Steel bar connecting wire welding robot

Abstract

A steel bar connecting wire welding manipulator comprises a mounting base (1), a stereo camera (2), a connecting wire fixing and guiding device (3), a welding device (4), a clamping pliers (5) and a pair of scissors (6). The present invention fixes two steel bars and connecting wires separately by welding, thereby reducing the complexity of the connection and fixing operation and improving the firmness of the steel bar connection; the steel bar connecting wire welding manipulator is installed at the end of the robot, automatically completing the steel bar position posture recognition, welding and fixing, and cutting of the connecting wire instead of manual work, thereby ensuring the quality and stability of the steel bar connection and fixing operation; after the initial preparation process is completed, the robot cooperates with the manipulator to realize continuous operation, thereby improving work efficiency, reducing production costs, and realizing the automation of the steel bar connection and fixing operation.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a steel bar connecting wire welding manipulator, and belongs to the technical field of industrial robots. Background Art

[0002] In the construction and steel product packaging industries, it is common to encounter operations that require connecting and fixing two parallel steel bars. This is to prevent the steel bars from loosening or moving during subsequent use or transportation, improve production operation safety, and ensure product packaging integrity. Currently, companies generally use manual labor to complete the steel bar connection and fixation operations. The method used is to use metal connecting wire for connection. The operation process is: wrap one end of the connecting wire around one of the steel bars, hold the other end tightly, and wrap the connecting wire around the other steel bar, thereby fixing the two relatively. Because the steps for winding and connecting steel bars are cumbersome and there are no gaps or very small gaps around many steel bars, it affects production efficiency and increases the difficulty of workers' operation. In addition, the harsh industrial site environment and the high labor intensity of workers can also lead to problems such as unstable connection quality. Summary of the Invention

[0003] Based on the above reasons, the present invention proposes a steel bar connecting wire welding robot, which is installed at the end of the robot when in use, and the connecting wire is transported through a wire feeding device. The robot uses welding to weld and fix the connecting wire to the two steel bars respectively, thereby completing the connection and fixing operation of the two steel bars.

[0004] The rebar connecting wire welding robot consists of a mounting base 1, a stereo camera 2, a connecting wire fixing and guiding device 3, a welding device 4, a clamp 5, and a pair of scissors 6. Mounting base 1 supports and connects the entire robot and is fixed to the robot's end via a positioning flange. The stereo camera 2, connecting wire fixing and guiding device 3, welding device 4, clamp 5, and pair of scissors 6 are fixed to mounting base 1 in order from left to right, with the welding device 4 fixed in the center of mounting base 1.

[0005] Mounting base 1 includes a positioning flange 1-1 and a device mounting plate 1-2. Positioning flange 1-1 consists of a positioning boss and bolt mounting holes. The bosses mate with grooves on the robot end to achieve positioning. Bolts passing through the bolt mounting holes secure the device to the robot end, ensuring accurate positioning of the robot and end effector. The axis of device mounting plate 1-2 is perpendicular to the positioning flange 1-1, and mounting holes for other devices are arranged on device mounting plate 1-2.

[0006] The connecting wire securing and guiding device 3 comprises a clamping cylinder 3-1, a left clamping jaw 3-2, and a right clamping jaw 3-3. The clamping cylinder 3-1 is mounted on the mounting base 1, and the left and right clamping jaws 3-2 and 3-3 are mounted on the two fingers of the clamping cylinder 3-1, facing each other, forming an enclosed space with adjustable size. When the clamping cylinder 3-1 is closed, it clamps and secures the connecting wire passing through it. When the clamping cylinder 3-1 is opened, the enclosed space becomes larger, restricting and guiding the connecting wire passing through it.

[0007] The welding device 4 includes a servo rotary table 4-1, a cylinder connecting plate 4-2, a clamping cylinder 4-3, an insulating mounting plate 4-4, two side electrode guide sleeves 4-5, a welding electrode 4-6, an intermediate electrode guide sleeve 4-7, and a buffer spring 4-8. The servo rotary table 4-1 is mounted on the mounting base 1, the cylinder connecting plate 4-2 is fixed to the rotating table surface of the servo rotary table 4-1, the clamping cylinder 4-3 is mounted on the cylinder connecting plate 4-2, and the insulating mounting plate 4-4 is fixedly connected to the push rod of the clamping cylinder 4-3. The insulating mounting plate 4-4 has three mounting positions: left, center, and right. The two side electrode guide sleeves 4-5 are respectively mounted on the left and right mounting positions of the insulating mounting plate 4-4. The intermediate electrode guide sleeve 4-7 is mounted on the middle mounting position of the insulating mounting plate 4-4. The buffer spring 4-8 is mounted on the welding electrode 4-6 and is sequentially mounted inside the two side electrode guide sleeves 4-5 and the intermediate electrode guide sleeve 4-7. The guides of the electrode guide sleeves 4-5 on both sides and the middle electrode guide sleeve 4-7 are perpendicular to each other to adapt to the cross-crossed steel bars and connecting wires, so that the three welding electrodes 4-6 are matched and contacted with the surfaces of the steel bars and connecting wires respectively.

[0008] Welding electrode 4-6 is made of chromium-zirconium copper. It includes a power cable connection hole 4-6-1, a guide surface 4-6-2, and an end arc surface 4-6-3. Welding electrode 4-6 connects to the welding power cable through power cable connection hole 4-6-1. The center electrode 4-6 connects to the positive pole of the welding power supply, while the two side electrodes 4-6 connect to the negative pole. Welding electrode 4-6 has two guide surfaces 4-6-2, symmetrical and parallel to the electrode axis. These guide surfaces 4-6-2, combined with the electrode guide sleeve, prevent the welding electrode 4-6 from rotating during operation. The end arc surface 4-6-3 mates with the circular arc surfaces of the rebar and connecting wire, increasing the contact area and ensuring stable contact. During welding, current flows from the positive pole of the welding power supply, through the center electrode 4-6, the rebar, the connecting wire, the two side electrodes 4-6, and finally back to the negative pole of the welding power supply. The resistance at the contact point between the rebar and the connecting wire is relatively high, and the current generates heat and melts the two, securing them together.

[0009] The beneficial technical effects of the present invention are:

[0010] (1) The two steel bars and the connecting wire are fixed separately by welding, which reduces the complexity of the connection and fixing operation and improves the firmness of the steel bar connection;

[0011] (2) The steel bar connection wire welding manipulator is installed at the end of the robot, which automatically completes the steel bar position posture recognition, welding fixation and connection wire cutting instead of manual work, ensuring the quality and stability of the steel bar connection and fixation operation;

[0012] (3) After the initial preparation process, the robot can work with the manipulator to achieve continuous operation, which improves work efficiency, reduces production costs, and realizes the automation of steel bar connection and fixation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of the steel bar connecting wire welding manipulator of the present invention;

[0014] Figure 2 It is a structural schematic diagram of the mounting base 1 of the present invention;

[0015] Figure 3 2 is a schematic structural diagram of the connecting wire fixing and guiding device 3 of the present invention;

[0016] Figure 4 The clamping cylinder 3-1 of the connecting wire fixing and guiding device 3 of the present invention is in a closed state;

[0017] Figure 5 The clamping cylinder 3-1 of the connecting wire fixing and guiding device 3 of the present invention is in an open state;

[0018] Figure 6 It is a structural schematic diagram of the welding device 4 of the present invention;

[0019] Figure 7 is a cross-sectional view of the welding device 4 of the present invention;

[0020] Figure 8 It is a bottom view of the welding device 4 of the present invention;

[0021] Figure 9 It is a schematic structural diagram of the welding electrode 4-6 of the present invention;

[0022] Figure 10 This is a schematic diagram of the working scene of the steel bar connecting wire welding manipulator of the present invention;

[0023] Figure 11 It is a schematic diagram of the welding effect of the steel bar connecting line of the present invention. Implementation Method

[0024] Combine Figure 1-11 The structure and operation of the present invention are described.

[0025] Taking the connection and fixing operation of steel bars 1 and 2 as an example, the operation is automated using a robot, a steel bar connection wire welding manipulator, and a wire feeding device.

[0026] The rebar connecting wire welding robot consists of a mounting base 1, a stereo camera 2, a connecting wire fixing and guiding device 3, a welding device 4, a clamping clamp 5, and a pair of scissors 6. Mounting base 1 supports and connects the entire robot. It is fixed to the end of the robot via a positioning flange 1-1. The stereo camera 2, connecting wire fixing and guiding device 3, welding device 4, clamping clamp 5, and pair of scissors 6 are fixed to mounting base 1 in order from left to right. The welding device 4 is fixed in the center of mounting base 1.

[0027] Mounting base 1 includes a positioning flange 1-1 and a device mounting plate 1-2. Positioning flange 1-1 consists of a positioning boss and bolt mounting holes. The bosses mate with grooves on the robot end to achieve positioning. Bolts passing through the bolt mounting holes secure the device to the robot end, ensuring accurate positioning of the robot and end effector. The axis of device mounting plate 1-2 is perpendicular to the positioning flange 1-1, and mounting holes for other devices are arranged on device mounting plate 1-2.

[0028] The connecting wire securing and guiding device 3 comprises a clamping cylinder 3-1, a left clamping jaw 3-2, and a right clamping jaw 3-3. The clamping cylinder 3-1 is mounted on the mounting base 1, and the left and right clamping jaws 3-2 and 3-3 are mounted on the two fingers of the clamping cylinder 3-1, facing each other, forming an enclosed space with adjustable size. When the clamping cylinder 3-1 is closed, it clamps and secures the connecting wire passing through it. When the clamping cylinder 3-1 is opened, the enclosed space becomes larger, restricting and guiding the connecting wire passing through it.

[0029] The welding device 4 includes a servo rotary table 4-1, a cylinder connecting plate 4-2, a clamping cylinder 4-3, an insulating mounting plate 4-4, two side electrode guide sleeves 4-5, a welding electrode 4-6, an intermediate electrode guide sleeve 4-7, and a buffer spring 4-8. The servo rotary table 4-1 is mounted on the mounting base 1, the cylinder connecting plate 4-2 is fixed to the rotating table surface of the servo rotary table 4-1, the clamping cylinder 4-3 is mounted on the cylinder connecting plate 4-2, and the insulating mounting plate 4-4 is fixedly connected to the push rod of the clamping cylinder 4-3. The insulating mounting plate 4-4 has three mounting positions: left, center, and right. The two side electrode guide sleeves 4-5 are respectively mounted on the left and right mounting positions of the insulating mounting plate 4-4. The intermediate electrode guide sleeve 4-7 is mounted on the middle mounting position of the insulating mounting plate 4-4. The buffer spring 4-8 is mounted on the welding electrode 4-6 and is sequentially mounted inside the two side electrode guide sleeves 4-5 and the intermediate electrode guide sleeve 4-7. The guides of the electrode guide sleeves 4-5 on both sides and the middle electrode guide sleeve 4-7 are perpendicular to each other to adapt to the cross-crossed steel bars and connecting wires, so that the three welding electrodes 4-6 are matched and contacted with the surfaces of the steel bars and connecting wires respectively.

[0030] Welding electrode 4-6 is made of chromium-zirconium copper and comprises a power cable connection hole 4-6-1, a guide surface 4-6-2, and an end arc surface 4-6-3. Welding electrode 4-6 is connected to the welding power cable through power cable connection hole 4-6-1. The center electrode 4-6 is connected to the positive terminal of the welding power supply, while the two side electrodes 4-6 are connected to the negative terminal. Welding electrode 4-6 has two guide surfaces 4-6-2, symmetrical and parallel to the electrode axis. These guide surfaces 4-6-2, combined with the electrode guide sleeve, prevent the welding electrode 4-6 from rotating during operation. The end arc surface 4-6-3 mates with the circular arc surfaces of the rebar and connecting wire, increasing the contact area and ensuring stable contact. During welding, current flows from the positive terminal of the welding power supply, through the center electrode 4-6, the rebar, the connecting wire, the two side electrodes 4-6, and finally back to the negative terminal of the welding power supply. The resistance at the contact point between the rebar and the connecting wire is relatively high, and the current flowing through it generates heat, melting, and fixing the two together.

[0031] The specific method of using the steel bar connecting wire welding manipulator of the present invention is as follows:

[0032] (1) Preparation process

[0033] Use the steel bar connecting wire to align the manipulator's positioning flange 1-1 with the robot's end mounting position, then secure the manipulator to the robot's end with screws. Manually thread the connecting wire from the wire feeder through the left side of the manipulator, centering the wire in the welding unit 4 and threading it to the right side of the clamp 5. Control the clamping cylinder 3-1 and clamp 5 to simultaneously close and secure the wire, ensuring it is directly below the welding electrode 4-6 in the center of the welding unit 4.

[0034] (2) Identification and positioning

[0035] The robot drives the steel bar connecting wire welding manipulator to the identification position, controls the stereo camera 2 to identify and locate the two steel bars, and calculates the position and posture information of the two steel bars.

[0036] (3) Welding fixation

[0037] After identification and positioning are completed, the robot carries the manipulator to the top of the steel bar 1, and controls the servo rotary table 4-1 to adjust the posture of the welding device 4 according to the calculated steel bar posture information. Then, the clamping cylinder 4-3 is controlled to be pressed directly downward, and the buffer spring 4-8 is compressed to make the welding electrode 4-6 closely contact with the surface of the steel bar 1 and the connecting wire respectively. The welding power supply is controlled to delay on and off, so that the cross contact point between the steel bar 1 and the connecting wire is heated and melted, fixing the two together.

[0038] After the steel bar 1 and the connecting wire are welded, the clamping cylinder 3-1 and the clamping pliers 5 are opened at the same time, and the connecting wire fixing and guiding device 3 plays the role of guiding the connecting wire. The robot carries the manipulator to move to the top of the steel bar 2, and controls the clamping cylinder 3-1 and the clamping pliers 5 to close and clamp the connecting wire at the same time again, and then controls the clamping cylinder 4-3 to be pressed directly downward, and the buffer spring 4-8 is compressed to make the welding electrode 4-6 closely contact with the surface of the steel bar 2 and the connecting wire respectively, and controls the welding power supply to delay on and off, so that the cross contact point between the steel bar 2 and the connecting wire is heated and melted, fixing the two together.

[0039] (4) Cut the connecting wire

[0040] After the welding of the rebar 2 and the connecting wire is completed, the clamping cylinder 3-1 and the clamping pliers 5 are opened simultaneously. The connecting wire fixing and guiding device 3 guides the connecting wire. The robot moves the manipulator with the manipulator to the connecting wire cutting position, controls the clamping cylinder 3-1 and the clamping pliers 5 to close simultaneously, clamping and fixing the connecting wire. Then, the shears 6 are controlled to cut the connecting wire. After cutting, the connecting wire remains clamped in the manipulator, and the robot can carry the manipulator and the connecting wire to proceed to the next welding operation. After all operations are completed, the robot returns the manipulator to its initial working state.

Claims

1. A steel bar connecting wire welding manipulator, which is installed at the end of a robot when in use, and is used to transport the connecting wire through a wire feeding device. The manipulator uses welding to weld and fix the connecting wire to two steel bars respectively, thereby completing the connection and fixing operation of the two steel bars. The manipulator includes a mounting base (1), a stereo camera (2), a connecting wire fixing and guiding device (3), a welding device (4), a clamping pliers (5) and a scissors (6), and is characterized in that: The mounting base (1) is the support and connection device of the entire manipulator. The mounting base (1) is fixedly connected to the end of the robot through a positioning flange. The stereo camera (2), the connecting line fixing and guiding device (3), the welding device (4), the clamping pliers (5) and the scissors (6) are fixedly installed on the mounting base (1) from left to right. The welding device (4) is fixed in the middle position of the mounting base (1). The welding device (4) includes a servo rotary table (4-1), a cylinder connecting plate (4-2), a pressing cylinder (4-3), an insulating mounting plate (4-4), two side electrode guide sleeves (4-5), a welding electrode (4-6), an intermediate electrode guide sleeve (4-7) and a buffer spring (4-8). The servo rotary table (4-1) is a support and connection device of the entire manipulator. The mounting base (1) is fixedly connected to the end of the robot through a positioning flange. The stereo camera (2), the connecting line fixing and guiding device (3), the welding device (4), the clamping pliers (5) and the scissors (6) are fixedly installed on the mounting base (1) from left to right. The welding device (4) is fixed in the middle position of the mounting base (1). The welding device (4) includes a servo rotary table (4-1), a cylinder connecting plate (4-2), a pressing cylinder (4-3), an insulating mounting plate (4-4), two side electrode guide sleeves (4-5), a welding electrode (4-6), an intermediate electrode guide sleeve (4-7) and a buffer spring (4-8). The turntable (4-1) is mounted on the mounting base (1), the cylinder connecting plate (4-2) is fixed on the rotating table surface of the servo rotating table (4-1), the pressing cylinder (4-3) is mounted on the cylinder connecting plate (4-2), the insulating mounting plate (4-4) is fixedly connected to the push rod of the pressing cylinder (4-3), the insulating mounting plate (4-4) has three mounting positions of left, middle and right, the electrode guide sleeves (4-5) on both sides are respectively mounted on the left and right mounting positions of the insulating mounting plate (4-4), the middle electrode guide sleeve (4-7) is mounted on the middle mounting position of the insulating mounting plate (4-4), the buffer spring (4-8) is sleeved on the welding electrode (4-6), and is sequentially mounted on the electrode guide sleeves on both sides. (4-5) and the interior of the middle electrode guide sleeve (4-7), the guides of the electrode guide sleeves (4-5) on both sides and the middle electrode guide sleeve (4-7) are perpendicular to each other to adapt to the cross-crossed steel bars and connecting wires, so that the three welding electrodes (4-6) are respectively matched and contacted with the surfaces of the steel bars and connecting wires. The welding electrode (4-6) includes a power cable connection hole (4-6-1), a guide surface (4-6-2) and an end arc surface (4-6-3). The welding electrode (4-6) is connected to the welding power cable through the power cable connection hole (4-6-1), the middle welding electrode (4-6) is connected to the positive electrode of the welding power supply, and the welding electrodes (4-6) on both sides are connected to the negative electrode of the welding power supply; the welding electrode The electrode (4-6) has two guide surfaces (4-6-2) that are symmetrical to the electrode axis and parallel to each other. The guide surface (4-6-2) cooperates with the electrode guide sleeve structure to ensure that the welding electrode (4-6) does not rotate during operation; the end arc surface (4-6-3) cooperates with the arc surface of the steel bar and the connecting wire to increase the contact area and ensure stable contact. During welding, the current starts from the positive electrode of the welding power supply and flows through the middle welding electrode (4-6), the steel bar, the connecting wire, the welding electrodes (4-6) on both sides in sequence, and finally returns to the negative electrode of the welding power supply. The resistance at the contact point between the steel bar and the connecting wire is relatively large. When the current passes through, heat is generated and the two are melted and fixed. The material of the welding electrode (4-6) is chromium-zirconium copper.

2. The steel bar connecting wire welding manipulator according to claim 1, characterized in that: The mounting seat (1) includes a positioning flange (1-1) and a device mounting plate (1-2). The positioning flange (1-1) is composed of a positioning boss and a bolt mounting hole. The positioning boss is used to achieve stopper matching positioning with a groove at the end of the robot. Bolts are used to pass through the bolt mounting holes to fix the robot to the end of the robot, thereby ensuring the positioning accuracy of the robot and the end manipulator. The axes of the device mounting plate (1-2) and the positioning flange (1-1) are perpendicular, and the device mounting plate (1-2) is provided with mounting holes for other devices.

3. The steel bar connecting wire welding manipulator according to claim 1, characterized in that: The connecting line fixing and guiding device (3) comprises a clamping cylinder (3-1), a left clamping pliers (3-2) and a right clamping pliers (3-3), wherein the clamping cylinder (3-1) is mounted on a mounting base (1), and the left clamping pliers (3-2) and the right clamping pliers (3-3) are mounted on two fingers of the clamping cylinder (3-1) facing each other, forming a closed space with adjustable size between them. When the clamping cylinder (3-1) is closed, the connecting line passing through the closed space is clamped and fixed; when the clamping cylinder (3-1) is opened, the closed space becomes larger, thereby limiting and guiding the connecting line passing through the closed space.

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