Full-automatic feeding and discharging production line for angle steel back chipping and back shoveling and control method

Abstract

The invention belongs to the technical field of angle steel production, and relates to an angle steel back chipping and back shoveling full-automatic feeding and discharging production line and a control method thereof. In the production line, a feeding bin, a discharging bin, an angle steel back chipping machine and an angle steel back-off machine are evenly distributed on the two sides of a walking line of a walking ground rail robot, a conveying mechanism is correspondingly provided with a proximity switch, and a control system is electrically connected with the walking ground rail robot, a feeding conveying mechanism, a discharging conveying mechanism and the proximity switch. According to the control method, the positions of the two feeding conveying mechanisms and the positions of the two discharging conveying mechanisms are automatically judged through the proximity switches, feeding or discharging is directly conducted if position changing is not needed after judgment, and if position changing is needed, the conveying mechanisms are controlled through the control system to achieve automatic position changing. Full automation of feeding and discharging of the angle steel back chipping shovel back is achieved without manual participation, standardized process operation of an angle steel production line is achieved, the manual workload and labor intensity are relieved, potential safety hazards are reduced, and production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of angle steel production, and particularly relates to a fully automatic loading and unloading production line for angle steel root cleaning and back shoveling and a control method thereof. Background Art

[0002] Power towers are assembled from angle steel segments. In order to better connect and assemble the angle steel segments, the angle steel segments need to be cleaned or back-cut in advance. At present, in the production and manufacturing workshop of angle steel cleaning and back-cutting, the cleaning and back-cutting process of angle steel is completed by angle steel cleaning machine and angle steel back-cutting machine, while the loading of angle steel blanks that need cleaning or back-cutting and the unloading of finished products after processing are completely completed by manually operated cranes.

[0003] Manual loading and unloading of angle steels poses a great safety hazard, is labor-intensive, has low production efficiency, and has high labor costs. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a fully automatic loading and unloading production line for angle steel root cleaning and back shoveling and a control method thereof. The technical solution adopted by the present invention is as follows: The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling comprises a control system, a walking rail robot, a plurality of angle steel root cleaning machines and a plurality of angle steel back shoveling machines, wherein a loading conveyor and a unloading conveyor are respectively arranged at the feeding port and the discharging port of the angle steel root cleaning machine and the angle steel back shoveling machine, the loading conveyor is correspondingly provided with a loading bin, and the unloading conveyor is correspondingly provided with a unloading bin, the loading bin, the unloading bin, the angle steel root cleaning machine and the angle steel back shoveling machine are uniformly arranged on both sides of the walking route of the walking rail robot, the loading conveyor comprises a first loading conveyor mechanism and a second loading conveyor mechanism which are adjacently arranged in parallel and can switch positions relative to the feeding port, and the first loading conveyor mechanism is provided with a first loading conveyor mechanism and a second loading conveyor mechanism which can switch positions relative to the feeding port. A first proximity switch and a second proximity switch are respectively arranged on the outer sides of a loading conveying mechanism and a second loading conveying mechanism, the unloading conveyor comprises a first unloading conveying mechanism and a second unloading conveying mechanism which are arranged adjacently and in parallel and can switch positions relative to the discharge port, a third proximity switch and a fourth proximity switch are respectively arranged on the outer sides of the first unloading conveying mechanism and the second unloading conveying mechanism, and the control system is respectively electrically connected to the walking rail robot, the first loading conveying mechanism, the second loading conveying mechanism, the first unloading conveying mechanism, the second unloading conveying mechanism, the first proximity switch, the second proximity switch, the third proximity switch and the fourth proximity switch.

[0005] Preferably, the base of the loading conveyor mechanism is installed on a loading conveyor mechanism bracket that can move horizontally, the first loading conveyor mechanism and the second loading conveyor mechanism are installed on the loading conveyor mechanism base, and a second baffle is arranged on the side of one end of the loading conveyor mechanism bracket away from the feed port, a first long groove in the vertical direction is opened at the upper end of the second baffle, and the fourth photoelectric switch and the third photoelectric switch are respectively installed in the first long groove; the base of the unloading conveyor mechanism is installed on a unloading conveyor mechanism bracket that can move horizontally, the first unloading conveyor mechanism and the second unloading conveyor mechanism are installed on the unloading conveyor mechanism base, and a third baffle is arranged on the side of one end of the unloading conveyor mechanism bracket away from the discharge port, a second long groove in the vertical direction is opened at the upper end of the third baffle, and the sixth photoelectric switch and the seventh photoelectric switch are respectively installed in the second long groove.

[0006] Preferably, a first height adjustment seat is provided at the bottom end of the base of the feeding and conveying mechanism of the frame structure, and a pair of first guide rails are provided in parallel on opposite sides of the upper surface of the base of the feeding and conveying mechanism, a second oil pressure buffer is installed at one end of the first guide rail, and a first oil pressure buffer is installed at the other end of the first guide rail, a first proximity switch and a second proximity switch are respectively installed at both ends of the first guide rail on either side, a pair of parallel piston rods are installed in the middle position of the top end of the base of the feeding and conveying mechanism The telescopic direction of the piston rod is consistent with the length direction of the first guide rail. A plurality of second sliders are installed below the two ends of the length direction of the feeding and conveying mechanism bracket. The second slider is slidably installed on the first guide rail, and the lower part of the feeding and conveying mechanism bracket is connected with the piston rod of the feeding and conveying cylinder; a second height adjustment seat is provided at the bottom end of the base of the unloading and conveying mechanism of the frame structure, and a pair of second Guide rails, a fourth hydraulic buffer is installed at one end of the second guide rail, a third hydraulic buffer is installed at the other end of the second guide rail, a third proximity switch and a fourth proximity switch are respectively installed at both ends of the second guide rails on either side, a pair of parallel piston rods are installed in the middle position of the top end of the base of the unloading conveying mechanism, and the unloading material shifting cylinder has a telescopic direction consistent with the length direction of the second guide rail, a plurality of third sliders are installed below the two ends of the length direction of the bracket of the unloading conveying mechanism, the third sliders are slidably installed on the second guide rail, and the lower part of the bracket of the unloading conveying mechanism is connected with the piston rod of the unloading material shifting cylinder; the support mounting frame is connected to the upper end of the side surface of the base of the loading conveying mechanism, and the clamping device is installed at the top of the support mounting frame, and the clamping device includes a fifth photoelectric switch and a retractable clamping wheel, a clamping wheel is arranged on the side of the cross beam above the support mounting frame away from the feed port, and a fifth photoelectric switch is arranged on the other side of the cross beam above the support mounting frame.

[0007] Preferably, the control system adopts a PLC programmable logic controller, and the control system sends signals to the walking rail robot, the loading conveying mechanism and the unloading conveying mechanism through PROFINET communication, and each switch sends signals to the control system through digital I / O communication.

[0008] Preferably, the walking ground rail robot is movably mounted on a ground rail, the ground rail comprises a ground rail base and a ground rail guide, ground rail guides are respectively arranged at the edge positions on both sides of the upper end surface in the length direction of the ground rail base, a rack is arranged on the inner side in the length direction of one of the ground rail guides, a spacing is provided between the rack and the ground rail guide, first baffles in the vertical direction are respectively arranged at both ends of the ground rail guide, a first anti-collision block is arranged on the upper end of the inner surface of the first baffle, a first guard plate of an L-shaped structure is arranged on the outer side in the length direction of the ground rail guide, and both ends of the first guard plate are overlapped with the upper end and outer edge of the first baffle; both sides of the bottom surface of the slide plate are connected to the upper surfaces of a plurality of ground rail guide sliders The floor rail guide slider is slidably installed on the floor rail guide, the height of the first anti-collision block matches the slide board, the position of the slide board corresponding to one side of the rack is provided with a motor fixing seat, the servo motor is installed on the motor fixing seat, the motor shaft through hole is provided at the center of the motor fixing seat, the main shaft of the servo motor passes through the motor shaft through hole, the driving gear at the lower end of the main shaft of the servo motor is meshed with the rack, an origin proximity switch is provided at a position close to the edge of the floor rail guide at one end of the bottom of the slide board, an origin in place detection plate is provided at the return-to-origin end of the floor rail base, the origin in place detection plate matches the origin proximity switch, and the origin proximity switch realizes data interaction with the control system.

[0009] Preferably, the walking rail robot includes a mechanical arm and a mechanical claw, the lower end of the mechanical arm is installed at the center of the upper surface of the skateboard, the mechanical claw is installed on the upper part of the mechanical arm, the mechanical claw includes a claw bracket, a first claw and a second claw, the claw bracket is a T-shaped structure, the first claw and the second claw are symmetrically installed at both ends of the claw bracket, and a visual detection camera is installed on the side of the claw bracket; the first claw and the second claw are made of materials that can pass magnetism, a magnetic connection box is installed and connected on one side of the first claw and the second claw, and a first photoelectric switch and a second photoelectric switch are installed on the other side of the first claw and the second claw, the first claw has a V-shaped groove structure, and the second claw has a V-shaped bump structure, and the first photoelectric switch and the second photoelectric switch realize data interaction with the control system.

[0010] Preferably, the production line is arranged in a rectangular field surrounded by a safety fence, and safety doors with universal wheels are arranged at positions of the safety fence corresponding to the upper and lower silos, and safety gratings are symmetrically arranged on both sides of the outer sides of the safety door, and the safety door and the safety grating realize data exchange with the control system; the angle steel silo is movably installed on the silo base, and the silo base is open toward one side of the safety door, and first pads are arranged at the four corners of the top of the silo base, and a limiting protrusion is arranged at the center of the upper end of a pair of first pads at diagonal positions; the shovel back angle steel silo includes a first base frame, a second pad, a support plate, a shovel back angle steel support frame and a first limiting plate, second pads are arranged at the four corners of the bottom of the first base frame, and a limiting hole matching the limiting protrusion is opened at the center of the lower part of a pair of second pads at diagonal positions, and a plurality of groups of support plates opposite to each other are welded in parallel on the upper surface of the first base frame, The adjacent two opposing support plates are inclined inwardly in a positive V shape, and the back-shoveling angle steel support frames are welded in a positive V shape above the adjacent two opposing support plates, and a number of first weight-reducing through holes are evenly arranged on the surface of the back-shoveling angle steel support frames, and the first limiting plates are vertically arranged on both sides of the first base frame opposite to the back-shoveling angle steel support frames; the root cleaning angle steel silo includes a second base frame, a third pad, a root cleaning angle steel support frame and a second limiting plate, and the third pad is arranged at the four corners of the bottom of the second base frame, and a limiting hole matching the limiting protrusion is arranged in the lower center of a pair of diagonal third pads, and a number of root cleaning angle steel support frames are welded in parallel on the upper surface of the second base frame in an inverted V shape, and a number of second weight-reducing through holes are evenly arranged on the surface of the root cleaning angle steel support frames, and the second limiting plates are vertically arranged on both sides of the second base frame opposite to the root cleaning angle steel support frames.

[0011] As described above, in the control method of the fully automatic loading and unloading production line for cleaning the root and back of angle steel, the angle steel pieces to be processed are transported from the loading bin to the loading conveyor by a walking rail robot; the third photoelectric switch and the fourth photoelectric switch are used to respectively detect whether the angle steel pieces have been placed on the first loading and conveying mechanism and the second loading and conveying mechanism, and the detection signals are sent to the control system; the first proximity switch and the second proximity switch are used to detect the positions of the first loading and conveying mechanism and the second loading and conveying mechanism, and the detection signals are sent to the control system; the control system determines whether the first loading and conveying mechanism and the second loading and conveying mechanism have switched positions; the fifth photoelectric switch is used to detect the feeding of the angle steel pieces The process is carried out and the detection signal is sent to the control system, which controls the clamping device to clamp the angle steel material or reset it; the sixth photoelectric switch and the seventh photoelectric switch are used to respectively detect whether the processed angle steel workpiece has been placed on the first unloading conveying mechanism and the second unloading conveying mechanism and send the detection signal to the control system, the third proximity switch and the fourth proximity switch are used to detect the positions of the first unloading conveying mechanism and the second unloading conveying mechanism and send the detection signal to the control system, and the control system is used to determine whether the first unloading conveying mechanism and the second unloading conveying mechanism are swapped; the processed angle steel workpiece is transported from the unloading conveyor to the unloading bin by a walking rail robot.

[0012] Preferably, a detection signal is sent to the control system through the first photoelectric switch and the second photoelectric switch, and the control system determines whether the first gripper and the second gripper successfully grasp the angle steel; when the walking rail robot reaches a certain process, the visual inspection camera takes a picture and scans the loading bin corresponding to this process and transmits it to the control system, and when the control system determines that there is no material in the loading bin, no more material will be loaded to the loading position of this process; and after the processing equipment of the process with the empty loading bin completes the processing and unloads the last angle steel piece, the control system no longer loads and unloads material to this process; until the loading bins of each process are empty and the last processed angle steel workpiece of each process is unloaded, the production line stops running and waits for the next start-up.

[0013] Preferably, the production line is in a stopped state before starting production, and the control system controls the AGV trolley to reach the safety gate. The safety light grating on the outside of the safety gate senses the arrival of the AGV trolley and transmits the sensing signal to the control system, and the control system controls the opening of the safety gate, and the angle steel silo is replaced or transported away by the AGV trolley; when the AGV trolley exits the safety gate, the safety light grating senses the departure of the AGV trolley and transmits the sensing signal to the control system, and the control system controls the closing of the safety gate; every time the walking rail robot loads or unloads materials for each process, the robotic arm first rotates to be parallel to the ground rail, and the walking rail robot moves according to the next command.

[0014] Beneficial effects of the present invention: The present invention realizes automatic transportation of angle steel by controlling a walking rail robot through a control system, realizes backup and buffering of the angle steel conveying mechanism during loading and unloading by setting two loading and conveying mechanisms and two unloading and conveying mechanisms, and automatically judges the positions of the two loading and conveying mechanisms and the two unloading and conveying mechanisms through proximity switches. After judgment, if no position change is required, the material is directly loaded or unloaded. If position change is required, the conveying mechanism is controlled by the control system to realize automatic position change. The present invention realizes full automation of loading and unloading of angle steel root cleaning and back shoveling without manual intervention, realizes standardized process operation of angle steel production line, and simultaneously feeds multiple angle steel root cleaning machines and angle steel back shoveling machines through a walking rail robot, thereby reducing manual workload and labor intensity, greatly reducing safety hazards, greatly reducing labor costs, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of a production line according to Embodiment 1 of the present invention; Figure 2 This is a partial exploded view of the ground rail walking robot according to the first embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of a robot gripper according to the first embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of a silo base according to Embodiment 1 of the present invention; Figure 5 This is a three-dimensional structural diagram of a shovel-back angle steel silo according to the first embodiment of the present invention; Figure 6 for Figure 5 A partial section enlarged view in the middle; Figure 7 This is a three-dimensional structural diagram of a root-clearing angle steel silo according to the first embodiment of the present invention; Figure 8 It is an exploded view of the feeding conveyor of each process of the first embodiment of the present invention; Fig. 9 for Figure 8 A partial enlarged view of point B in the middle; Fig.10 It is an exploded view of the unloading conveyor of each process of the first embodiment of the present invention; In the figure, 1 is a walking ground rail robot, 2 is a safety fence, 3 is a safety grating, 4 is a safety door, 5 is a loading bin for the first back-shoveling process, 6 is a loading bin for the root cleaning process, 7 is a loading position for the root cleaning process, 8 is an angle steel root cleaning machine, 9 is a unloading position for the root cleaning process, 10 is a unloading bin for the root cleaning process, 11 is a unloading bin for the second back-shoveling process, 12 is a unloading position for the second back-shoveling process, 13 is a second angle steel back-shoveling machine, 14 is a loading position for the second back-shoveling process, 15 is a loading bin for the second back-shoveling process, 16 is a unloading bin for the first back-shoveling process, 17 is a unloading position for the first back-shoveling process, 18 is a first angle steel back-shoveling machine, 19 is a loading position for the first back-shoveling process, 20 is a ground rail, 21 is a ground rail base, 22 is a ground rail guide, 23 is a servo Servo motor, 24 is the driving gear, 25 is the horizontal drag chain assembly, 26 is the rack, 27 is the first baffle, 28 is the first anti-collision block, 29 is the motor fixing seat, 30 is the ground rail guide slider, 31 is the first gripper, 32 is the first photoelectric switch, 33 is the visual inspection camera, 34 is the second gripper, 35 is the second photoelectric switch, 36 is the mechanical arm, 37 is the slide plate, 38 is the origin proximity switch, 39 is the first guard plate, 40 is the gripper bracket, 41 is the camera mounting bracket, 42 is the connecting flange, 43 is the magnetic connection box, 44 is the silo base, 45 is the first pad, 46 is the limit protrusion, 47 is the support plate, 48 is the first base frame, 49 is the second pad, 50 is the shovel back angle steel support frame, 51 is the first limit plate, 52 is the limit hole, 53 is the second base frame, 54 is the third pad, 55 is the root cleaning angle steel support frame, 56 is the second limit plate, 57 is the first long groove, 58 is the loading and conveying mechanism mounting seat, 59 is the second motor mounting plate, 60 is the first motor mounting plate, 61 is the first motor, 62 is the second motor, 63 is the second slider, 64 is the clamping device, 65 is the second oil pressure buffer, 66 is the first proximity switch, 67 is the support mounting frame, 68 is the first height adjustment seat, 69 is the second proximity switch, 70 is the loading and conveying mechanism base, 71 is the second guard plate, 72 is the first oil pressure buffer, 73 is the loading and conveying cylinder, 74 is the first guide rail, 75 is the loading Conveying mechanism bracket, 76 is the second anti-collision block, 77 is the fourth photoelectric switch, 78 is the second baffle, 79 is the third photoelectric switch, 80 is the fifth photoelectric switch, 81 is the third motor mounting plate, 82 is the third motor, 83 is the fourth motor, 84 is the third baffle, 85 is the sixth photoelectric switch, 86 is the seventh photoelectric switch, 87 is the third slider, 88 is the fourth hydraulic buffer, 89 is the third proximity switch, 90 is the base of the unloading conveying mechanism, 91 is the third guard plate, 92 is the fourth proximity switch, 93 is the third hydraulic buffer, 94 is the unloading transposition cylinder, 95 is the second guide rail, 96 is the unloading conveying mechanism mounting seat, 97 is the unloading conveying mechanism bracket, and 98 is the fourth motor mounting plate. DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Embodiment 1

[0017] like Figure 1 As shown, a fully automatic loading and unloading production line for angle steel root cleaning and back shoveling is provided, wherein the production line is arranged in a rectangular field surrounded by a safety fence 2, a ground rail 20 is fixedly installed in the middle position in the length direction of the rectangular field, and a walking ground rail robot 1 is movably installed on the ground rail 20, and the walking ground rail robot 1 can move horizontally on the ground rail 20. On one side of the ground rail 20, the first back-shoveling process loading bin 5, the root cleaning process loading bin 6, the root cleaning process loading position 7, the angle steel root cleaning machine 8, the root cleaning process unloading position 9, the root cleaning process unloading bin 10 and the second back-shoveling process unloading bin 11 are fixedly installed in sequence; on the other side of the ground rail 20, the first back-shoveling process loading position 19, the first angle steel back-shoveling machine 18, the first back-shoveling process unloading position 17, the first back-shoveling process unloading bin 16, the second back-shoveling process loading bin 15, the second back-shoveling process loading position 14, the second angle steel back-shoveling machine 13 and the second back-shoveling process unloading position 12 are fixedly installed in sequence. The production equipment and workstations of each process are evenly arranged on both sides of the ground rail 20, which can facilitate the walking and operation of the walking ground rail robot 1 and reduce the floor area of ​​the production line.

[0018] At the positions of the safety fence 2 corresponding to the first back-shoveling process upper bin 5 and the root cleaning process upper bin 6, the positions corresponding to the root cleaning process lower bin 10 and the second back-shoveling process lower bin 11, and the positions corresponding to the first back-shoveling process lower bin 16 and the second back-shoveling process upper bin 15, safety doors 4 are reserved respectively. The safety door 4 adopts an existing sliding door. A universal wheel is arranged under the sliding door. The sliding door is opened and closed by the sliding door cylinder. The universal wheel under the sliding door can reduce resistance. The setting of the safety door 4 can facilitate the transportation of the angle steel raw materials to be processed and the processed angle steel segments by the AGV trolley. The upper bins / upper bins are arranged in pairs, which can reduce the number of safety doors 4 installed. Safety gratings 3 are symmetrically arranged on both sides of the outer side of the safety door 4. The safety gratings 3 can automatically sense the opening and closing of the safety door 4. When the safety door 4 is opened, the safety grating 3 transmits the sensing signal to the control system. The control system controls the production line to automatically stop working to ensure the safety of the staff.

[0019] In the first embodiment of the present invention, in the fully automatic loading and unloading production line for angle steel root cleaning and back shoveling, one angle steel root cleaning process (angle steel root cleaning machine 8) and two angle steel back shoveling processes (second angle steel back shoveling machine 13 and first angle steel back shoveling machine 18) are set. Of course, the number and position of the angle steel root cleaning machines and angle steel back shoveling machines in the fully automatic loading and unloading production line can be flexibly set according to production needs, and evenly arranged within the operating range of the walking rail robot 1 to minimize the floor space occupied.

[0020] The loading and unloading positions of each process are respectively provided with a loading conveyor and a unloading conveyor, and the loading conveyor and the unloading conveyor are respectively arranged at the feeding port and the discharging port of the processing equipment of each process; the loading bin and the unloading bin of each process are arranged nearby according to the positions of the loading conveyor and the unloading conveyor of each process, and the loading bin and the unloading bin can be arranged adjacent to each other on the same side of the loading conveyor and the unloading conveyor, or can be arranged opposite to each other on both sides of the walking rail robot 1.

[0021] like Figure 2 , 3As shown, the ground rail 20 includes a ground rail base 21 and a ground rail guide 22. The ground rail base 21 is a frame welded by rectangular steel pipes. A beam cover is provided above the frame beam. The horizontal drag chain assembly 25 is fixedly installed on the beam cover. The beam cover is used to prevent objects or workpieces from falling into the frame space and to facilitate the installation of the horizontal drag chain assembly 25. Several protruding bottom edges are welded at the bottom ends of both sides in the length direction of the ground rail base 21. The protruding bottom edges are fixed to the ground by bolts to ensure the stability of the walking ground rail robot 1 when walking. The floor rail guide rails 22 are fixedly provided at the edge positions of the upper end surface of the floor rail base 21 in the length direction, and a plurality of floor rail guide sliders 30 are slidably installed on the floor rail guide rails 22. A rack 26 is fixedly provided on the inner side of the length direction of one of the floor rail guide rails 22, and the rack 26 is fixedly installed on the floor rail guide rail 22. There is a certain distance between the rack 26 and the floor rail guide rail 22, and the distance can ensure that the rack 26 does not interfere with the active cooperation between the floor rail guide rail 22 and the floor rail guide slider 30. The first baffle plates 27 in the vertical direction are fixedly provided at both ends of the floor rail guide rail 22, and the first anti-collision block 28 is fixedly provided at the upper end of the inner surface of the first baffle plate 27. The slide plate 37 is fixedly installed above the floor rail guide slider 30, and the height of the first anti-collision block 28 matches the slide plate 37. The first anti-collision block 28 is made of polyurethane material, which has high toughness and wear resistance. The polyurethane material can reduce the damage of the first anti-collision block 28 when colliding with the slide plate 37, and improve the service life of the first anti-collision block 28. The walking ground rail robot 1 is installed in the middle position of the upper part of the slide plate 37. During the walking operation of the walking ground rail robot 1, the first anti-collision block 28 plays a limiting role, and after the motor fails, the first anti-collision block 28 plays a blocking role, thereby preventing the ground rail guide slider 30 and the slide plate 37 from escaping from the ground rail guide 22. A first guard plate 39 of an L-shaped structure is fixedly provided on the outer side of the ground rail guide 22 in the length direction. The first guard plate 39 is formed by splicing a plurality of pieces. The two ends of the first guard plate 39 overlap with the upper end and the outer edge of the first baffle 27. The ground rail guide slider 30 is located on the inner side of the first guard plate 39. The first guard plate 39 protects the cooperation between the ground rail guide 22 and the ground rail guide slider 30.

[0022] The two sides of the bottom surface of the slide plate 37 are fixedly connected to the upper surface of the ground rail guide slider 30. The slide plate 37 is fixedly provided with a motor fixing seat 29 at a position corresponding to one side of the rack 26. The servo motor 23 is fixedly installed on the motor fixing seat 29. The motor shaft through hole is provided in the center of the motor fixing seat 29. The main shaft of the servo motor 23 passes through the motor shaft through hole. The driving gear 24 at the lower end of the main shaft of the servo motor 23 is meshed with the rack 26, so that the slide plate 37 drives the ground rail guide slider 30 to move horizontally on the ground rail guide 22. An origin proximity switch 38 is provided at a position near the edge of the ground rail guide 22 at one end of the bottom of the slide plate 37. An origin in place detection plate is fixedly provided at the return-to-origin end of the ground rail base 21. The origin in place detection plate cooperates with the origin proximity switch 38 to assist in determining whether the walking ground rail robot 1 has successfully returned to the origin. The walking rail robot 1 includes a mechanical arm 36 and a mechanical claw. The center position of the upper surface of the slide plate 37 is fixedly connected to the lower end of the mechanical arm 36. The mechanical arm 36 is fixedly mounted with a mechanical claw. The mechanical arm 36 is an existing six-axis joint robot.

[0023] The robotic gripper includes a gripper bracket 40, a first gripper 31 and a second gripper 34. The gripper bracket 40 is a T-shaped structure, which includes an integrally formed rectangular column and a circular column. The circular column intersects the rectangular column vertically. One end of the circular column is fixedly connected to the middle position of one side of the rectangular column, and the other end of the circular column is fixedly installed on the robotic arm 36 through a connecting flange 42. The first gripper 31 and the second gripper 34 are respectively fixedly installed at both ends of the rectangular column. One end of the camera mounting bracket 41 is fixedly installed on the side of the rectangular column opposite to the circular column by screws, and the visual inspection camera 33 is fixedly installed on the other end of the camera mounting bracket 41.

[0024] The first gripper 31 and the second gripper 34 are made of materials that can conduct magnetism, and the magnetism is turned on and off by the connected magnet connection box 43, so as to achieve the grasping or releasing of the angle steel. The first gripper 31 includes a first gripper body, and the upper side surface of the first gripper body is evenly provided with two groups of first gripper fingers arranged side by side, and the first gripper fingers are provided with inclined surfaces, and the inclined surfaces of the two groups of first gripper fingers are relatively inclined inward to form a V-shaped groove structure, so as to grasp the angle steel that needs to be cleaned. The second gripper 34 includes a second gripper body, and the lower side surface of the second gripper body is evenly provided with two groups of second gripper fingers arranged side by side, and the second gripper fingers are provided with inclined surfaces, and the inclined surfaces of the two groups of second gripper fingers are oppositely inclined outward to form a V-shaped protrusion structure, so as to grasp the angle steel that needs to be scraped back. A magnetic connection box 43 is fixedly installed on one vertical side of the first gripper body and the second gripper body, and a first photoelectric switch 32 and a second photoelectric switch 35 are fixedly installed on the other vertical side of the first gripper body and the second gripper body. The first photoelectric switch 32 and the second photoelectric switch 35 are used to detect whether the gripper successfully grasps the angle steel workpiece through a set distance.

[0025] In the initial state, the first gripper 31 is vertically upward by default, and the lens detection direction of the visual inspection camera 33 is vertically downward by default, and is the same as the grasping direction of the second gripper 34. When the visual inspection camera 33 detects that the angle steel workpiece is in a positive V-shaped state, the second gripper 34 directly grasps the angle steel workpiece for the back-shoveling process; when the visual inspection camera 33 detects that the angle steel workpiece is in an inverted V-shaped state, the control system controls the mechanical gripper to rotate 180° to achieve the exchange of the first gripper 31 and the second gripper 34. After the exchange is successful, the angle steel workpiece is grasped by the first gripper 31 below to perform the root cleaning process.

[0026] The silo base 44 is arranged near the loading and unloading positions of each process. The silo base 44 is used to support the root cleaning angle steel silo and the back scraping angle steel silo. Figure 4 As shown, the silo base 44 is a frame welded with rectangular steel pipes, and the silo base 44 is open toward one side of the safety door 4, so that the AGV can replace the silo on the silo base 44. The four corners of the top of the silo base 44 are provided with first pads 45, and a limiting protrusion 46 is provided at the center of the upper end of a pair of diagonal first pads 45. The limiting protrusion 46 is diagonally arranged to facilitate the taking and placing of the silo, and to limit the silo, thereby ensuring the stability of the silo.

[0027] like Figure 5 , 6As shown, the back-shoveling angle steel silo includes a back-shoveling process upper silo (a first back-shoveling process upper silo 5 and a second back-shoveling process upper silo 15) and a back-shoveling process lower silo (a first back-shoveling process lower silo 16 and a second back-shoveling process lower silo 11), the back-shoveling process upper silo is used to place the angle steel workpiece to be processed in the angle steel back-shoveling machine processing process, and the back-shoveling process lower silo is used to place the angle steel workpiece after the angle steel back-shoveling machine processing, and the back-shoveling angle steel silo includes a first base frame 48, a second pad 49, a support plate 47, a back-shoveling angle steel support frame 50 and a first limiting plate 51. The first base frame 48 is a frame welded with a rectangular steel pipe, and the second pad 49 is provided at the four corners of the bottom of the first base frame 48. A limiting hole 52 is opened at the lower center of the second pad 49 to cooperate with the limiting protrusion 46 of the first pad 45, and the limiting hole 52 penetrates into the rectangular steel pipe wall of the first base frame 48. The second pad 49 can increase the thickness of the four corners to facilitate the opening of the limiting hole 52. Several groups of supporting plates 47 are welded in parallel on the upper surface of the first chassis 48, and the adjacent supporting plates 47 are tilted inwards in a positive V shape. The shovel back angle steel support frame 50 is welded in a positive V shape on the upper side of the adjacent supporting plates 47. The shovel back angle steel support frame 50 is made of a first angle steel piece, and a plurality of first weight-reducing through holes are evenly arranged on the surface of the first angle steel piece. The first weight-reducing through holes make the shovel back angle steel silo lighter and facilitate the robot gripper to identify and grab the angle steel workpiece. The first limiting plate 51 is fixedly arranged in a vertical direction on both sides of the first chassis 48, facing the position of the shovel back angle steel support frame 50. The first limiting plate 51 limits the shovel back angle steel workpiece to prevent the AGV trolley from shaking during transportation and causing the shovel back angle steel workpiece to shift or fall.

[0028] like Figure 7 As shown, the root cleaning angle steel silo includes an upper silo 6 for the root cleaning process and a lower silo 10 for the root cleaning process. The upper silo 6 for the root cleaning process is used to place the angle steel workpieces to be processed in the angle steel root cleaning machining process, and the lower silo 10 for the root cleaning process is used to place the angle steel workpieces after the angle steel root cleaning machining process. The root cleaning angle steel silo includes a second base frame 53, a third pad 54, a root cleaning angle steel support frame 55 and a second limit plate 56. The third pad 54 is arranged at the four corners of the bottom of the second base frame 53, and a plurality of root cleaning angle steel support frames 55 are welded in an inverted V shape in parallel on the upper surface of the second base frame 53. The second limit plate 56 is fixedly arranged in a vertical direction on both sides of the second base frame 53 at positions facing the root cleaning angle steel support frames 55. The root cleaning angle steel support frames 55 are made of second angle steel pieces, and a plurality of second weight-reducing through holes are evenly arranged on the surface of the second angle steel pieces. The second weight-reducing through holes can make the root cleaning angle steel silo lighter and facilitate the robot gripper to identify and grab the root cleaning angle steel workpiece. The other structural settings and positional relationships of the root cleaning angle steel silo are the same as those of the back scraping angle steel silo and will not be repeated here.

[0029] In the first embodiment of the present invention, a feeding conveyor is provided at the feeding position, and the electric control system controls the walking rail robot 1 and the feeding conveyors of each process to realize the full-automatic feeding of the angle steel workpiece. Figure 8 , 9 As shown, the feeding conveyor includes a feeding conveyor mechanism base 70 installed on the ground. The feeding conveyor mechanism base 70 is a frame structure including four first vertical support legs welded by rectangular steel pipes. The bottom end of the first vertical support leg is provided with a first height adjustment seat 68. The first height adjustment seat 68 can make the feeding conveyor adapt to different ground surfaces. The upper surface and side surface of the frame structure of the feeding conveyor mechanism base 70 are fixedly installed with a second guard plate 71. A pair of mutually parallel first guide rails 74 are provided on opposite sides of the upper surface of the feeding conveyor mechanism base 70. The second hydraulic buffer 65 is fixedly installed at one end of the first guide rail 74, and the first hydraulic buffer 72 is fixedly installed at the other end of the first guide rail 74. The first hydraulic buffer 72 and the second hydraulic buffer 65 are located on the same horizontal line and face each other to form a group. A support mounting frame 67 is fixedly installed on the outer side of the first guide rail 74 on one side. The support mounting frame 67 is fixedly connected to the upper side of the feeding conveying mechanism base 70. The clamping device 64 is fixedly installed on the top of the support mounting frame 67. The clamping device 64 includes a fifth photoelectric switch 80 and a retractable clamping wheel. The clamping wheel is arranged on the inner side of the cross beam above the support mounting frame 67. The fifth photoelectric switch 80 is arranged on the outer side of the cross beam above the support mounting frame 67. The fifth photoelectric switch 80 is used to detect the progress of the angle steel workpiece entering the processing equipment. After the angle steel is in place, the clamping wheel extends downward to clamp the angle steel workpiece. The first proximity switch 66 and the second proximity switch 69 are fixedly installed on the two ends of the first guide rail 74 adjacent to the support mounting frame 67, respectively. A pair of parallel feeding transposition cylinders 73 are fixedly installed at the middle position of the top of the feeding conveying mechanism base 70. The piston rods of the pair of feeding transposition cylinders 73 have the same telescopic direction and are consistent with the length direction of the first guide rail 74. The fixed installation of the feeding transposition cylinders 73 can be achieved by setting a mounting cross beam.

[0030] The feeding conveying mechanism bracket 75 is slidably connected to the first guide rail 74. The feeding conveying mechanism bracket 75 is a rectangular bracket welded by rectangular steel pipes. A plurality of second sliders 63 are fixedly installed below the two ends of the feeding conveying mechanism bracket 75 in the length direction. The second sliders 63 are slidably installed on the first guide rail 74. The first motor mounting plate 60 and the second motor mounting plate 59 are fixedly arranged in the middle position of the lower surface of the feeding conveying mechanism bracket 75. The first motor 61 is fixedly installed below the first motor mounting plate 60, and the second motor 62 is fixedly installed below the second motor mounting plate 59. The corresponding second guard plate 71 is provided with an opening to provide a moving space for the first motor 61 and the second motor 62. Two groups of feeding and conveying mechanism mounting seats 58 are symmetrically arranged on both sides of the upper surface of the feeding and conveying mechanism bracket 75 in the length direction, and the first feeding and conveying mechanism and the second feeding and conveying mechanism are fixedly installed on the two groups of feeding and conveying mechanism mounting seats 58 respectively. The first feeding and conveying mechanism and the second feeding and conveying mechanism are existing technologies. The first feeding and conveying mechanism and the second feeding and conveying mechanism are linked to the first motor 61 and the second motor 62 through a chain. The first motor 61 and the second motor 62 respectively drive the two groups of angle steel feeding and conveying mechanisms to move along the length direction of the feeding and conveying mechanism mounting seats 58 to realize angle steel conveying. A second baffle 78 is fixedly provided on the side of one end of the feeding and conveying mechanism bracket 75 away from the feeding port. The second baffle 78 is an L-shaped structure. A first long groove 57 in the vertical direction is opened on the upper end of the second baffle 78. The fourth photoelectric switch 77 and the third photoelectric switch 79 are respectively installed in the first long groove 57 by double nuts. By setting the first long groove 57, the height position of the fourth photoelectric switch 77 and the third photoelectric switch 79 can be adjusted according to different angle steel workpieces. The fourth photoelectric switch 77 and the third photoelectric switch 79 can detect whether the angle steel workpiece is placed in place; the protruding plate at the lower end of the second baffle 78 is fixedly connected to the side of the feeding and conveying mechanism bracket 75 by bolts, and the protruding plate at the lower end of the second baffle 78 leaves a horizontal installation space for the fourth photoelectric switch 77 and the third photoelectric switch 79. The second anti-collision blocks 76 are fixedly installed on both ends of the side surfaces in the length direction of the feeding and conveying mechanism bracket 75, and the second anti-collision blocks 76 correspond to the first hydraulic buffer 72 and the second hydraulic buffer 65 respectively, to provide buffering force when the two angle steel feeding and conveying mechanisms are transposed; the second anti-collision blocks 76 are made of 45# steel, which has high strength and can play a good anti-collision role; the first proximity switch 66 and the second proximity switch 69 can detect whether the two angle steel feeding and conveying mechanisms are in place, and can determine which angle steel feeding and conveying mechanism is facing the feed port. When the first proximity switch 66 detects the first feeding and conveying mechanism, the second feeding and conveying mechanism is facing the feed port, and when the second proximity switch 69 detects the second feeding and conveying mechanism, the first feeding and conveying mechanism is facing the feed port.The lower part of the feeding and conveying mechanism bracket 75 is fixedly connected to the piston rods of a pair of feeding and conveying cylinders 73. The piston rods of the pair of feeding and conveying cylinders 73 move in the same direction. The movement of the piston rods of the feeding and conveying cylinders 73 realizes the displacement of the two angle steel feeding and conveying mechanisms. The feeding efficiency is improved by setting the first feeding and conveying mechanism and the second feeding and conveying mechanism.

[0031] In the first embodiment of the present invention, a material unloading conveyor is provided at the unloading position, and the electric control system controls the walking rail robot 1 and the material unloading conveyors of each process to realize the fully automatic unloading of the processed angle steel workpiece. Fig.10 As shown, the unloading conveyor includes an unloading conveying mechanism base 90 installed on the ground. The unloading conveying mechanism base 90 is a frame structure including four second vertical support legs and welded by rectangular steel pipes. A second height adjustment seat is arranged at the bottom end of the second vertical support leg. The unloading conveying mechanism base 90 is provided with a fourth hydraulic buffer 88, a third proximity switch 89, a third guard plate 91, a fourth proximity switch 92, a third hydraulic buffer 93, an unloading shift cylinder 94 and a second guide rail 95. The unloading conveying mechanism bracket 97 is slidably connected to the second guide rail 95 through a third slider 87. The unloading conveying mechanism bracket 97 is provided with a third motor mounting plate 81, a fourth motor mounting plate 98, a pair of third baffles 84 and two groups of material unloading and conveying mechanism mounting seats 96, the third motor 82 is fixedly mounted below the third motor mounting plate 81, the fourth motor 83 is fixedly mounted below the fourth motor mounting plate 98, the third baffle 84 is arranged at the end of the material unloading and conveying mechanism base 90 away from the discharge port, the sixth photoelectric switch 85 and the seventh photoelectric switch 86 are respectively fixedly mounted in the second long groove of the third baffle 84, the first material unloading and conveying mechanism and the second material unloading and conveying mechanism are respectively fixedly mounted on the two groups of material unloading and conveying mechanism mounting seats 96, and the piston rod of the material unloading and conveying mechanism base 90 is fixedly connected to the lower part of the material unloading and conveying mechanism base 90.

[0032] The angle steel root cleaning and back shoveling fully automatic loading and unloading production line also includes a control system, which adopts an S7-1500 PLC programmable logic controller. The control system sends signals to the walking rail robot 1, the motors of the loading conveyor and the unloading conveyor through PROFINET communication, and each switch (sensor) sends signals to the control system through digital I / O communication. Embodiment 2

[0033] The control method of the angle steel root cleaning and back shoveling fully automatic loading and unloading production line described in the first embodiment includes the following steps: S1. Before starting production, the production line is in a stopped state. First, the control system controls the AGV trolley to arrive at the safety gate 4 corresponding to each process (i.e., the upper and lower bins). The safety grating 3 on the outside of the safety gate 4 senses the arrival of the AGV trolley. The safety grating 3 transmits the sensing signal of the arrival of the AGV trolley to the control system. The control system opens the safety gate 4 by controlling the action of the sliding door cylinder (the safety gate 4 is equivalent to the protective lock of the production line. When the protective lock is opened, the equipment of the production line will not start at this time); the angle steel silos at the upper and lower bins are replaced or transported away by the AGV trolley. The AGV trolley exits the safety gate 4, and the safety grating 3 on the outside senses the departure of the AGV trolley. The safety grating 3 transmits the sensing signal of the departure of the AGV trolley to the control system. The control system closes the safety gate 4 by controlling the action of the sliding door cylinder (i.e., the protective lock is closed, and the equipment of the production line can be started at this time).

[0034] S2. Press the start button of the control system. First, all the equipment in each process of the production line executes the return to origin action and the processing equipment in each process starts to run. After receiving the equipment start signal, the control system controls the servo motor 23 to rotate forward at the same time. The servo motor 23 rotates to execute the active return to origin action of the walking rail robot 1. The encoder feeds back the current position value of the walking rail robot 1 on the rail guide rail 22 in real time. Combined with the trigger signal of the origin in place detection board and the origin proximity switch 38, it can accurately determine whether the walking rail robot 1 returns to the origin successfully; when the walking rail robot 1 returns to the origin successfully, the origin proximity switch 38 transmits a first signal to the control system.

[0035] S3, after receiving the first signal, the control system controls the servo motor 23 to start reverse rotation, and the driving gear 24 of the servo motor 23 is meshed with the rack 26 to move the walking rail robot 1 to the position of the first shoveling process loading bin 5; When the walking rail robot 1 reaches the set position of the first back-shoveling process loading bin 5, the servo motor 23 stops running and feeds back the second signal to the control system. After receiving the second signal, the control system controls the walking rail robot 1 and the robot arm to rotate toward the first back-shoveling process loading bin 5, and at the same time controls the visual inspection camera 33 to take a photo and scan the first back-shoveling process loading bin 5, and transmits the third signal (photographed scan image) to the control system. The control system determines whether there is material in the first back-shoveling process loading bin 5 and the position of the angle steel material to be grabbed according to the third signal; There is material: the control system determines that the current process is back-shoveling by identifying the placement shape of the angle steel material, and magnetizes the second gripper 34 on the robot arm 36. In the initial state, the second gripper 34 is vertically downward, and the second gripper 34 grabs the angle steel material according to the recognition position of the visual inspection camera 33. With the cooperation of the distance detection sensing of the second photoelectric switch 35, when the distance between the angle steel material and the second photoelectric switch 35 reaches the set value, the angle steel material is successfully grabbed, and the second photoelectric switch 35 feeds back the fourth signal to the control system. The control system controls the robot arm 36 to move parallel to the ground rail 20 to ensure the safety of operation; execute the next step S4; No material: No loading and unloading operations are performed on the loading and unloading positions of the first back-shoveling process. Step S6 is executed according to the control program to start loading and unloading for the angle steel root cleaning process.

[0036] S4, after the second gripper 34 successfully grabs the angle steel piece, the control system controls the servo motor 23 to move the walking rail robot 1 to the first back-shoveling process loading position 19 (which is provided with the first back-shoveling loading conveying mechanism and the second back-shoveling loading conveying mechanism); When reaching the set first back-shoveling process loading position 19, the servo motor 23 stops running and feeds back the fifth signal to the control system. After receiving the fifth signal, the control system controls the walking rail robot 1 to rotate in the direction of the first back-shoveling process loading position 19, and controls the visual inspection camera 33 to take pictures and scan the first back-shoveling process loading position 19 and the second back-shoveling loading conveying mechanism, determine the loading position and transmit the sixth signal to the control system.

[0037] S5. After receiving the sixth signal, the control system rotates the walking rail robot 1, so that the mechanical arm 36 places the angle steel material on the second gripper 34 on the first back-shoveling feeding and conveying mechanism, and releases the angle steel material by demagnetizing the second gripper 34; after the angle steel material is successfully placed, the third photoelectric switch 79 at one end of the first back-shoveling feeding and conveying mechanism senses that there is material and transmits a seventh signal (material signal) to the control system, and the control system receives the seventh signal and determines whether the current first back-shoveling feeding and conveying mechanism is located at the feeding port of the first angle steel back-shoveling machine according to the eighth signal sensed and sent by the first proximity switch 66 and the second proximity switch 69; Yes: the control system controls the first motor 61 to start, and under the drive of the first motor 61, the first shovel back feeding conveying mechanism conveys the angle steel piece into the feed inlet; No: the control system controls the loading and shifting cylinder 73 to move, so that the first shovel back loading and conveying mechanism moves in the direction of the piston rod ejection until it contacts the first hydraulic buffer 72 and triggers the second proximity switch 69 (at this time the first shovel back loading and conveying mechanism is located at the feed port). The control system receives the ninth signal and controls the loading and shifting cylinder 73 to stop running, and at the same time the first motor 61 starts. Driven by the first motor 61, the first shovel back loading and conveying mechanism transports the angle steel material into the feed port.

[0038] After the angle steel piece enters the feed port of the first angle steel back-scraping machine, the fifth photoelectric switch 80 on one side of the clamping device 64 above the support mounting frame 67 senses and sends a tenth signal, and the control system controls the clamping device 64 to clamp the angle steel workpiece and perform back-scraping processing; When the first shovel back feeding and conveying mechanism has a material signal transmitted to the control system, the control system simultaneously determines whether the first shovel back feeding and conveying mechanism is located at the processing discharge port of the first shovel back process according to the eleventh signal sent by the third proximity switch 89 and the fourth proximity switch 92 of the first shovel back process unloading position 17 (which is provided with the first shovel back unloading and conveying mechanism and the second shovel back unloading and conveying mechanism); Yes: start the third motor 82 of the first shovel back unloading and conveying mechanism, and wait for the angle steel workpiece behind the shovel to be unloaded; No: control the action of the material unloading and shifting cylinder 94 to move the first shovel back material unloading and conveying mechanism toward the ejection direction of the piston rod until it contacts the third hydraulic buffer 93 and triggers the fourth proximity switch 92 (at this time, the first shovel back material unloading and conveying mechanism is located at the discharge port). After the unloading and shifting cylinder 94 is in place, it stops running and transmits the twelfth signal to the control system. After receiving the twelfth signal, the control system controls the third motor 82 corresponding to the first shovel back material unloading and conveying mechanism to start, waiting for the angle steel workpiece behind the shovel to be discharged.

[0039] When the angle steel material is successfully placed on the first shovel back feeding and conveying mechanism, the walking rail robot 1 repeats steps S3 and S4; after executing steps S3 and S4, the control system controls the mechanical arm 36 to place the angle steel material on the second gripper 34 on the second shovel back feeding and conveying mechanism, and releases the angle steel material by demagnetizing the second gripper 34; after the angle steel material is successfully placed, the fourth photoelectric switch 77 corresponding to the second shovel back feeding and conveying mechanism senses and transmits a signal that there is material in the second shovel back feeding and conveying mechanism to the control system, waiting for processing. The control system receives the signal that there is material in the second shovel back feeding and conveying mechanism, indicating that the automatic feeding of the angle steel in the first shovel back process has been completed.

[0040] S6, the control system controls the servo motor 23 to start, and moves the walking rail robot 1 to the position of the material loading bin 6 of the root cleaning process; When reaching the set position of the loading bin 6 of the root cleaning process, the servo motor 23 stops running and feeds back the thirteenth signal to the control system. The control system receives the thirteenth signal and controls the walking rail robot 1 to rotate toward the loading bin 6 of the root cleaning process, and controls the visual inspection camera 33 to take pictures and scan the loading bin 6 of the root cleaning process, and transmits the fourteenth signal to the control system. The control system determines whether there is material in the loading bin 6 of the root cleaning process and the position of the angle steel material to be grabbed according to the fourteenth signal.

[0041] There is material: the control system determines that the current process is the root cleaning process by identifying the placement shape of the angle steel material. The control system controls the first gripper 31 and the second gripper 34 on the robot arm 36 to rotate and transpose, so that the first gripper 31 is vertically downward, and the first gripper 31 is magnetized. According to the recognition position of the visual detection camera 33 and the magnetic attraction of the first gripper 31, the angle steel material is grasped. With the cooperation of the detection and sensing of the first photoelectric switch 32, when the distance between the angle steel material and the first photoelectric switch 32 reaches the set value, the angle steel material is grasped successfully, and the fifteenth signal is fed back to the control system. The control system controls the robot arm 36 to move parallel to the ground rail 20 to ensure the safety of operation; execute the next step S7; No material: The control system no longer loads and unloads materials at the loading and unloading positions of the angle steel root cleaning process, and executes step S9 according to the control program to start loading and unloading materials for the second back scraping process.

[0042] S7, the control system receives the fifteenth signal and controls the servo motor 23 to start, and moves the walking rail robot 1 to the root cleaning process loading position 7 (which is provided with a first root cleaning loading conveying mechanism and a second root cleaning loading conveying mechanism); When reaching the set root cleaning process loading position 7, the servo motor 23 stops running and feeds back the sixteenth signal to the control system. The control system receives the sixteenth signal and controls the walking rail robot 1 to rotate toward the root cleaning process loading position 7, and controls the visual inspection camera 33 to take pictures and scan the first root cleaning loading and conveying mechanism and the second root cleaning loading and conveying mechanism, determine the loading position and transmit it to the control system.

[0043] S8. The control system receives the feeding signal of the root cleaning process, controls the mechanical arm 36 of the walking rail robot 1 to place the angle steel workpiece on the first gripper 31 on the first root cleaning feeding conveying mechanism, and the remaining steps and control method are the same as step S5.

[0044] When the angle steel workpiece is successfully placed on the first root cleaning feeding and conveying mechanism, the walking rail robot 1 repeats steps S6 and S7; after executing steps S6 and S7, the control system controls the mechanical arm 36 of the walking rail robot 1 to place the angle steel workpiece on the first gripper 31 on the second root cleaning feeding and conveying mechanism of the root cleaning process loading position 7, waiting for processing.

[0045] S9, the control system controls the servo motor 23 to start, and according to the positions of the second back-shoveling process loading bin 15 and the second back-shoveling process loading position 14 set by the servo motor 23, it arrives at the second back-shoveling process station to load the angle steel, and then unloads the angle steel. The steps and control method of the second back-shoveling process are the same as those of the first back-shoveling process.

[0046] S10. After the walking rail robot 1 completes the first round of loading and unloading for the above processes, the seventeenth signal is transmitted to the control system. The control system controls the walking rail robot 1 to repeat the loading and unloading operations for each process according to the received signals of subsequent loading and unloading requirements for each process.

[0047] Taking the first back-shoveling process as an example, the following describes in detail the steps of automatic loading and unloading of angle steel: S01. When the angle steel workpiece on the first back-shoveling feeding and conveying mechanism completely enters the first angle steel back-shoveling machine from the feed port, the seventeenth signal is transmitted to the control system through the fifth photoelectric switch 80, and the control system controls the clamping device 64 to reset. When the detection distance of the third photoelectric switch 79 is greater than the set value, the third photoelectric switch 79 transmits the eighteenth signal to the control system, and the control system stops the corresponding first motor 61 and controls the feeding shift cylinder 73 to move, so that the second back-shoveling feeding and conveying mechanism is facing the feed port of the first angle steel back-shoveling machine to prepare for feeding.

[0048] At the same time, the walking rail robot 1 is controlled to feed the first shovel back feeding and conveying mechanism again.

[0049] S02. After the angle steel workpiece is processed by back-shoveling, the angle steel workpiece is moved out from the discharge port to the first back-shoveling unloading and conveying mechanism, and is conveyed outward by the first back-shoveling unloading and conveying mechanism until the angle steel workpiece reaches the detection position of the sixth photoelectric switch 85. The angle steel workpiece is completely discharged, and the sixth photoelectric switch 85 transmits the eighteenth signal to the control system. The control system controls the unloading shift cylinder 94 to operate, so that the second back-shoveling unloading and conveying mechanism is facing the discharge port of the first angle steel back-shoveling machine to prepare for unloading.

[0050] S03, after the third proximity switch 89 and the fourth proximity switch 92 detect that the transposition is successful, and at the same time the sixth photoelectric switch 85 detects that there is material in the unloading conveying mechanism, the control system receives the nineteenth signal and controls the walking rail robot 1 to move to the set position of the first back-shoveling process unloading position 17, grabs the angle steel workpiece with the back shoveling completed and then moves to the first back-shoveling process unloading bin 16, and places the angle steel workpiece with the back shoveling completed in the first back-shoveling process unloading bin 16.

[0051] When the walking rail robot 1 reaches a certain process, it controls the visual inspection camera 33 to take a photo scan of the process loading bin, and transmits the photo scan information to the control system. When the control system determines that there is no material in the loading bin, no more material will be loaded to the loading position of this process, and other processes will be loaded and unloaded according to the control program; and the processing equipment of the process with an empty loading bin will feedback to the control system after completing the unloading of the last angle steel material. The control system receives the processing completion signal of the last angle steel material to stop the processing equipment, and no more loading and unloading will be carried out for this process; until the loading bins of each process are empty and the last processed angle steel workpiece of each process is unloaded, the production line stops running and waits for the next start.

[0052] It should be noted that if the safety door 4 is opened during the production line processing, the production line will stop running immediately to ensure the safety of use. Also, every time the walking rail robot 1 loads or unloads materials for each process, the robot arm 36 must first be parallel to the ground rail 20, and then walk according to the next command, so as to prevent the robot arm 36 from colliding during the walking process and ensure the safe and stable operation of the production line.

[0053] In the embodiments of the present invention, technical features that are not described in detail are all existing technologies or conventional technical means and will not be described in detail here.

[0054] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them, and the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any technician familiar with the technical field can modify or easily think of changes to the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered within the protection scope of the present invention. .

Claims

1. Angle steel root cleaning and back shoveling fully automatic loading and unloading production line, including a control system, a walking rail robot, several angle steel root cleaning machines and several angle steel back shoveling machines, characterized in that: A loading conveyor and a unloading conveyor are respectively arranged at the feed port and the discharge port of the angle steel root cleaning machine and the angle steel back scraping machine, the loading conveyor is correspondingly configured with a loading bin, and the unloading conveyor is correspondingly configured with a unloading bin, the loading bin, the unloading bin, the angle steel root cleaning machine and the angle steel back scraping machine are evenly arranged on both sides of the walking route of the walking rail robot, the loading conveyor includes a first loading conveying mechanism and a second loading conveying mechanism that are adjacently arranged in parallel and can switch positions relative to the feeding port, and a first proximity switch and a second proximity switch are respectively correspondingly arranged on the outer sides of the first loading conveying mechanism and the second loading conveying mechanism, the unloading conveyor includes a first unloading conveying mechanism and a second unloading conveying mechanism that are adjacently arranged in parallel and can switch positions relative to the discharge port, and a third proximity switch and a fourth proximity switch are respectively correspondingly arranged on the outer sides of the first unloading conveying mechanism and the second unloading conveying mechanism, and the control system is respectively electrically connected to the walking rail robot, the first loading conveying mechanism, the second loading conveying mechanism, the first unloading conveying mechanism, the second unloading conveying mechanism, the first proximity switch, the second proximity switch, the third proximity switch and the fourth proximity switch.

2. The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling according to claim 1 is characterized in that: The base of the loading conveying mechanism is installed on a loading conveying mechanism bracket that can move horizontally, the first loading conveying mechanism and the second loading conveying mechanism are installed on the loading conveying mechanism base, and a second baffle is arranged on the side of one end of the loading conveying mechanism bracket away from the feeding port, and a first long groove in the vertical direction is provided at the upper end of the second baffle, and the fourth photoelectric switch and the third photoelectric switch are respectively installed in the first long groove; the base of the unloading conveying mechanism is installed on a unloading conveying mechanism bracket that can move horizontally, the first unloading conveying mechanism and the second unloading conveying mechanism are installed on the unloading conveying mechanism base, and a third baffle is arranged on the side of one end of the unloading conveying mechanism bracket away from the discharging port, and a second long groove in the vertical direction is provided at the upper end of the third baffle, and the sixth photoelectric switch and the seventh photoelectric switch are respectively installed in the second long groove.

3. The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling according to claim 2 is characterized in that: A first height adjustment seat is provided at the bottom end of the base of the feeding and conveying mechanism of the frame structure, and a pair of first guide rails are provided in parallel on opposite sides of the upper surface of the base of the feeding and conveying mechanism, a second hydraulic buffer is installed at one end of the first guide rail, and a first hydraulic buffer is installed at the other end of the first guide rail, and a first proximity switch and a second proximity switch are respectively installed at both ends of the first guide rail on either side, and a pair of parallel piston rods of a feeding and shifting cylinder whose telescopic direction is consistent with the length direction of the first guide rail are installed in the middle position of the top end of the base of the feeding and conveying mechanism, and a plurality of second sliders are installed below the two ends of the length direction of the bracket of the feeding and conveying mechanism, and the second sliders are slidably installed on the first guide rails, and the lower part of the bracket of the feeding and conveying mechanism is connected with the piston rod of the feeding and shifting cylinder; a second height adjustment seat is provided at the bottom end of the base of the unloading and conveying mechanism of the frame structure, and a pair of second guide rails are provided in parallel on opposite sides of the upper surface of the base of the unloading and conveying mechanism A fourth hydraulic buffer is installed at one end of the second guide rail, and a third hydraulic buffer is installed at the other end of the second guide rail. A third proximity switch and a fourth proximity switch are respectively installed at both ends of the second guide rail on either side. A pair of parallel piston rods are installed in the middle position of the top end of the base of the unloading conveying mechanism, and the telescopic direction of the piston rod is consistent with the length direction of the second guide rail. A plurality of third sliders are installed below the two ends of the length direction of the bracket of the unloading conveying mechanism. The third slider is slidably installed on the second guide rail, and the lower part of the bracket of the unloading conveying mechanism is connected with the piston rod of the unloading transposition cylinder; the support mounting frame is connected to the upper end of the side surface of the base of the loading conveying mechanism, and the clamping device is installed at the top of the support mounting frame, and the clamping device includes a fifth photoelectric switch and a retractable clamping wheel. A clamping wheel is arranged on the side of the cross beam above the support mounting frame away from the feed port, and a fifth photoelectric switch is arranged on the other side of the cross beam above the support mounting frame.

4. The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling according to claim 3 is characterized in that: The control system adopts a PLC programmable logic controller, and the control system sends signals to the walking rail robot, the loading conveying mechanism and the unloading conveying mechanism through the PROFINET communication method, and each switch sends signals to the control system through the digital I / O communication method.

5. The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling according to claim 1 is characterized in that: The walking ground rail robot is movably installed on the ground rail, and the ground rail includes a ground rail base and a ground rail guide. The ground rail guides are respectively arranged at the edge positions of the upper end surface on both sides in the length direction of the ground rail base, wherein a rack is arranged on the inner side in the length direction of one of the ground rail guides, and there is a spacing between the rack and the ground rail guide. The two ends of the ground rail guide are respectively arranged with first baffles in the vertical direction, and the upper end of the inner surface of the first baffle is arranged with a first anti-collision block, and the outer side of the ground rail guide is arranged with a first guard plate of L-shaped structure, and the two ends of the first guard plate are overlapped with the upper end and the outer edge of the first baffle; the two sides of the bottom surface of the slide are connected with the upper surfaces of a plurality of ground rail guide sliders, The floor rail guide slider is slidably installed on the floor rail guide, the height of the first anti-collision block matches the slide board, a motor fixing seat is arranged at a position of the slide board corresponding to one side of the rack, the servo motor is installed on the motor fixing seat, a motor shaft through hole is arranged at the center of the motor fixing seat, the main shaft of the servo motor passes through the motor shaft through hole, the driving gear at the lower end of the main shaft of the servo motor is meshed with the rack, an origin proximity switch is arranged at a position close to the edge of the floor rail guide at one end of the bottom of the slide board, an origin in place detection plate is arranged at the return-to-origin end of the floor rail base, the origin in place detection plate matches the origin proximity switch, and the origin proximity switch realizes data interaction with the control system.

6. The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling according to claim 5 is characterized in that: The walking ground rail robot includes a mechanical arm and a mechanical gripper, the lower end of the mechanical arm is installed at the center of the upper surface of the skateboard, the mechanical gripper is installed on the upper part of the mechanical arm, the mechanical gripper includes a gripper bracket, a first gripper and a second gripper, the gripper bracket is a T-shaped structure, the first gripper and the second gripper are symmetrically installed at both ends of the gripper bracket, and a visual detection camera is installed on the side of the gripper bracket; The first gripper and the second gripper are made of materials that can conduct magnetism. A magnetic connection box is installed and connected on one side of the first gripper and the second gripper, and a first photoelectric switch and a second photoelectric switch are installed on the other side of the first gripper and the second gripper. The first gripper has a V-shaped groove structure, and the second gripper has a V-shaped bulge structure. The first photoelectric switch and the second photoelectric switch realize data interaction with the control system.

7. The fully automatic loading and unloading production line for angle steel root cleaning and back shoveling according to claim 1 is characterized in that: The production line is arranged in a rectangular field surrounded by a safety fence, and a safety door with a universal wheel is arranged at the position of the safety fence corresponding to the upper silo and the lower silo, and safety gratings are symmetrically arranged on both sides of the outer side of the safety door, and the safety door and the safety grating realize data exchange with the control system; the angle steel silo is movably installed on the silo base, and the silo base is open to one side of the safety door, and the first pads are arranged at the four corners of the top of the silo base, and a limiting protrusion is arranged at the center of the upper end of a pair of diagonal first pads; the shovel back angle steel silo includes a first base frame, a second pad, a support plate, a shovel back angle steel support frame and a first limiting plate, and second pads are arranged at the four corners of the bottom of the first base frame, and a limiting hole cooperating with the limiting protrusion is opened at the center of the lower part of a pair of diagonal second pads. A plurality of groups of support plates opposite to each other are welded in parallel on the upper surface of the first base frame, and adjacent The supporting plates opposing each other are inclined inwardly in a positive V shape, and the back-shoveling angle steel support frames are welded in a positive V shape above the adjacent two opposing support plates, and a number of first weight-reducing through holes are evenly arranged on the surface of the back-shoveling angle steel support frames, and the first limiting plates are vertically arranged on both sides of the first frame, facing the back-shoveling angle steel support frames; the root cleaning angle steel silo includes a second frame, a third pad, a root cleaning angle steel support frame and a second limiting plate, and a third pad is arranged at the four corners of the bottom of the second frame, wherein a limiting hole matching the limiting protrusion is arranged at the lower center of a pair of diagonal third pads, and a number of root cleaning angle steel support frames are welded in parallel on the upper surface of the second frame in an inverted V shape, and a number of second weight-reducing through holes are evenly arranged on the surface of the root cleaning angle steel support frames, and the second limiting plates are vertically arranged on both sides of the second frame, facing the root cleaning angle steel support frames.

8. The control method of the angle steel root cleaning and back shoveling fully automatic loading and unloading production line as claimed in claim 3 is characterized in that: The angle steel pieces to be processed are transported from the loading bin to the loading conveyor by a walking rail robot; the third photoelectric switch and the fourth photoelectric switch are used to detect whether the angle steel pieces have been placed on the first loading conveyor mechanism and the second loading conveyor mechanism respectively, and the detection signal is sent to the control system; the first proximity switch and the second proximity switch are used to detect the positions of the first loading conveyor mechanism and the second loading conveyor mechanism and the detection signal is sent to the control system, and the control system determines whether the first loading conveyor mechanism and the second loading conveyor mechanism are transposed; the fifth photoelectric switch is used to detect the feeding process of the angle steel pieces and the detection signal is sent to the control system, and the control system controls the clamping device to clamp the angle steel pieces or reset; the sixth photoelectric switch and the seventh photoelectric switch are used to detect whether the processed angle steel workpieces have been placed on the first unloading conveyor mechanism and the second unloading conveyor mechanism respectively, and the detection signal is sent to the control system, the third proximity switch and the fourth proximity switch are used to detect the positions of the first unloading conveyor mechanism and the second unloading conveyor mechanism and the detection signal is sent to the control system, and the control system determines whether the first unloading conveyor mechanism and the second unloading conveyor mechanism are transposed; the processed angle steel workpieces are transported from the unloading conveyor to the unloading bin by a walking rail robot.

9. The control method of the angle steel root cleaning and back shoveling fully automatic loading and unloading production line according to claim 8 is characterized in that: The detection signal is sent to the control system through the first photoelectric switch and the second photoelectric switch, and the control system determines whether the first gripper and the second gripper successfully grasp the angle steel; when the walking rail robot reaches a certain process, the visual inspection camera takes a picture and scans the corresponding loading bin of this process and transmits it to the control system. When the control system determines that there is no material in the loading bin, no more material will be loaded to the loading position of this process; and after the processing equipment of the process with the empty loading bin completes the processing and unloads the last angle steel piece, the control system will no longer load and unload material for this process; until the loading bins of each process are empty and the last processed angle steel workpiece of each process is unloaded, the production line stops running and waits for the next start.

10. The control method of the angle steel root cleaning and back shoveling fully automatic loading and unloading production line according to claim 8 is characterized in that: Before starting production, the production line is in a stopped state. The control system controls the AGV to reach the safety gate. The safety light barrier outside the safety gate senses the arrival of the AGV and transmits the sensing signal to the control system. The control system controls the opening of the safety gate and replaces or transports the angle steel silo through the AGV. When the AGV exits the safety gate, the safety light barrier senses the departure of the AGV and transmits the sensing signal to the control system. The control system controls the closing of the safety gate. Whenever the walking rail robot loads or unloads materials for each process, the robotic arm first rotates to be parallel to the ground rail, and the walking rail robot moves according to the next command.

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