A splicing device and a splicing method for rod-shaped materials

Abstract

The present application relates to a kind of splicing equipment of stick material, including the conveying line for conveying workpiece, the conveying line includes first conveying line and second conveying line arranged in parallel with interval, splicing bar mechanism is installed in cooperation between the first conveying line and the second conveying line, the discharge end of the conveying line is installed in cooperation with the connecting beam arranged in parallel with interval above, the connecting beam is supported by column, a control system is installed in cooperation on a connecting beam, a plurality of motion mechanisms are installed in cooperation between two connecting beams, mechanical hand is installed in cooperation on single motion mechanism, positioning camera and measuring camera are installed in cooperation on a mechanical hand.By setting mechanical hand, motion mechanism, industrial camera, measuring camera and splicing bar mechanism, two workpieces can be automatically spliced, and the gap between the spliced workpieces can be guaranteed within 1mm, the length of the spliced workpieces meets the use requirements, the splicing precision is high, the splicing speed is fast, and the production efficiency can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of crystal bar processing and manufacturing, and particularly relates to a splicing device and method for rod-shaped materials. BACKGROUND

[0002] The production and manufacturing process of a crystal bar mainly includes crystal bar growth, crystal bar cutting and detection, and outer diameter grinding. Before the crystal bar cutting process, in order to enable the crystal bar to be efficiently matched with a slicing device, the crystal bar entering the slicing device needs to have a uniform length. However, due to the pot retention rate in the crystal pulling process and the machining precision of the machining equipment in the machining process, the length of the crystal bar cannot meet the requirements of the slicing machine.

[0003] In the prior art, the crystal bar with a length that does not meet the requirements of the slicing machine is spliced on site by manual operation. However, the splicing time required by manual splicing of the crystal bar is long, which leads to low splicing efficiency. In addition, due to the low splicing efficiency, the crystal bar after the machining process is prone to accumulation, which occupies the production space. SUMMARY

[0004] In view of the above-mentioned defects in the prior production technology, the present application provides a splicing device and method for rod-shaped materials, which can automatically splice two workpieces by means of a mechanical hand, a motion mechanism, an industrial camera, a measuring camera and a splicing mechanism. The gap between the spliced workpieces can be ensured to be within 1 mm. The length of the spliced workpieces meets the use requirements. The splicing precision is high. The splicing speed is fast. The production efficiency can be effectively improved.

[0005] The technical scheme adopted by the present application is as follows.

[0006] A splicing device for rod-shaped materials comprises a conveying line for conveying workpieces. The conveying line comprises first and second conveying lines arranged in parallel and at intervals. A splicing mechanism is installed between the first and second conveying lines. A connecting beam arranged in parallel and at intervals is installed above the discharge end of the conveying line. The connecting beam is supported by a stand. A control system is installed on one connecting beam. A plurality of motion mechanisms are installed between the two connecting beams. A mechanical hand is installed on each motion mechanism. A positioning camera and a measuring camera are installed on each mechanical hand.

[0007] When the splicing device is in operation, one mechanical hand transports a workpiece on the first conveying line to the splicing mechanism through the corresponding motion mechanism. Another mechanical hand transports a workpiece on the second conveying line to the splicing mechanism through the corresponding motion mechanism. During the transportation process, the mechanical hand selects a workpiece with a target length through the positioning camera. The splicing mechanism adjusts the gap between the two workpieces according to the photos taken by the positioning camera and the measuring camera, thereby completing the splicing of the two workpieces.

[0008] As a further improvement of the above technical solution:

[0009] The structure of the splicing rod mechanism is as follows: a main frame is provided with a table top at the top, a rotary air cylinder is fixed at the bottom of the table top, the output end of the rotary air cylinder is connected with a rotary disc at the top of the table top through the table top, a connecting shaft is symmetrically arranged and fitted on the rotary disc, the end of a single connecting shaft is fitted with a centering mounting frame, a centering base plate is fitted on the side of a single centering mounting frame, a single centering mounting frame is fitted on the top of the table top through a plurality of centering sliding blocks and a plurality of centering sliding rails, the centering sliding rails are fixed in parallel and at intervals on the top of the table top, a plurality of centering sliding blocks are fitted on a single centering sliding rail, the centering sliding blocks are fitted on the bottom of the centering mounting frame, the rotary air cylinder drives the rotary disc to rotate, the torque generated by the rotary motion of the rotary disc is converted into traction force for the linear motion of the centering mounting frame along the centering sliding rail, so that the two centering mounting frames drive the corresponding centering base plates to move linearly close to or away from each other.

[0010] A splicing rod mounting frame is fitted on the top of the table top between the two centering mounting frames, a plurality of parallel splicing rod sliding rails are fitted on the top of the splicing rod mounting frame, a plurality of first splicing rod sliding blocks and a plurality of second splicing rod sliding blocks are fitted on a single splicing rod sliding rail, a first moving seat for placing a workpiece is fitted on the top of the first splicing rod sliding block, a lead screw is fitted between the first moving seat and the table top, a connecting block is fitted on the outer circumferential surface of the lead screw, the top of the connecting block is fixed with the bottom of the first moving seat, a driven sprocket is fitted on the end of the lead screw, the driven sprocket is fitted with a driving sprocket through a synchronous chain, the driving sprocket is connected with the output end of a moving seat driving motor, the moving seat driving motor is fixed on the main frame, the moving seat driving motor drives the driving sprocket to rotate, the driving sprocket drives the driven sprocket to rotate through the synchronous chain, so as to drive the lead screw to rotate, the first moving seat is driven to move linearly along the splicing rod sliding rail through the connecting block when the lead screw rotates, a second moving seat for placing a workpiece is fitted on the top of the second splicing rod sliding block, the second moving seat is manually pushed to move linearly along the splicing rod sliding rail.

[0011] The arrangement direction of the centering sliding rail is perpendicular to the arrangement direction of the splicing rod sliding rail.

[0012] A camera light source is fitted on the top plate of the table top of the main frame through a light source mounting frame, an arc-shaped groove for adjusting the installation angle of the camera light source is arranged on the light source mounting frame.

[0013] A plurality of leveling feet are fitted on the bottom of the main frame.

[0014] The structure of the moving mechanism is as follows: a moving arm is arranged between two connecting beams, a first motor is fixed to the middle of one outer side surface of the moving arm, symmetrically arranged output ends are arranged on the first motor, the output ends of a single first motor are connected with a first gear through a drive shaft, a single first gear is engaged with a first rack, a single first rack is arranged along the length direction of the connecting beam and is mounted on the connecting beam, a first sliding rail arranged along the length direction of the connecting beam is mounted on the top of a single connecting beam, a first sliding block is mounted on the first sliding rail of a single connecting beam, two first sliding blocks are arranged at the two ends of the moving arm, the first motor drives the corresponding first gears to rotate through the two drive shafts, the two first gears drive the corresponding first sliding blocks to move linearly along the corresponding first sliding rails through the corresponding first racks, so that the moving arm moves linearly along the length direction of the connecting beam.

[0015] A plurality of second sliding rails arranged in parallel are mounted on the other outer side surface of the moving arm, the second sliding rails are arranged along the length direction of the moving arm, a plurality of second sliding blocks are mounted on a single second sliding rail, the second sliding blocks are mounted on the back surface of the connecting plate, a second motor is fixed to the front surface of the connecting plate, the output end of the second motor is connected with a second gear arranged on the back surface of the connecting plate, the second gear is engaged with a second rack, the second rack is fixed to the side wall surface of the moving arm between the two second sliding rails and is arranged along the length direction of the moving arm, the second motor drives the second gear to rotate, the second gear drives the connecting plate to move linearly along the second sliding rail through the second rack.

[0016] A third motor is fixed to the front surface of the connecting plate, the output end of the third motor is connected with a third gear, the third gear is engaged with a third rack, the third rack is fixed to the outer side wall of the manipulator, a plurality of third sliding rails arranged in parallel are mounted on the outer side wall of the manipulator, a plurality of third sliding blocks are mounted on a single third sliding rail, the third sliding blocks are fixed to the front surface of the connecting plate, the third motor drives the third gear to rotate, the third gear drives the manipulator to move linearly along the third sliding rail through the third rack, so that the manipulator moves linearly along the vertical direction.

[0017] The length direction of the connecting beam is perpendicular to the length direction of the moving arm.

[0018] The structure of the manipulator is as follows: a connecting arm in the shape of a column, a suction disc is mounted on the bottom of the connecting arm, the suction disc is an electromagnet.

[0019] A third conveying line for conveying the counterweight blocks is mounted beside the second conveying line.

[0020] A splicing method of the above-mentioned rod-shaped material splicing device, comprising the following steps:

[0021] S1. The two workpieces to be spliced ​​are transported to the target position via the first conveyor line and the second conveyor line respectively, and wait for the robot arm to grab the workpieces;

[0022] S2. The robot arm picks up a workpiece and places it on the splicing mechanism. The robot arm then picks up another workpiece that needs to be spliced ​​and places it on the splicing mechanism. Based on the length information of the two workpieces, the robot arm places the two workpieces on the splicing platform with a 50mm gap at the splicing point to complete the pre-splicing.

[0023] S3. The two workpieces are clamped and aligned using a bar-jointing mechanism;

[0024] S4. The motion mechanism uses a robotic arm to move the positioning camera and the measuring camera within a certain space to take pictures of the two workpieces on the splicing mechanism. Based on the pictures taken by the positioning camera, the gap position between the two workpieces is found. By finding the feature of two parallel straight lines in the pictures taken by the positioning camera, the gap position between the two workpieces can be found. The motion mechanism uses a robotic arm to move the measuring camera to the gap position and take pictures of the gap between the two workpieces. Based on the pictures taken by the measuring camera, the gap distance between the two workpieces is calculated.

[0025] S5. Compare the gap distance calculated based on the photos taken by the measuring camera with the standard splicing bar gap of 1mm to obtain the distance that the two workpieces need to move towards each other. The splicing bar mechanism drives one workpiece to move until the stroke reaches the distance that the two workpieces need to move towards each other, thus completing the splicing.

[0026] S6. The motion mechanism uses a robotic arm to move the measuring camera to the splicing gap between the two workpieces, takes a picture of the gap between the two workpieces, and verifies the gap distance.

[0027] S7. When the gap between the two workpieces is adjusted to meet the requirements, a robot arm simultaneously grabs the two workpieces and transports them to the adhesive platform for bonding, thereby completing the splicing of the two workpieces.

[0028] The beneficial effects of this invention are as follows:

[0029] This invention features a compact and reasonable structure and is easy to operate. By setting up a measuring camera and a positioning camera, the control system processes the images of the workpiece captured by the measuring camera and the positioning camera to obtain the shape, size, and position information of the workpiece. This enables the robot arm to accurately grasp the required workpiece and place it on the splicing mechanism for automatic splicing. The entire process is automated, with high production efficiency and high splicing accuracy.

[0030] The splicing rod mechanism has the functions of centering and splicing, can center and accurately splice two workpieces, the gap between the spliced workpieces can be controlled within 1mm, the length of the spliced workpieces meets the use requirement, the splicing precision is high, and the splicing speed is fast.

[0031] The centering base plate is made of polyurethane resin material, which can prevent the workpiece from being scratched by the centering mounting frame during centering.

[0032] The motion mechanism is arranged, so that the mechanical hand has the freedom degrees of X direction, Y direction and Z direction perpendicular to each other in space, so as to realize automatic grabbing of the workpiece.

[0033] The splicing method based on the visual system can obtain various information of the workpiece by processing the image shot by the visual system, and has the advantages of accurate result, high precision, guaranteed product quality, fast splicing speed, effectively alleviated workpiece accumulation problem and improved production space utilization. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the present application.

[0035] Figure 2 It is a top view of Figure 1 .

[0036] Figure 3 It is a structural schematic diagram of the splicing rod mechanism in the present application.

[0037] Figure 4 It is a front view of Figure 3 .

[0038] Figure 5 It is a top view of Figure 3 .

[0039] Figure 6 It is a bottom view of Figure 3 .

[0040] Figure 7 It is a side view of Figure 3 .

[0041] Figure 8 It is a right view of Figure 3 .

[0042] Figure 9 It is a structural schematic diagram of the mounting structure of the transverse moving mechanism and the mechanical arm in the present application.

[0043] Figure 10 It is a right view of Figure 9 .

[0044] Figure 11 It is a partial structural schematic diagram of the mounting structure of the transverse moving mechanism and the mechanical arm in the present application.

[0045] Figure 12 is a front view of Figure 11

[0046] Figure 13 is a right view of Figure 11

[0047] Wherein: 1, first conveying line; 2, second conveying line; 3, third conveying line; 4, stand; 5, mechanical hand; 6, movement mechanism; 7, positioning camera; 8, measuring camera; 9, splicing rod mechanism; 10, connecting beam;

[0048] 501, connecting arm; 502, suction cup;

[0049] 601, first motor; 602, drive shaft; 603, first gear; 604, first rack; 605, first sliding rail; 606, first sliding block; 607, moving arm; 608, connecting plate; 609, second motor; 610, second sliding rail; 611, second sliding block; 612, second gear; 613, second rack; 614, third motor; 615, third sliding rail; 616, third sliding block; 617, third gear; 618, third rack;

[0050] 901, main rack; 902, centering mounting frame; 903, centering base plate; 904, rotary air cylinder; 905, rotary disc; 906, connecting shaft; 907, centering sliding rail; 908, centering sliding block; 909, splicing rod mounting frame; 910, splicing rod sliding rail; 911, first splicing rod sliding block; 912, second splicing rod sliding block; 913, first moving seat; 914, second moving seat; 915, moving seat driving motor; 916, driving sprocket; 917, synchronous chain; 918, driven sprocket; 919, lead screw; 920, connecting block; 921, camera light source; 922, light source mounting frame; 923, arc-shaped groove; 924, leveling foot. DETAILED DESCRIPTION

[0051] The specific embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0052] Example One:

[0053] As Figures 1-13 ​​As shown, the rod material splicing device of the embodiment includes a conveying line for conveying workpieces, the conveying line includes first conveying line 1 and second conveying line 2 arranged in parallel and at intervals, splicing rod mechanism 9 is installed in cooperation between first conveying line 1 and second conveying line 2, connecting beams 10 arranged in parallel and at intervals are installed in cooperation above the discharge end of the conveying line, connecting beams 10 are supported by stand column 4, a control system is installed in cooperation on one connecting beam 10, a plurality of movement mechanisms 6 are installed in cooperation between two connecting beams 10, mechanical hands 5 are installed in cooperation on single movement mechanism 6, positioning camera 7 and measuring camera 8 are installed in cooperation on one mechanical hand 5; when the splicing device works, one mechanical hand 5 carries workpieces on first conveying line 1 to splicing rod mechanism 9 through corresponding movement mechanism 6, another mechanical hand 5 carries workpieces on second conveying line 2 to splicing rod mechanism 9 through corresponding movement mechanism 6, during the carrying process, mechanical hand 5 selects workpieces of target length through positioning camera 7, splicing rod mechanism 9 adjusts the gap between two workpieces according to the photos taken by positioning camera 7 and measuring camera 8, thereby completing the splicing of two workpieces.

[0054] The splicing device mainly includes splicing rod mechanism 9, mechanical hand 5 and positioning camera 7 and measuring camera 8 installed on one mechanical hand 5; during the splicing process, the control system measures and positions workpieces according to the photos taken by positioning camera 7, and places workpieces with appropriate length on splicing rod mechanism 9 by mechanical hand 5, splicing rod mechanism 9 splices two workpieces, during the splicing process, the control system monitors the splicing gap through the photos taken by positioning camera 7 and measuring camera 8, so that the spliced workpieces meet the use requirements. The splicing device is a fully automatic production device, without manual intervention, splicing of rod materials is carried out by using visual detection, the production mode is intelligent, and the machining precision is high.

[0055] The structure of the splicing rod mechanism 9 comprises a main rack 901, the top of the main rack 901 is provided with a table top, the bottom of the table top is fixed with a rotary air cylinder 904, the output end of the rotary air cylinder 904 penetrates through the table top and is connected with a rotary disc 905 located at the top of the table top, the rotary disc 905 is cooperatively installed with symmetrically arranged connecting shafts 906, the end of a single connecting shaft 906 is cooperatively installed with a centering mounting rack 902, the side of a single centering mounting rack 902 is cooperatively installed with a centering base plate 903, a single centering mounting rack 902 is cooperatively installed on the top of the table top through a plurality of centering sliding blocks 908 and a plurality of centering sliding rails 907, the centering sliding rails 907 are fixed in parallel and at intervals on the top of the table top, a single centering sliding rail 907 is cooperatively installed with a plurality of centering sliding blocks 908, the centering sliding blocks 908 are installed on the bottom of the centering mounting rack 902, the rotary air cylinder 904 drives the rotary disc 905 to rotate, the torque generated by the rotary motion of the rotary disc 905 is converted into traction for the linear motion of the centering mounting rack 902 along the centering sliding rail 907 through the connecting shaft 906, so that the two centering mounting racks 902 drive the corresponding centering base plates 903 to move linearly towards or away from each other; the top of the table top between the two centering mounting racks 902 is cooperatively installed with a splicing rod mounting rack 909, the top of the splicing rod mounting rack 909 is cooperatively installed with a plurality of parallel splicing rod sliding rails 910, a single splicing rod sliding rail 910 is cooperatively installed with a plurality of first splicing rod sliding blocks 911 and a plurality of second splicing rod sliding blocks 912, the top of the first splicing rod sliding block 911 is cooperatively installed with a first moving seat 913 for placing a workpiece, the first moving seat 913 and the table top are cooperatively installed with a lead screw 919, the outer circumferential surface of the lead screw 919 is cooperatively installed with a connecting block 920, the top of the connecting block 920 is fixed with the bottom of the first moving seat 913, the end of the lead screw 919 is cooperatively installed with a driven sprocket 918, the driven sprocket 918 is cooperatively installed with a driving sprocket 916 through a synchronous chain 917, the driving sprocket 916 is connected with the output end of a moving seat driving motor 915, the moving seat driving motor 915 is fixed on the main rack 901, the moving seat driving motor 915 drives the driving sprocket 916 to rotate, the driving sprocket 916 drives the driven sprocket 918 to rotate through the synchronous chain 917, so as to drive the lead screw 919 to rotate, the lead screw 919 drives the first moving seat 913 to move linearly along the splicing rod sliding rail 910 through the connecting block 920 when rotating, the top of the second splicing rod sliding block 912 is installed with a second moving seat 914 for placing a workpiece, the second moving seat 914 moves linearly along the splicing rod sliding rail 910 through manual pushing; the arrangement direction of the centering sliding rail 907 is perpendicular to the arrangement direction of the splicing rod sliding rail 910; the top of the table top of the main rack 901 is cooperatively installed with a camera light source 921 through a light source mounting rack 922, the light source mounting rack 922 is provided with an arc-shaped groove 923 for adjusting the installation angle of the camera light source 921; the bottom of the main rack 901 is cooperatively installed with a plurality of leveling feet 924. The splicing rod mechanism 9 has a centering function and a splicing function, and can center and accurately splice two workpieces.

[0056] The centering function of the splicing rod mechanism 9 is realized by the centering mounting frame 902, the centering base plate 903, the rotary cylinder 904, the rotary disc 905, the two connecting shafts 906, the several centering sliding rails 907 and the several centering sliding blocks 908. The two connecting shafts 906 are symmetrically installed at the two ends of the rotary disc 905. The rotary cylinder 904 drives the rotary disc 905 to rotate, thereby driving the two connecting shafts 906 to rotate. The two connecting shafts 906 are respectively rotationally connected with the two centering mounting frames 902, so that the connecting shaft 906 converts the circumferential force of the rotary disc 905 driven to rotate into the force of the centering mounting frame 902 pulled to move linearly along the centering sliding rail 907, so that the two centering mounting frames 902 move linearly towards each other, gradually approaching the workpieces placed on the first moving seat 913 and the second moving seat 914, thereby completing the centering of the two workpieces. The centering base plate 903 is made of polyurethane resin material to prevent the centering mounting frame 902 from scratching the workpieces during the centering process.

[0057] The splicing function of the splicing mechanism 9 is realized by the splicing rod mounting frame 909, the splicing rod sliding rail 910, the first splicing rod sliding block 911, the second splicing rod sliding block 912, the first moving seat 913, the second moving seat 914, the moving seat driving motor 915, the driving sprocket 916, the synchronous chain 917, the driven sprocket 918, the lead screw 919 and the connecting block 920. The first moving seat 913 is installed on the top of the first splicing rod sliding block 911, and the second moving seat 914 is installed on the top of the second splicing rod sliding block 912. The first moving seat 913 and the second moving seat 914 are arranged in the length direction of the splicing rod mounting frame 909 with a spacing, and the splicing rod mounting frame 909 is also provided with a limiting plate for limiting the stroke of the first moving seat 913 and the second moving seat 914 to prevent the collision of the first moving seat 913 and the second moving seat 914. The moving seat driving motor 915 drives the driving sprocket 916 to rotate, thereby driving the lead screw 919 to rotate through the synchronous chain 917 and the driven sprocket 918. The lead screw 919 and the connecting block 920 are cooperatively installed through the threaded holes in the middle of the connecting block 920. When the lead screw 919 rotates, the connecting block 920 moves linearly along the length direction of the lead screw 919, thereby driving the first moving seat 913 to move linearly along the splicing rod sliding rail 910. The second moving seat 914 has no driving device and can be manually pushed to move linearly along the splicing rod sliding rail 910, thereby adjusting the position of the second moving seat 914. Under normal circumstances, the position of the second moving seat 914 is fixed during the splicing process, and the gap between the workpieces placed on the first moving seat 913 and the second moving seat 914 is adjusted by adjusting the position of the first moving seat 913.

[0058] The structure of the movement mechanism 6 is as follows: a moving arm 607 is arranged between the two connecting beams 10, the middle of one outer side of the moving arm 607 is fixed with a first motor 601, the first motor 601 is provided with symmetrically arranged output ends, the output ends of a single first motor 601 are connected with a first gear 603 through a drive shaft 602, a single first gear 603 is engaged with a first rack 604, a single first rack 604 is cooperatively arranged on the connecting beam 10 and along the length direction of the connecting beam 10, the top of a single connecting beam 10 is cooperatively arranged with a first sliding rail 605 along the length direction of the connecting beam 10, the first sliding rail 605 on a single connecting beam 10 is cooperatively arranged with a first sliding block 606, the two first sliding blocks 606 are respectively arranged at the two ends of the moving arm 607, the first motor 601 drives the corresponding first gears 603 to rotate through the two drive shafts 602, the two first gears 603 drive the corresponding first sliding blocks 606 to move linearly along the corresponding first sliding rails 605 through the corresponding first racks 604, so as to drive the moving arm 607 to move linearly along the length direction of the connecting beam 10; a plurality of second sliding rails 610 are cooperatively arranged on the other outer side of the moving arm 607 and parallel to each other, the second sliding rails 610 are arranged along the length direction of the moving arm 607, a plurality of second sliding blocks 611 are cooperatively arranged on a single second sliding rail 610, the second sliding blocks 611 are arranged on the back of a connecting plate 608, the front of the connecting plate 608 is fixed with a second motor 609, the output end of the second motor 609 passes through the connecting plate 608 and is connected with a second gear 612 arranged on the back of the connecting plate 608, the second gear 612 is engaged with a second rack 613, the second rack 613 is fixed on the side wall of the moving arm 607 between the two second sliding rails 610 and arranged along the length direction of the moving arm 607, the second motor 609 drives the second gear 612 to rotate, the second gear 612 drives the connecting plate 608 to move linearly along the second sliding rail 610 through the second rack 613; a third motor 614 is fixed on the front of the connecting plate 608, the output end of the third motor 614 is connected with a third gear 617, the third gear 617 is engaged with a third rack 618, the third rack 618 is fixed on the outer side wall of the manipulator 5, a plurality of third sliding rails 615 are cooperatively arranged on the outer side wall of the manipulator 5 and parallel to each other, a plurality of third sliding blocks 616 are cooperatively arranged on a single third sliding rail 615, the third sliding blocks 616 are fixed on the front of the connecting plate 608, the third motor 614 drives the third gear 617 to rotate, the third gear 617 drives the manipulator 5 to move linearly along the third sliding rail 615 through the third rack 618, so as to drive the manipulator 5 to move linearly along the vertical direction; the length direction of the connecting beam 10 is perpendicular to the length direction of the moving arm 607. The movement mechanism 6 enables the manipulator 5 to have the freedom degrees of X direction, Y direction and Z direction which are perpendicular to each other in space, the X direction and the Y direction are horizontal directions, and the Z direction is parallel to the vertical direction.

[0059] X direction is parallel to the length direction of the connecting beam 10, and is achieved by the first motor 601, the drive shaft 602, the first gear 603, the first rack 604, the first sliding rail 605 and the first sliding block 606; the first motor 601 is a symmetrical double-output shaft motor, and the two output shafts are symmetrically arranged and connected with the drive shaft 602; the first motor 601 is fixed in the middle of the moving arm 607, and the two drive shafts 602 are connected with the first gears 603 at both ends of the drive arm 607; the first motor 601 drives the corresponding first gears 603 to rotate through the two drive shafts 602; the first gears 603 are engaged with the first racks 604 arranged along the length direction of the connecting beam 10, so as to drive the moving arm 607 to move linearly along the length direction of the connecting beam 10, and further drive the manipulator 5 to move linearly along the length direction of the connecting beam 10; the first sliding rail 605 and the first sliding block 606 are used to stabilize the movement of the moving arm 607.

[0060] Y direction is parallel to the length direction of the moving arm 607, and is achieved by the second motor 609, the second sliding rail 610, the second sliding block 611, the second gear 612 and the second rack 613; the second motor 609 drives the second gear 612 to rotate, and the second gear 612 is engaged with the second rack 613 arranged along the length direction of the moving arm 607, so as to drive the connecting plate 608 to move linearly along the length direction of the moving arm 607, and further drive the manipulator 5 to move linearly along the length direction of the moving arm 607; the second sliding rail 610 and the second sliding block 611 enable the connecting plate 608 to move stably.

[0061] Z direction is parallel to the vertical direction, and is achieved by the third motor 614, the third sliding rail 615, the third sliding block 616, the third gear 617 and the third rack 618; the third motor 614 is fixed on the connecting plate 608, and its output end is connected with the third gear 617; the third motor 614 drives the third gear 617 to rotate, and the third gear 617 is engaged with the third rack 618 arranged along the length direction of the connecting arm 501, so as to drive the manipulator 5 to move linearly along the vertical direction; the third sliding rail 615 and the third sliding block 616 enable the manipulator 5 to move stably

[0062] The movement mechanism 6 is further provided with an oil pump and an oil felt gear for lubricating the movement between the gears and the racks.

[0063] The structure of the manipulator 5 is as follows: the connecting arm 501 is in a columnar shape, and the bottom of the connecting arm 501 is provided with a suction cup 502; the suction cup 502 is an electromagnet; the electromagnet is powered to generate magnetism to suck up the workpiece, and is powered off to break the magnetism to put down the workpiece; the reaction is sensitive, and the work is stable and reliable.

[0064] The third conveying line 3 for conveying the counterweight is installed beside the second conveying line 2. After the gap between the two workpieces is adjusted to the position by the splicing rod mechanism 9, the workpieces need to be grabbed by the mechanical hand 5 to the glue sticking position, the glue sticking position is provided with a resin plate, the workpieces are placed on the resin plate, the gap between the two workpieces is filled with glue, and then the mechanical hand 5 grabs the counterweight on the third conveying line 3 and places it on the workpieces to pre-solidify the spliced workpieces, and the counterweight can effectively prevent the overflow problem in the solidification process.

[0065] The embodiment provides a splicing device for rod-shaped materials, which can automatically splice two workpieces by the mechanical hand 5, the movement mechanism 6, the industrial camera 7, the measuring camera 8 and the splicing rod mechanism 9, the gap between the spliced workpieces can be ensured to be within 1 mm, the length of the spliced workpieces meets the use requirement, the splicing precision is high, the splicing speed is fast, and the production efficiency can be effectively improved.

[0066] Embodiment two:

[0067] The embodiment provides a splicing method by using the splicing device for rod-shaped materials provided in the embodiment one, and the splicing method comprises the following steps.

[0068] As shown in Figure 1 The splicing method by using the splicing device for rod-shaped materials according to claim 1 comprises the following steps.

[0069] S1. Two workpieces to be spliced are conveyed to target positions by the first conveying line 1 and the second conveying line 2 respectively, and the workpieces are waited to be grabbed by the mechanical hand 5;

[0070] S2. One workpiece is grabbed by the mechanical hand 5 and placed on the splicing rod mechanism 9, another workpiece to be spliced is grabbed by the mechanical hand 5 and placed on the splicing rod mechanism 9, the two workpieces are placed on the splicing rod platform 9 according to the gap standard of 50 mm at the splicing position by the mechanical hand 5 according to the length information of the two workpieces, and the pre-splicing is completed;

[0071] S3. The two workpieces are clamped and centered by the splicing rod mechanism 9;

[0072] S4. The positioning camera 7 and the measuring camera 8 are moved in a certain space range by the movement mechanism 6 through the mechanical hand 5, so that the two workpieces on the splicing rod mechanism 9 are photographed, the gap position between the two workpieces is found according to the photographed picture of the positioning camera 7, the gap position between the two workpieces can be found by finding the characteristics of two parallel straight lines in the photographed picture of the positioning camera 7, the measuring camera 8 is moved to the gap position by the movement mechanism 6 through the mechanical hand 5, the gap between the two workpieces is photographed, and the gap distance between the two workpieces is calculated according to the photographed picture of the measuring camera 8;

[0073] S4.1. The measuring camera 8 needs to be calibrated with a calibration plate first to obtain the length parameter of each pixel, i.e. pixel equivalent, so as to calculate the actual size of the gap distance according to actual size = image size (number of pixels) * pixel equivalent;

[0074] S5. The gap distance calculated from the photo taken by the measuring camera 8 is compared with the standard splice bar gap 1mm, so as to obtain the distance that the two workpieces need to move towards each other, the splice bar mechanism 9 drives one workpiece to move until the stroke reaches the distance that the two workpieces need to move towards each other, and the splice bar is completed.

[0075] S6. The movement mechanism 6 drives the measuring camera 8 to move to the splicing gap between the two workpieces through the mechanical hand 5, takes a photo of the gap between the two workpieces, and checks the gap distance.

[0076] S7. When the gap between the two workpieces is adjusted to meet the requirements, the two workpieces are grabbed by one mechanical hand 5 at the same time, and are transported to the adhesive platform to perform the bonding between the two workpieces, so as to complete the splicing between the two workpieces.

[0077] The embodiment provides a splice bar method, which places the workpiece with appropriate length grabbed by the mechanical hand 5 cooperating with the positioning camera 7 and the measuring camera 8 on the splice bar mechanism 9 to perform splicing, so as to splice the workpieces into a bar material meeting the length requirements, facilitates further processing of the bar material, has high splicing precision, can guarantee product quality, has fast splicing speed, and can improve production efficiency.

[0078] The above description is an explanation of the present application, not a limitation of the present application, the scope of the present application is defined in the claims, and any form of modification within the protection scope of the present application is possible.

Claims

1. A splicing device for rod-shaped materials, comprising a conveyor line for conveying workpieces, said conveyor line including a first conveyor line (1) and a second conveyor line (2) arranged in parallel at intervals, characterized in that: A splicing mechanism (9) is installed between the first conveyor line (1) and the second conveyor line (2). Parallel and spaced connecting beams (10) are installed above the discharge end of the conveyor line. The connecting beams (10) are supported by columns (4). A control system is installed on one connecting beam (10). Several motion mechanisms (6) are installed between two connecting beams (10). A robot arm (5) is installed on a single motion mechanism (6). A positioning camera (7) and a measuring camera (8) are installed on a robot arm (5). When the splicing equipment is working, one robotic arm (5) transports the workpiece on the first conveyor line (1) to the splicing mechanism (9) through the corresponding motion mechanism (6), and another robotic arm (5) transports the workpiece on the second conveyor line (2) to the splicing mechanism (9) through the corresponding motion mechanism (6). During the transport process, the robotic arm (5) selects the workpiece of the target length through the positioning camera (7), and the splicing mechanism (9) adjusts the gap between the two workpieces according to the photos taken by the positioning camera (7) and the measuring camera (8), thereby completing the splicing of the two workpieces. The structure of the splicing mechanism (9) is as follows: it includes a main frame (901), the top of the main frame (901) is provided with a table, the bottom of the table is fixed with a rotary cylinder (904), the output end of the rotary cylinder (904) passes through the table and is connected to the rotary disk (905) located on the top of the table, and the rotary disk (905) is fitted with symmetrically arranged connecting shafts (906). The end of a single connecting shaft (906) is fitted with a centering mounting bracket (902). A centering pad (903) is fitted on the side of a single centering mounting bracket (902). A single centering mounting bracket (902) is fitted with several centering sliders (908) and several centering slide rails (907) and mounted on the top of the table. The centering slide rails (907) are fixed parallel to each other on the top of the table. Several centering sliders (908) are fitted on a single centering slide rail (907). The centering slider (908) is installed at the bottom of the centering mounting bracket (902). The rotary cylinder (904) drives the rotary disk (905) to rotate. The torque generated by the rotation of the rotary disk (905) is converted into a traction force that causes the centering mounting bracket (902) to move linearly along the centering slide rail (907) through the connecting shaft (906). This causes the two centering mounting brackets (902) to drive the corresponding centering pads (903) to move in a linear motion that is close to or far apart. A splicing rod mounting bracket (909) is fitted on the top of the platform between the two centering mounting brackets (902). Several parallel splicing rod slide rails (910) are fitted on the top of the splicing rod mounting bracket (909). Several first splicing rod sliders (911) and several second splicing rod sliders (912) are fitted on each splicing rod slide rail (910). A first moving seat (913) for placing workpieces is fitted on the top of the first splicing rod slider (911). A lead screw (919) is fitted between the first moving seat (913) and the platform. A connecting block (920) is fitted on the outer circumference of the lead screw (919). The top of the connecting block (920) is fixed to the bottom of the first moving seat (913). A driven sprocket (918) is fitted on the end of the lead screw (919). 918) The drive sprocket (916) is installed in cooperation with the synchronous chain (917). The drive sprocket (916) is connected to the output end of the moving seat drive motor (915). The moving seat drive motor (915) is fixed on the main frame (901). The moving seat drive motor (915) drives the drive sprocket (916) to rotate. The drive sprocket (916) drives the driven sprocket (918) to rotate through the synchronous chain (917), thereby driving the lead screw (919) to rotate. When the lead screw (919) rotates, it drives the first moving seat (913) to move linearly along the splicing bar slide rail (910) through the connecting block (920). The top of the second splicing bar slider (912) is equipped with a second moving seat (914) for placing the workpiece. The second moving seat (914) moves linearly along the splicing bar slide rail (910) by manual pushing.

2. The splicing equipment for rod-shaped materials as described in claim 1, characterized in that: The centering slide rail (907) is arranged in a direction perpendicular to the arrangement direction of the splicing slide rail (910).

3. The splicing equipment for rod-shaped materials as described in claim 1, characterized in that: The top plate of the main frame (901) is equipped with a camera light source (921) through a light source mounting bracket (922). The light source mounting bracket (922) is provided with an arc-shaped groove (923) for adjusting the installation angle of the camera light source (921).

4. The splicing equipment for rod-shaped materials as described in claim 1, characterized in that: The bottom of the main frame (901) is fitted with several leveling feet (924).

5. The splicing equipment for rod-shaped materials as described in claim 1, characterized in that: The structure of the motion mechanism (6) is as follows: it includes a movable arm (607) located between two connecting beams (10). A first motor (601) is fixed in the middle of one outer side of the movable arm (607). The first motor (601) is provided with symmetrically arranged output ends. The output end of a single first motor (601) is connected to a first gear (603) through a drive shaft (602). The single first gear (603) meshes with a first rack (604). The single first rack (604) is fitted and installed on the connecting beam (10) and arranged along the length direction of the connecting beam (10). The top of a single connecting beam (10) is fitted with a rack along the length direction of the connecting beam. The first slide rail (605) is arranged along the length of the beam (10). The first slide rail (605) on the single connecting beam (10) is fitted with a first slider (606). The two first sliders (606) are respectively installed at the two ends of the moving arm (607). The first motor (601) drives the corresponding first gear (603) to rotate simultaneously through two drive shafts (602). The two first gears (603) drive the corresponding first slider (606) to move linearly along the corresponding first slide rail (605) through the corresponding first rack (604), thereby driving the moving arm (607) to move linearly along the length of the connecting beam (10). Several parallel second slide rails (610) are fitted onto the other outer side of the movable arm (607). The second slide rails (610) are arranged along the length of the movable arm (607). Several second sliders (611) are fitted onto each second slide rail (610). The second sliders (611) are mounted on the back of the connecting plate (608). A second motor (609) is fixed to the front of the connecting plate (608). The output end of the second motor (609) passes through the connecting plate (608) and... The second gear (612) located on the back of the connecting plate (608) is connected. The second gear (612) meshes with the second rack (613). The second rack (613) is fixed on the side wall of the moving arm (607) between the two second slide rails (610) and arranged along the length of the moving arm (607). The second motor (609) drives the second gear (612) to rotate. The second gear (612) drives the connecting plate (608) to move linearly along the second slide rail (610) through the second rack (613). The third motor (614) is fixed on the front of the connecting plate (608). The output end of the third motor (614) is connected to the third gear (617). The third gear (617) meshes with the third rack (618). The third rack (618) is fixed on the outer wall of the robot (5). Several parallel third slide rails (615) are also installed on the outer wall of the robot (5). Several third sliders (616) are installed on each third slide rail (615). The third sliders (616) are fixed on the front of the connecting plate (608). The third motor (614) drives the third gear (617) to rotate. The third gear (617) drives the robot (5) to move linearly along the third slide rail (615) through the third rack (618), thereby making the robot (5) move linearly in the vertical direction.

6. The splicing equipment for rod-shaped materials as described in claim 5, characterized in that: The length direction of the connecting beam (10) is perpendicular to the length direction of the movable arm (607).

7. The splicing equipment for rod-shaped materials as described in claim 1, characterized in that: The structure of the robotic arm (5) is as follows: it includes a columnar connecting arm (501), and a suction cup (502) is installed at the bottom of the connecting arm (501). The suction cup (502) is an electromagnet.

8. The splicing equipment for rod-shaped materials as described in claim 1, characterized in that: A third conveyor line (3) for conveying counterweights is installed on one side of the second conveyor line (2).

9. A splicing method using the splicing equipment for rod-shaped materials as described in claim 1, characterized in that: Includes the following steps: S1. The two workpieces to be spliced ​​are respectively transported to the target position through the first conveyor line (1) and the second conveyor line (2), and wait for the robot (5) to grab the workpieces; S2. The robot (5) grabs a workpiece and places it on the splicing mechanism (9). The robot (5) then grabs another workpiece that needs to be spliced ​​and places it on the splicing mechanism (9). Based on the length information of the two workpieces, the robot (5) places the two workpieces on the splicing platform with a gap of 50mm at the splicing point to complete the pre-splitting. S3. The two workpieces are clamped and aligned by the bar-jointing mechanism (9); S4. The motion mechanism (6) drives the positioning camera (7) and the measuring camera (8) to move within a certain space range through the robot (5), thereby taking pictures of the two workpieces on the splicing mechanism (9). The gap position between the two workpieces is found based on the picture taken by the positioning camera (7). The gap position between the two workpieces can be found by finding the feature of two parallel straight lines in the picture taken by the positioning camera (7). The motion mechanism (6) drives the measuring camera (8) to move to the gap position through the robot (5) and takes pictures of the gap between the two workpieces. The gap distance between the two workpieces is calculated based on the picture taken by the measuring camera (8). S4.

1. The measuring camera (8) needs to be calibrated first using a calibration plate to obtain the length parameter of each pixel, i.e., the pixel equivalent. Then, the actual size of the gap distance can be calculated based on the actual size = image size (number of pixels) * pixel equivalent. S5. Compare the gap distance calculated based on the photo taken by the measuring camera (8) with the standard splicing bar gap of 1mm to obtain the distance that the two workpieces need to move towards each other. The splicing bar mechanism (9) drives one workpiece to move until the stroke reaches the distance that the two workpieces need to move towards each other, and the splicing bar is completed. S6. The motion mechanism (6) drives the measuring camera (8) to move to the splicing gap between the two workpieces through the robot (5) to take pictures of the gap between the two workpieces and check the gap distance; S7. When the gap between the two workpieces is adjusted to meet the requirements, a robot (5) simultaneously grabs the two workpieces and transports them to the adhesive platform to bond them together, thereby completing the splicing of the two workpieces.

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