of the steel coil.

[0035] 4. The present invention provides a smoothing component on the inner side of the spot welding fixture for the inner ring of the steel coil. The smoothing structure adopts an opening and closing umbrella-shaped structure design, which reduces its size when entering and opens when in use. The force during opening can be adjusted as needed. When welding the inner ring of the steel coil, the smoothing structure fits the inner ring of the steel coil to ensure the stability of the inner ring of the steel coil during welding, prevents problems such as welding position displacement or uneven welding due to slipping, thereby improving welding quality, reducing the occurrence of welding defects such as unfusion and slag inclusion in the weld joint caused by slipping, improving the working quality of the laser welding head, increasing the welding speed and thus enhancing the welding efficiency, extending the service life of the inner ring welding system, and ensuring the safety and stability of the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the three-dimensional structure of the six-axis robot body of the present invention;

[0038] Figure 3 It is a schematic diagram of the three-dimensional structure of the push-blocking device of the present invention;

[0039] Figure 4 This is a schematic diagram of the three-dimensional structure of the light source backplane of the present invention;

[0040] Figure 5 This is a schematic diagram of the front structure of the steel coil inner ring spot welding fixture of the present invention;

[0041] Figure 6 This is a schematic diagram of the internal structure of the front side of the steel coil inner ring spot welding fixture of the present invention;

[0042] Figure 7 This is a schematic side structural diagram of the steel coil inner ring spot welding fixture of the present invention;

[0043] Figure 8 This is a schematic diagram of the internal structure of the steel coil inner ring spot welding fixture of the present invention;

[0044] Figure 9 This is a flow chart of the fixture status self-check of the present invention;

[0045] Figure 10 This is a flow chart of the system welding process of the present invention;

[0046] Figure 11 This is a visual recognition flowchart of the present invention.

[0047] In the figure: 1. Six-axis robot body; 2. Robot base; 3. Spot welding fixture for inner ring of steel coil; 4. Pushing device; 5. Visual light source assembly; 6. Light source back plate; 7. Pushing cylinder; 8. Driving slider; 9. Origin sensor; 10. Transparent acrylic plate; 11. Industrial camera; 12. Rangefinder; 13. Laser welding head; 14. Pressing device; 15. Cylinder support part; 16. Blowing solenoid valve; 17. Cylinder solenoid valve; 18. Cylinder sensor; 19. Smoothing rubber sheet; 20. Fixing seat; 21. Fixing bracket; 22. Horizontal adjustment bracket. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a movable connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0051] See also Figure 1 、 Figure 3 and Figure 4 , an embodiment provided by the present invention: a six-axis robot steel coil inner ring welding system with identification and guidance functions;

[0052] It includes a six-axis robot body 1, a steel coil inner ring spot welding fixture 3 and a push-blocking device 4. The output end of the six-axis robot body 1 is equipped with the steel coil inner ring spot welding fixture 3 through a flange. The outside of the six-axis robot body 1 is provided with a push-blocking device 4, and the push-blocking device 4 is installed opposite to the six-axis robot body 1. The push-blocking device 4 includes a fixed seat 20, a fixed bracket 21, a light source back plate 6, a driving slider 8, a horizontal adjustment bracket 22 and a transparent acrylic plate 10. The fixed bracket 21 is installed on the top of the fixed seat 20, the light source back plate 6 is installed on the outer end of the fixed bracket 21, the driving slider 8 is installed on the top of the fixed seat 20, the horizontal adjustment bracket 22 is installed on the top of the driving slider 8, and the horizontal adjustment bracket 22 is located on the outside of the fixed bracket 21. The transparent acrylic plate 10 is installed on the horizontal adjustment bracket 22 at one end close to the steel coil inner ring spot welding fixture 3;

[0053] The pushing and blocking device 4 is installed at a specified relative position of the six-axis robot body 1 through the fixing seat 20, and the driving slider 8 supports the horizontal adjustment bracket 22. The horizontal adjustment bracket 22 ensures the stability of the transparent acrylic plate 10 during use. The visual light source component 5 on the pushing and blocking device 4 starts the light source backplane 6 after receiving the photo start signal. The structure combined with the auxiliary pushing and blocking device 4 and the light source backplane 6 solves the problem of insufficient exposure in a dark environment when the industrial camera 11 takes pictures, and prevents the background content from being mixed during recognition by the industrial camera 11, resulting in reduced recognition accuracy, which helps the welding system to more accurately grasp the position and status of the welded steel coil. The external pushing and blocking device 4 ensures that the six-axis robot body 1 drives the steel coil inner ring spot welding fixture 3 to enter normally when the steel coil collapses, effectively solving the possible core pulling or collapse ejection of the inner ring of the steel coil. The pushing and blocking device 4 meets the welding requirements of the inner ring of steel coils of different sizes and shapes.

[0054] See also Figure 1 、 Figure 3 and Figure 4 , a six-axis robot steel coil inner ring welding system with identification and guidance functions;

[0055] It includes a pushing device 4, a visual light source assembly 5 and a pushing cylinder 7, the fixed bracket 21 is installed on the top of the fixed base 20, the light source back plate 6 is installed on the outer end of the fixed bracket 21, the driving slider 8 is installed on the top of the fixed base 20, the horizontal adjustment bracket 22 is installed on the top of the driving slider 8, and the horizontal adjustment bracket 22 is located on the outside of the fixed bracket 21, the transparent acrylic plate 10 is installed on the horizontal adjustment bracket 22 near the end of the steel coil inner ring spot welding fixture 3, the pushing device 4 also includes a visual light source assembly 5, a pushing cylinder 7 and an origin sensor 9, the visual light source assembly 5 is installed on the bottom wall of the horizontal adjustment bracket 22, and the visual light source assembly 5 is matched with the transparent acrylic plate 10, the pushing cylinder 7 is installed on the top of the fixed base 20, and the piston end of the pushing cylinder 7 is connected to the top of the horizontal adjustment bracket 22 through a connecting block, and the origin sensor 9 is installed on the top of the pushing cylinder 7;

[0056] After confirming that the steel coil is placed normally, prepare for photo identification. After receiving the photo start signal, the visual light source component 5 on the pushing device 4 starts to run and starts the light source backplane 6. 2 seconds after the backplane light source 6 is started, the industrial camera 11 starts to take pictures. After receiving the photo completion signal from the industrial camera 11, the photo signal is turned off and the camera photo action is stopped. The six-axis robot body 1 starts the pushing device 4 after receiving the photo identification result. The pushing cylinder 7 extends to drive the driving slider 8 to move the transparent acrylic plate 10 toward the end face of the steel coil. After the signal of the origin sensor 9 of the pushing cylinder 7 disappears for 3S, it is determined that the pushing device 4 is in place. According to the steel coil position data and the camera identification of the collapse state of the steel coil, the inner ring spot welding fixture 3 is adjusted to explore the inner ring of the steel coil and its position. After the six-axis robot body 1 enters the inner ring of the steel coil, the pushing device 4 starts to retract. After receiving the signal of the origin sensor 9 of the pushing cylinder 7, the inner ring spot welding fixture 3 of the steel coil starts the entire welding process.

[0057] See also Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 , a six-axis robot steel coil inner ring welding system with identification and guidance functions;

[0058] It includes a six-axis robot body 1, a steel coil inner ring spot welding fixture 3 and a rangefinder 12. The output end of the six-axis robot body 1 is equipped with the steel coil inner ring spot welding fixture 3 through a flange plate, the bottom end of the six-axis robot body 1 is equipped with a robot base 2, an industrial camera 11 is installed at the inner center position of the steel coil inner ring spot welding fixture 3, a rangefinder 12 is installed on the inner wall of the steel coil inner ring spot welding fixture 3, a laser welding head 13 is installed on the inner side of the steel coil inner ring spot welding fixture 3, an air blowing solenoid valve 16 is installed on the inner wall of the steel coil inner ring spot welding fixture 3, a pressing device 14 is installed at the bottom end of the steel coil inner ring spot welding fixture 3, and an in-position sensor is installed at the outer end of the pressing device 14, and the in-position sensor cooperates with the origin sensor 9;

[0059] The steel coil inner ring spot welding fixture 3 adopts a conical cover structure to solve the problem of the inner ring being scraped or even pulled out due to the collapse of the lead when the fixture enters and exits the inner ring of the steel coil. The steel coil inner ring spot welding fixture 3 integrates a smoothing component, a pressing device 14 and a laser welding head 13. The laser welding head 13 realizes the welding and fixing of the steel coil inner ring with different thickness parameters. The robot base 2 drives and controls the six-axis robot body 1, and the six-axis robot body 1 drives the steel coil inner ring spot welding fixture 3.

[0060] After the steel coil leaves the production line, it moves to the designated saddle and then starts the robot. After the robot starts, it starts to self-check the status of the inner ring spot welding fixture 3 of the steel coil, and confirm whether the industrial camera 11, the rangefinder 12, the laser welding head 13, the pressing device 14, the cylinder support part 15, the cylinder solenoid valve 17, and the cylinder sensor 18 are normal. The self-check work includes: (1) confirming whether the "object detected" signal of the rangefinder 12 is 1. If the "object detected" signal is not 1, an alarm will be issued to prompt that the rangefinder 12 is abnormal; if the "object detected" signal is 1, the program will continue to execute; (2) confirm whether the current value of the analog quantity of the rangefinder 12 is within the range of 523-527. If it is not within the range, an alarm will be issued to prompt that the position of the rangefinder 12 is abnormal, and a reminder will be given to check and confirm the maintenance; if it is within the range, the program will continue to execute; (3) confirm whether the laser welding head 13 is faulty. If the fault alarm signal exists, there is an alarm, and the alarm prompts that the laser welding head 13 is abnormal; if there is no alarm, the program continues to execute; detect whether the origin signal of the laser welding head 13 exists, if the signal does not exist, the output is reset to the original signal and then 2 tests are performed after a certain period of time. After repeated reset twice, it is always abnormal, and the alarm prompts the welding head servo abnormality; if the signal exists, the program continues to execute; (4) confirm the status of the pressing device 14, output the signal to start and retract the pressing device 14, confirm whether the status and action of the pressing device 14 in-place sensor and the origin sensor 9 are normally matched, and if the extended in-place signal feedback is normal when starting, the program continues to execute, and if it is abnormal, the output alarm prompts the pressing device 14 to extend abnormally; if the origin signal feedback signal is normal when retracting, the program continues to execute, and if it is abnormal, the output alarm prompts the pressing device 14 to retract abnormally;

[0061] After the self-test is normal, the robot moves to start detecting the steel coil. The distance meter 12 on the inner ring spot welding fixture 3 of the steel coil starts to detect the steel coil from just above the steel coil. The detection position of the distance meter 12 and the axis of the steel coil are collinear in the vertical direction to ensure that the measured position is at the highest point of the steel coil. The detection distance of the distance meter 12 is fixed. After detecting the steel coil, it outputs a digital signal to judge whether the steel coil exists. If the steel coil is not detected, the robot will run a fixed distance of 500mm from the highest point and perform the test again. If the steel coil is still not detected, the alarm steel coil abnormality request is output. Manual confirmation is requested; after detecting the steel coil, the feedback data of the distance meter 12 is read and the machine is The relative height data of the detection starting point, the rangefinder data, and the unit saddle size data are used to calculate the coil size. By comparing the received unit coil data with the calculated coil data, if the coil outer diameter data is not within the normal allowable range, an alarm is output to prompt manual confirmation to see if there is an abnormality. If the unit outer diameter measurement data is normal, the width boundary measurement begins. The robot begins to move horizontally until the rangefinder digital signal disappears, and stops. The horizontal movement distance is recorded. Because the detection starts from the center position in the width direction of the coil, the horizontal movement distance is compared with half of the coil width data. If the difference is too large, an alarm is output to prompt manual confirmation to see if there is an abnormality.

[0062] The press-before-weld process structure design ensures the welding quality and requirements of different thicknesses and different numbers of layers. At the same time, an extremely flexible pressing device 14 is used to ensure effective contact between layers during welding. The inner ring of the steel coil is pressed to eliminate gaps and unevenness caused by material deformation, curling, etc. Ensuring the flatness and tightness of the inner ring of the steel coil before welding can reduce the probability of defects such as pores, slag inclusions, and lack of fusion during the welding process. The press-before-weld process makes the inner ring of the steel coil form a more stable structure, increases the steel coil's ability to withstand axial loads and shear forces, and improves the overall performance of the steel coil. The press-before-weld process structure design can simplify pre-welding preparations and reduce adjustment and inspection time during welding. At the same time, the improved welding quality can reduce rework and repair time caused by welding defects, thereby improving production efficiency. After the inner ring of the steel coil is welded, the industrial camera 11 moves to a certain position away from the end face of the steel coil based on the steel coil position data to take a second photo to confirm the leading state of the steel coil after welding and display the effect on the client system.

[0063] See also Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 10 , a six-axis robot steel coil inner ring welding system with identification and guidance functions;

[0064] It includes a smoothing rubber plate 19, a laser welding head 13 and a pressing device 14. A smoothing component is provided on the inner side of the steel coil inner ring spot welding fixture 3. The smoothing component includes a cylinder support part 15, a cylinder solenoid valve 17, a cylinder sensor 18 and a smoothing rubber plate 19. The cylinder support part 15 is installed on the inner wall of the steel coil inner ring spot welding fixture 3. The smoothing rubber plate 19 is connected to the cylinder output end of the cylinder support part 15, and the cylinder output end of the cylinder support part 15 passes through the outer side of the steel coil inner ring spot welding fixture 3. The cylinder solenoid valve 17 is installed on the inner wall of the steel coil inner ring spot welding fixture 3. The cylinder sensor 18 is installed on the inner side of the steel coil inner ring spot welding fixture 3. The cylinder sensor 18 detects the working status of the cylinder support part 15. The laser welding head 13 is installed on the inner side of the steel coil inner ring spot welding fixture 3. The bottom end of the steel coil inner ring spot welding fixture 3 is installed with a pressing device 14;

[0065] Confirm whether the cylinder support part 15, the cylinder solenoid valve 17, and the cylinder sensor 18 are normal, output a signal to control the action of the cylinder solenoid valve 17, and judge whether it is normal by the state of the cylinder sensor 18 when the cylinder support part 15 is in action. When starting, if the feedback of the cylinder sensor 18 is normal, the program continues to execute. If it is abnormal, an alarm is output to prompt that the cylinder support part 15 is abnormal. When retracting, if the feedback signal of the cylinder sensor 18 is normal, the program continues to execute. If it is abnormal, an alarm is output to prompt that the cylinder support part 15 is abnormal.

[0066] After receiving the signal, the cylinder solenoid valve 17 of the steel coil inner ring spot welding fixture 3 starts to move, and the cylinder support part 15 extends out, and the smoothing rubber plate 19 fits with the inner ring of the steel coil to ensure that it will not slip in the presence of magnesium powder. Then it starts to rotate clockwise for smoothing, and the smoothing action stops at 4 o'clock, 8 o'clock and 12 o'clock positions respectively. The welding action starts after each smoothing action stops; the pressing device 14 starts to move, and the laser welding head 13 starts to emit light welding after receiving the signal from the sensor of the pressing device 14 in place. After welding is completed, the next welding cycle starts. The welding angle is divided based on the position after the head is smoothed. It is smoothed three times at 4 o'clock, 8 o'clock and 12 o'clock and welded at three axial points of the steel coil with high power. The 1st to 2nd layers of the surface are penetrated and welded to the 2nd to 5th layers below. After that, it is welded once every 15 degrees and welded at two axial points of the steel coil with low power. The surface 1 to 3 layers are welded and connected to ensure that the next process is sintered without deformation. The process flow ensures that the effect works together to achieve the welding and fixation of the head of the inner ring of the steel coil;

[0067] The smoothing structure adopts an opening and closing umbrella structure design. It shrinks when entering and opens when in use. The force of the opening can be adjusted according to needs. When welding the inner ring of the steel coil, the smoothing structure fits with the inner ring of the steel coil to prevent problems such as welding position displacement or uneven welding due to slipping, and reduces the occurrence of welding defects such as unfusion and slag inclusion in the weld joints caused by slipping. Since the occurrence of slipping is prevented, the welding process is more stable, the welding speed can be increased, the welding time can be reduced, and the welding efficiency is enhanced. Since slipping may cause wear and damage to equipment components, preventing slipping can protect the equipment and extend its service life.

[0068] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 11 , a six-axis robot steel coil inner ring welding system with identification and guidance functions;

[0069] It includes a software client system, an image algorithm processing unit and an interaction unit. The steel coil inner ring welding system is electrically connected to the software client system. The software client system internally integrates an image acquisition unit, an image algorithm processing unit, an interaction unit and an alarm unit. The image acquisition unit is electrically connected to an industrial camera 11. The image algorithm processing unit is used to calculate and compare the outer diameter, width boundary and angular position of the steel coil strip head on the circumference. The interaction unit displays the collapse state of the steel coil strip head and the strip head identification result. The alarm unit warns the staff when it detects abnormal working conditions.

[0070] The steel coil inner ring welding system uses a six-axis robot body 1 as a motion actuator. The robot is equipped with an independently designed integrated steel coil inner ring spot welding fixture 3 and a peripheral equipment pushing device 4. It uses a visual recognition algorithm as the core to realize functions. The industrial camera 11 on the integrated fixture and the inner ring collapse lead recognition system realize the determination of the degree of collapse of the inner ring of the steel coil and the position recognition of the inner ring lead. After the photo is taken, the software client system processes the image taken by the industrial camera 11, and calculates and compares the outer diameter, width boundary and angular position of the steel coil lead on the circumference through the image algorithm processing unit, and then sends it to the robot. At the same time, the client displays the collapse status of the steel coil lead and the lead recognition result through the interactive unit. The visual algorithm runs on the on-site industrial computer workstation to run the algorithm and monitor the equipment status signal for a visual display of the final recognition result, so that on-site operators can monitor the production status. The alarm unit warns the staff when it detects abnormal work.

[0071] The method for using the steel coil inner ring welding system includes the following steps:

[0072] Step S1: After the steel coil leaves the production line, it moves to the designated saddle and starts the inner ring welding system. After the six-axis robot body 1 starts, it begins to self-check the status of the steel coil inner ring spot welding fixture 3;

[0073] Step S2: After confirming that the steel coil is placed normally, the steel coil is moved to a certain position away from the end face of the steel coil according to the steel coil position data. After receiving the photo start signal, the visual light source assembly 5 on the push-blocking device 4 starts to operate and starts the light source backplane 6 to operate;

[0074] Step S3: The pushing device 4 operates again to move the transparent acrylic plate 10 toward the end face of the steel coil, and adjusts the movement and position of the steel coil inner ring spot welding fixture 3 into the inner ring of the steel coil according to the steel coil position data and the camera's recognition of the steel coil collapse state;

[0075] Step S4: The smoothing component drives the smoothing rubber plate 19 to fit the inner ring of the steel coil and then starts to rotate clockwise for smoothing. After receiving the sensor signal of the pressing device 14 in place, the laser welding head 13 starts optical welding. After welding is completed, the next welding cycle begins.

[0076] In step S1, the following steps are also included:

[0077] Step S11: After the self-check is normal, the six-axis robot body 1 switches to calculate and compare the outer diameter and width boundaries of the steel coil;

[0078] In step S2, the following steps are also included:

[0079] Step S21: After the industrial camera 11 takes a picture, the image algorithm processing unit obtains the angular position of the steel coil head on the circumference and sends it to the six-axis robot body 1;

[0080] In step S3, the following steps are also included:

[0081] Step S31: After the inner ring spot welding fixture 3 enters the inner ring of the steel coil, the push-blocking device 4 starts to retract. After receiving the signal from the origin sensor 9, the inner ring spot welding fixture 3 starts the entire welding process.

[0082] In step S4, the following steps are also included:

[0083] Step S41: After welding is completed, the coil is moved to a certain position away from the end face of the coil according to the coil position data to take a second photo to confirm the state of the coil head after welding.

[0084] Working Principle: When using this device, the steel coil is first moved to the designated saddle after leaving the production line and the inner ring welding system is started. After the six-axis robot body 1 is started, it begins to self-check the status of the steel coil inner ring spot welding fixture 3. After the self-check is normal, the six-axis robot body 1 switches to calculate and compare the outer diameter and width boundaries of the steel coil;

[0085] After confirming that the steel coil is placed normally, it moves to a certain position away from the end face of the steel coil according to the steel coil position data. After receiving the photo start signal, the visual light source component 5 on the push-block device 4 starts to operate and starts the light source backplane 6 to operate. After the industrial camera 11 takes a photo, the image algorithm processing unit obtains the angular position of the steel coil head on the circumference and sends it to the six-axis robot body 1;

[0086] The pushing and blocking device 4 operates again to move the transparent acrylic plate 10 toward the end face of the steel coil. The action and position of the steel coil inner ring spot welding fixture 3 are adjusted according to the steel coil position data and the camera's recognition of the steel coil collapse state. After the steel coil inner ring spot welding fixture 3 enters the steel coil inner ring, the pushing and blocking device 4 starts to retract. After receiving the signal from the origin sensor 9, the steel coil inner ring spot welding fixture 3 starts the entire welding process.

[0087] The smoothing component drives the smoothing rubber plate 19 to fit the inner ring of the steel coil and then starts to rotate clockwise for smoothing. After receiving the signal from the sensor of the pressing device 14, the laser welding head 13 starts light welding. After the welding is completed, the next welding cycle begins. After the welding is completed, it moves to a certain position at a distance from the end face of the steel coil according to the steel coil position data to take a second photo to confirm the leading status of the steel coil after welding.

[0088] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A six-axis robot steel coil inner ring welding system with identification and guidance functions, comprising a six-axis robot body (1), a steel coil inner ring spot welding fixture (3) and a push-blocking device (4), characterized in that: The output end of the six-axis robot body (1) is equipped with a steel coil inner ring spot welding fixture (3) via a flange, and a push-blocking device (4) is provided on the outside of the six-axis robot body (1), and the push-blocking device (4) is installed relative to the six-axis robot body (1); The pushing device (4) includes a fixed seat (20), a fixed bracket (21), a light source back plate (6), a driving slider (8), a horizontal adjustment bracket (22) and a transparent acrylic plate (10), wherein the fixed bracket (21) is mounted on the top of the fixed seat (20), the light source back plate (6) is mounted on the outer end of the fixed bracket (21), the driving slider (8) is mounted on the top of the fixed seat (20), the horizontal adjustment bracket (22) is mounted on the top of the driving slider (8), and the horizontal adjustment bracket (22) is located outside the fixed bracket (21), and the transparent acrylic plate (10) is mounted on one end of the horizontal adjustment bracket (22) close to the spot welding fixture (3) of the inner ring of the steel coil.

2. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 1, characterized in that: The pushing device (4) further includes a visual light source assembly (5), a pushing cylinder (7) and an origin sensor (9), wherein the visual light source assembly (5) is mounted on the bottom wall of the horizontal adjustment bracket (22), and the visual light source assembly (5) cooperates with the transparent acrylic plate (10), the pushing cylinder (7) is mounted on the top of the fixing seat (20), and the piston end of the pushing cylinder (7) is connected to the top of the horizontal adjustment bracket (22) through a connecting block, and the origin sensor (9) is mounted on the top of the pushing cylinder (7).

3. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 1, characterized in that: A robot base (2) is installed at the bottom end of the six-axis robot body (1), and an industrial camera (11) is installed at the inner center position of the steel coil inner ring spot welding fixture (3).

4. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 1, characterized in that: A distance meter (12) is installed on the inner wall of the steel coil inner ring spot welding fixture (3), a laser welding head (13) is installed on the inner side of the steel coil inner ring spot welding fixture (3), and an air blowing solenoid valve (16) is installed on the inner wall of the steel coil inner ring spot welding fixture (3).

5. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 1, characterized in that: A pressing device (14) is installed at the bottom end of the steel coil inner ring spot welding fixture (3), and an in-position sensor is installed at the outer end of the pressing device (14), and the in-position sensor cooperates with the origin sensor (9).

6. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 1, characterized in that: A smoothing component is provided on the inner side of the steel coil inner ring spot welding fixture (3), and the smoothing component includes a cylinder support part (15), a cylinder solenoid valve (17), a cylinder sensor (18) and a smoothing rubber plate (19). The cylinder support part (15) is installed on the inner wall of the steel coil inner ring spot welding fixture (3), and the smoothing rubber plate (19) is connected to the cylinder output end of the cylinder support part (15), and the cylinder output end of the cylinder support part (15) passes through the outer side of the steel coil inner ring spot welding fixture (3).

7. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 6, characterized in that: The cylinder solenoid valve (17) is mounted on the inner wall of the steel coil inner ring spot welding fixture (3), and the cylinder sensor (18) is mounted on the inner side of the steel coil inner ring spot welding fixture (3). The cylinder sensor (18) detects the working state of the cylinder support part (15).

8. The six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 1, characterized in that: The steel coil inner ring welding system is electrically connected to a software client system, and the software client system internally integrates an image acquisition unit, an image algorithm processing unit, an interaction unit and an alarm unit. The image acquisition unit is electrically connected to an industrial camera (11), and the image algorithm processing unit is used to calculate and compare the outer diameter, width boundary and angular position of the steel coil strip head on the circumference. The interaction unit displays the collapse state of the steel coil strip head and the strip head identification result. The alarm unit warns the staff when it detects abnormal working conditions.

9. A method for using a six-axis robot steel coil inner ring welding system with identification and guidance functions, applicable to the six-axis robot steel coil inner ring welding system with identification and guidance functions according to any one of claims 1 to 8, characterized in that: The method for using the steel coil inner ring welding system includes the following steps: Step S1: After the steel coil is moved to the designated saddle after leaving the production line, the inner ring welding system is started. After the six-axis robot body (1) is started, the state of the steel coil inner ring spot welding fixture (3) is self-checked; Step S2: After confirming that the steel coil is placed normally, the steel coil is moved to a certain position away from the end face of the steel coil according to the steel coil position data, and the visual light source component (5) on the push-blocking device (4) starts to operate after receiving the photo start signal, and starts the light source backplane (6) to operate; Step S3, the pushing device (4) operates again to move the transparent acrylic plate (10) toward the end face of the steel coil, and adjusts the movement and position of the steel coil inner ring spot welding fixture (3) into the steel coil inner ring according to the steel coil position data and the camera's recognition of the steel coil collapse state; Step S4: the smoothing assembly drives the smoothing rubber plate (19) to fit the inner ring of the steel coil and then starts to rotate clockwise for smoothing. After receiving the sensor signal of the pressing device (14) in place, the laser welding head (13) starts light welding. After the welding is completed, the next welding cycle begins.

10. The method for using the six-axis robot steel coil inner ring welding system with identification and guidance functions according to claim 9, characterized in that: In the step S1, the following steps are also included: Step S11: After the self-check is normal, the six-axis robot body (1) starts to calculate and compare the outer diameter and width boundaries of the steel coil; In the step S2, the following steps are also included: Step S21: After the industrial camera (11) takes a picture, the image algorithm processing unit obtains the angular position of the steel coil head on the circumference and sends it to the six-axis robot body (1); In step S3, the following steps are also included: Step S31: After the inner ring spot welding fixture (3) of the steel coil enters the inner ring of the steel coil, the push-blocking device (4) starts to move and retracts. After receiving the signal from the origin sensor (9), the inner ring spot welding fixture (3) of the steel coil starts the entire welding process. In the step S4, the following steps are also included: Step S41: After welding is completed, the coil is moved to a certain position away from the end face of the coil according to the coil position data to take a second photo to confirm the state of the coil head after welding.

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