Automatic unloading and loading production line for corner steel root cleaning shovel back and control method thereof

Abstract

The present application belongs to the technical field of angle steel production, and relates to a full-automatic feeding and discharging production line for angle steel root cleaning and back shoveling and a control method thereof. In the production line, the feeding bin, the discharging bin, the angle steel root cleaning machine and the angle steel back shoveling machine are arranged on both sides of the walking line of the walking rail robot, the conveying mechanism is provided with proximity switches correspondingly, and the control system is electrically connected with the walking rail robot, the feeding conveying mechanism, the discharging conveying mechanism and the proximity switches. In the control method, the positions of the two feeding conveying mechanisms and the two discharging conveying mechanisms are automatically judged through the proximity switches. If no position change is needed, feeding or discharging is directly performed after judgment. If position change is needed, the conveying mechanism is controlled by the control system to realize automatic position change. The present application realizes full automation of angle steel root cleaning and back shoveling feeding and discharging without manual participation, realizes standardized and process operation of the angle steel production line, reduces manual workload and labor intensity, reduces safety hazards and improves production efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of angle steel production, and particularly relates to an angle steel root cleaning and back shoveling full-automatic feeding and discharging production line and a control method thereof. BACKGROUND

[0002] A power tower is assembled by sectional angle steels, in order to better connect and assemble the sectional angle steels, the sectional angle steels need to be processed by root cleaning or back shoveling. At present, in the angle steel root cleaning and back shoveling processing and manufacturing workshop, the angle steel root cleaning and back shoveling process is completed by an angle steel root cleaning machine and an angle steel back shoveling machine, and the feeding of the angle steel blank to be cleaned or shovelled and the discharging of the finished product after processing are completely completed by manual operation of a travelling crane.

[0003] The manual feeding and discharging of the angle steel has great safety hazards, high labor intensity, low production efficiency and high labor cost. SUMMARY

[0004] In order to solve the above technical problems, the application provides an angle steel root cleaning and back shoveling full-automatic feeding and discharging production line and a control method thereof.

[0005] The angle steel root cleaning and back shoveling full-automatic feeding and discharging production line comprises a control system, a travelling ground rail robot, a plurality of angle steel root cleaning machines and a plurality of angle steel back shoveling machines, feeding conveyors and discharging conveyors are respectively arranged at the feeding ports and discharging ports of the angle steel root cleaning machines and the angle steel back shoveling machines, the feeding conveyors are correspondingly provided with feeding bins, the discharging conveyors are correspondingly provided with discharging bins, the feeding bins, the discharging bins, the angle steel root cleaning machines and the angle steel back shoveling machines are evenly arranged on both sides of the travelling line of the travelling ground rail robot, the feeding conveyors comprise first feeding conveyors and second feeding conveyors which are arranged adjacent to and parallel to each other and can switch positions relative to the feeding ports, first proximity switches and second proximity switches are respectively arranged on the outer sides of the first feeding conveyors and the second feeding conveyors, the discharging conveyors comprise first discharging conveyors and second discharging conveyors which are arranged adjacent to and parallel to each other and can switch positions relative to the discharging ports, third proximity switches and fourth proximity switches are respectively arranged on the outer sides of the first discharging conveyors and the second discharging conveyors, and the control system is electrically connected with the travelling ground rail robot, the first feeding conveyors, the second feeding conveyors, the first discharging conveyors, the second discharging conveyors, the first proximity switches, the second proximity switches, the third proximity switches and the fourth proximity switches.

[0006] Preferably, the upper feeding conveying mechanism base is installed on an upper feeding conveying mechanism bracket capable of horizontal movement, the first upper feeding conveying mechanism and the second upper feeding conveying mechanism are installed on the upper feeding conveying mechanism base, a second baffle is arranged on the side of the end of the upper feeding conveying mechanism bracket away from the feeding port, a first long slot in the vertical direction is formed in the upper end of the second baffle, and the fourth photoelectric switch and the third photoelectric switch are respectively installed in the first long slot; the lower feeding conveying mechanism base is installed on a lower feeding conveying mechanism bracket capable of horizontal movement, the first lower feeding conveying mechanism and the second lower feeding conveying mechanism are installed on the lower feeding conveying mechanism base, a third baffle is arranged on the side of the end of the lower feeding conveying mechanism bracket away from the discharging port, a second long slot in the vertical direction is formed in the upper end of the third baffle, and the sixth photoelectric switch and the seventh photoelectric switch are respectively installed in the second long slot.

[0007] Preferably, the bottom end of the upper feeding conveying mechanism base of the frame structure is provided with a first height adjusting seat, a pair of first guide rails are arranged in parallel on the opposite sides of the upper surface of the upper feeding conveying mechanism base, a second oil buffer is installed at one end of the first guide rail, a first oil 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 the two ends of the first guide rail on any side, a pair of parallel piston rod extension cylinders whose piston rod extension directions are consistent with the length directions of the first guide rails are installed at the middle position of the top end of the upper feeding conveying mechanism base, a plurality of second sliding blocks are installed below the two ends of the upper feeding conveying mechanism bracket in the length direction of the upper feeding conveying mechanism bracket, the second sliding blocks are slidably installed on the first guide rails, and the lower part of the upper feeding conveying mechanism bracket is connected with the piston rods of the upper feeding displacement cylinders; the bottom end of the lower feeding conveying mechanism base of the frame structure is provided with a second height adjusting seat, a pair of second guide rails are arranged in parallel on the opposite sides of the upper surface of the lower feeding conveying mechanism base, a fourth oil buffer is installed at one end of the second guide rail, a third oil 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 the two ends of the second guide rail on any side, a pair of parallel piston rod extension cylinders whose piston rod extension directions are consistent with the length directions of the second guide rails are installed at the middle position of the top end of the lower feeding conveying mechanism base, a plurality of third sliding blocks are installed below the two ends of the lower feeding conveying mechanism bracket in the length direction of the lower feeding conveying mechanism bracket, the third sliding blocks are slidably installed on the second guide rails, and the lower part of the lower feeding conveying mechanism bracket is connected with the piston rods of the lower feeding displacement cylinders; a support mounting frame is connected with the upper end of the side of the upper feeding conveying mechanism base, a pressing device is installed at the top end of the support mounting frame, the pressing device comprises a fifth photoelectric switch and a telescopic pressing wheel, the pressing wheel is arranged on one side of the upper beam of the support mounting frame away from the feeding port, and the fifth photoelectric switch is arranged on the other side of the upper beam of the support mounting frame.

[0008] Preferably, the control system adopts a PLC programmable logic controller, the control system sends signals to the walking track robot, the upper feeding conveying mechanism and the lower feeding conveying mechanism through a PROFINET communication mode, and each switch sends signals to the control system through a digital quantity I / O communication mode.

[0009] Preferably, the walking rail robot is movably installed on a rail, the rail comprises a rail base and a rail guide, the upper end surface of the rail base is provided with the rail guide on both sides of the length direction, one of the rail guides is provided with a rack on the inner side of the length direction, and the rack has a spacing with the rail guide; the two ends of the rail guide are respectively provided with a first baffle in the vertical direction, the inner side surface of the first baffle is provided with a first anti-collision block at the upper end, and the first baffle is provided with an L-shaped first guard plate on the outer side of the length direction, and the two ends of the first guard plate are connected with the upper end and the outer side of the first baffle; the bottom surface of the sliding plate is connected with a plurality of rail guide sliders on both sides, the rail guide sliders are slidably installed on the rail guide, the height of the first anti-collision block is matched with the sliding plate, the position corresponding to the side of the rack of the sliding plate is provided with a motor fixing seat, a servo motor is installed on the motor fixing seat, a motor shaft through hole is formed in 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 engaged with the rack, and a home proximity switch is arranged at the position close to the edge of the rail guide at one end of the bottom of the sliding plate; a home position detection plate is arranged at the home position of the rail base, the home position detection plate is matched with the home proximity switch, and the home proximity switch and the control system realize data interaction.

[0010] Preferably, the walking rail robot comprises a mechanical arm and a mechanical gripper, the lower end of the mechanical arm is installed on the center of the upper surface of the sliding plate, the upper part of the mechanical arm is provided with the mechanical gripper, the mechanical gripper comprises a gripper support, a first gripper and a second gripper, the gripper support is a T-shaped structure, the first gripper and the second gripper are symmetrically installed at the two ends of the gripper support, and a visual detection camera is installed on the side of the gripper support; the first gripper and the second gripper are made of a material capable of passing magnetism, a magnetic connection box is installed and connected on one side of the first gripper and the second gripper, 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 is provided with a V-shaped groove structure, the second gripper is provided with a V-shaped protruding block structure, and the first photoelectric switch and the second photoelectric switch realize data interaction with the control system.

[0011] Preferably, the production line is arranged in a rectangular field enclosed by a safety fence, a safety door with universal wheels is arranged at the position corresponding to the upper material bin and the lower material bin of the safety fence, safety grating is symmetrically arranged on both sides of the outer side of the safety door, the safety door and the safety grating realize data interaction with the control system; the angle steel bin is movably installed on the bin base, the bin base is open on the side facing the safety door, the first pad is arranged on the top of the bin base, and the limiting protrusion is arranged on the upper end of the first pad at one pair of diagonal positions; the shovel back angle steel bin comprises a first chassis, a second pad, a support plate, a shovel back angle steel support frame and a first limiting plate, the second pad is arranged at the four corner positions of the bottom of the first chassis, the limiting hole matched with the limiting protrusion is formed in the lower center of the second pad at one pair of diagonal positions, the support plate is parallelly welded on the upper surface of the first chassis, the two adjacent support plates are inclined inward to form a positive V shape, the shovel back angle steel support frame is welded above the two adjacent support plates in a positive V shape, the first weight reduction through hole is uniformly arranged on the surface of the shovel back angle steel support frame, and the first limiting plate is arranged on the two sides of the first chassis in a vertical direction and opposite to the shovel back angle steel support frame; the cleaning angle steel bin comprises a second chassis, a third pad, a cleaning angle steel support frame and a second limiting plate, the third pad is arranged at the four corner positions of the bottom of the second chassis, the limiting hole matched with the limiting protrusion is formed in the lower center of the third pad at one pair of diagonal positions, the cleaning angle steel support frame is parallelly welded on the upper surface of the second chassis in an inverted V shape, the second weight reduction through hole is uniformly arranged on the surface of the cleaning angle steel support frame, and the second limiting plate is arranged on the two sides of the second chassis in a vertical direction and opposite to the cleaning angle steel support frame.

[0012] The control method of the full-automatic feeding and discharging production line for the corner steel root cleaning shovel back as described above, the walking ground rail robot carries the corner steel workpiece to be processed from the feeding bin to the feeding conveyor; the third photoelectric switch and the fourth photoelectric switch detect whether the corner steel workpiece has been placed on the first feeding conveying mechanism and the second feeding conveying mechanism respectively and send the detection signal to the control system, the first proximity switch and the second proximity switch detect the positions of the first feeding conveying mechanism and the second feeding conveying mechanism and send the detection signal to the control system, and the control system judges whether the first feeding conveying mechanism and the second feeding conveying mechanism are transposed; the fifth photoelectric switch detects the feeding progress of the corner steel workpiece and sends the detection signal to the control system, and the control system controls the pressing device to press the corner steel workpiece or reset; the sixth photoelectric switch and the seventh photoelectric switch detect whether the processed corner steel workpiece has been placed on the first discharging conveying mechanism and the second discharging conveying mechanism respectively and send the detection signal to the control system, the third proximity switch and the fourth proximity switch detect the positions of the first discharging conveying mechanism and the second discharging conveying mechanism and send the detection signal to the control system, and the control system judges whether the first discharging conveying mechanism and the second discharging conveying mechanism are transposed; the walking ground rail robot carries the processed corner steel workpiece from the discharging conveyor to the discharging bin.

[0013] Preferably, the first photoelectric switch and the second photoelectric switch send the detection signal to the control system, and the control system judges whether the first hand claw and the second hand claw successfully grasp the corner steel; when the walking ground rail robot reaches a certain process, the visual detection camera photographs and scans the feeding bin corresponding to the process and transmits to the control system, and the control system judges that the feeding bin is empty, and the feeding position of the process is no longer fed; and the processing equipment of the empty bin of the process is no longer fed and discharged after the last corner steel workpiece is processed and discharged; until the feeding bins of all processes are empty and the last processed corner steel workpieces of all processes are discharged, the production line stops running and waits for the next start.

[0014] Preferably, before starting production, the production line is in a stop state, the control system controls the AGV car to reach the safety door, the safety grating outside the safety door senses the arrival of the AGV car and transmits the sensing signal to the control system, the control system controls the opening of the safety door, and the AGV car replaces or removes the corner steel bin; when the AGV car exits the safety door, the safety grating senses the departure of the AGV car and transmits the sensing signal to the control system, and the control system controls the safety door to be closed; every time the walking ground rail robot feeds or discharges each process, the mechanical arm is first rotated to be parallel to the ground rail, and then the walking ground rail robot walks according to the next command.

[0015] The beneficial effects of the application are as follows:

[0016] The application realizes automatic conveying of angle steel by controlling the walking track robot through the control system, realizes backup and buffering of the angle steel conveying mechanism in the feeding and discharging process through the setting of two feeding conveying mechanisms and two discharging conveying mechanisms, automatically judges the positions of the two feeding conveying mechanisms and the two discharging conveying mechanisms through the proximity switch, directly feeds or discharges if no position change is needed after judgment, and realizes automatic position change through the control system controlling the conveying mechanism if position change is needed. The application realizes complete automation of the angle steel root cleaning shovel back feeding and discharging without manual participation, realizes standardized and process operation of the angle steel production line, and simultaneously feeds multiple angle steel root cleaning machines and angle steel shovel machines through one walking track robot, thereby reducing the artificial workload and labor intensity, greatly reducing the safety hidden danger, greatly reducing the labor cost, and improving the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used to explain the application together with the embodiments of the application, and do not constitute a limitation on the application. In the drawings:

[0018] Figure 1 It is a production line overall structure schematic diagram of the embodiment one of the application;

[0019] Figure 2 It is a local exploded view of the walking track robot of the embodiment one of the application;

[0020] Figure 3 It is a perspective view of the mechanical gripper of the embodiment one of the application;

[0021] Figure 4 It is a perspective view of the material bin base of the embodiment one of the application;

[0022] Figure 5 It is a perspective view of the shovel back angle steel bin of the embodiment one of the application;

[0023] Figure 6 It is Figure 5 the local enlarged view at A in the middle;

[0024] Figure 7 It is a perspective view of the root cleaning angle steel bin of the embodiment one of the application;

[0025] Figure 8 It is an exploded view of the feeding conveyor of each process of the embodiment one of the application;

[0026] Figure 9 It is Figure 8 the local enlarged view at B in the middle;

[0027] Figure 10 It is an exploded view of the discharging conveyor of each process of the embodiment one of the application;

[0028] In the figure, 1 is a walking track robot, 2 is a safety fence, 3 is a safety grating, 4 is a safety door, 5 is a first shovel back process feeding bin, 6 is a root cleaning process feeding bin, 7 is a root cleaning process feeding position, 8 is an angle steel root cleaning machine, 9 is a root cleaning process discharging position, 10 is a root cleaning process discharging bin, 11 is a second shovel back process discharging bin, 12 is a second shovel back process discharging position, 13 is a second angle steel shovel back machine, 14 is a second shovel back process feeding position, 15 is a second shovel back process feeding bin, 16 is a first shovel back process discharging bin, 17 is a first shovel back process discharging position, 18 is a first angle steel shovel back machine, 19 is a first shovel back process feeding position, 20 is a track, 21 is a track base, 22 is a track guide rail, 23 is a servo motor, 24 is a driving gear, 25 is a horizontal drag chain assembly, 26 is a rack, 27 is a first baffle, 28 is a first anti-collision block, 29 is a motor fixing seat, 30 is a track guide rail sliding block, 31 is a first gripper, 32 is a first photoelectric switch, 33 is a visual detection camera, 34 is a second gripper, 35 is a second photoelectric switch, 36 is a mechanical arm, 37 is a sliding plate, 38 is a origin proximity switch, 39 is a first guard plate, 40 is a gripper support, 41 is a camera mounting frame, 42 is a connecting flange, 43 is a magnetic connection box, 44 is a bin base, 45 is a first backing plate, 46 is a limiting protrusion, 47 is a support plate, 48 is a first chassis, 49 is a second backing plate, 50 is a shovel back angle steel support frame, 51 is a first limiting plate, 52 is a limiting hole, 53 is a second chassis, 54 is a third backing plate, 55 is a root cleaning angle steel support frame, 56 is a second limiting plate, 57 is a first long slot, 58 is a feeding conveying mechanism mounting seat, 59 is a second motor mounting plate, 60 is a first motor mounting plate, 61 is a first motor, 62 is a second motor, 63 is a second sliding block, 64 is a pressing device, 65 is a second oil buffer, 66 is a first proximity switch, 67 is a support mounting frame, 68 is a first height adjusting seat, 69 is a second proximity switch, 70 is a feeding conveying mechanism base, 71 is a second guard plate, 72 is a first oil buffer, 73 is a feeding transposition cylinder, 74 is a first guide rail, 75 is a feeding conveying mechanism bracket, 76 is a second anti-collision block, 77 is a fourth photoelectric switch, 78 is a second baffle, 79 is a third photoelectric switch, 80 is a fifth photoelectric switch, 81 is a third motor mounting plate, 82 is a third motor, 83 is a fourth motor, 84 is a third baffle, 85 is a sixth photoelectric switch, 86 is a seventh photoelectric switch, 87 is a third sliding block, 88 is a fourth oil buffer, 89 is a third proximity switch, 90 is a discharging conveying mechanism base, 91 is a third guard plate, 92 is a fourth proximity switch, 93 is a third oil buffer, 94 is a discharging transposition cylinder, 95 is a second guide rail, 96 is a discharging conveying mechanism mounting seat, 97 is a discharging conveying mechanism bracket, and 98 is a fourth motor mounting plate. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Example 1

[0030] like Figure 1 As shown, the angle steel root cleaning and backing shovel fully automatic loading and unloading production line is set in a rectangular area enclosed by a safety fence 2. A ground rail 20 is fixedly installed at the middle position of the length direction of the rectangular area. A walking ground rail robot 1 is movably installed on the ground rail 20 and 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 work positions of each process are evenly arranged on both sides of the ground rail 20, which can facilitate the movement and operation of the ground rail robot 1 and reduce the floor space occupied by the production line.

[0031] Safety doors 4 are pre-installed at the locations of the safety fence 2 corresponding to the first back-shoveling process loading bin 5 and the root-cleaning process loading bin 6, the root-cleaning process unloading bin 10 and the second back-shoveling process unloading bin 11, and the first back-shoveling process unloading bin 16 and the second back-shoveling process loading bin 15. The safety doors 4 are existing sliding doors with casters at the bottom. The doors are opened and closed by a cylinder. The casters reduce resistance. The safety doors 4 facilitate the transport of raw angle steel materials and finished angle steel sections by AGV trolleys. The loading bins are arranged in pairs adjacent to each other, reducing the number of safety doors 4 required. Safety light curtains 3 are symmetrically installed on both sides of the safety doors 4. The safety light curtains 3 automatically sense the opening and closing of the safety doors 4. When a safety door 4 is opened, the safety light curtains 3 transmit a sensing signal to the control system, which then automatically stops the production line to ensure worker safety.

[0032] In the embodiment one of the present application, the angle steel root cleaning shovel back full-automatic feeding and discharging production line is provided with an angle steel root cleaning processing procedure (angle steel root cleaning machine 8) and two angle steel shovel back processing procedures (second angle steel shovel back machine 13 and first angle steel shovel back machine 18). Of course, the number and position of the angle steel root cleaning machine and the angle steel shovel back machine in the full-automatic feeding and discharging production line can be flexibly set according to the production needs, and are evenly arranged within the running range of the walking ground rail robot 1, so as to maximize the reduction of the floor area.

[0033] The feeding position and the discharging position of each procedure are respectively provided with a feeding conveyor and a discharging conveyor, and the feeding conveyor and the discharging conveyor are respectively arranged at the feeding port and the discharging port of the processing equipment of each procedure; the feeding bin and the discharging bin of each procedure are arranged near the position of the feeding conveyor and the discharging conveyor of each procedure, and the feeding bin and the discharging bin can be adjacently arranged on the same side of the feeding conveyor and the discharging conveyor, or can be oppositely arranged on the two sides of the walking ground rail robot 1.

[0034] As Figure 2 , 3As shown, the ground rail 20 includes a ground rail base 21 and a ground rail guide rail 22, the ground rail base 21 is a frame welded with rectangular steel pipes, a cross beam cover plate is arranged above the cross beam of the frame, a horizontal drag chain assembly 25 is fixedly installed on the cross beam cover plate, the cross beam cover plate is used for preventing objects or workpieces from falling into the space of the frame and facilitating the installation of the horizontal drag chain assembly 25; a plurality of protruding bottom edges are welded at the bottom ends of the two sides of the length direction of the ground rail base 21, the protruding bottom edges are fixedly installed on the ground through bolts, so as to ensure the stability of the walking ground rail robot 1 when walking. The upper end faces of the two sides of the length direction of the ground rail base 21 are respectively fixedly provided with the ground rail guide rail 22, a plurality of ground rail guide rail sliders 30 are slidingly installed on the ground rail guide rail 22, one of the ground rail guide rails 22 is fixedly provided with a rack 26 on the inner side of the length direction, the rack 26 is fixedly installed on the ground rail guide rail 22, and the rack 26 and the ground rail guide rail 22 have a certain spacing, which can ensure that the rack 26 does not interfere with the movement of the ground rail guide rail 22 and the ground rail guide rail slider 30. The two ends of the ground rail guide rail 22 are respectively fixedly provided with a first baffle 27 in the vertical direction, a first anti-collision block 28 is fixedly arranged on the inner side surface of the upper end of the first baffle 27, a sliding plate 37 is fixedly installed above the ground rail guide rail slider 30, the height of the first anti-collision block 28 is matched with the sliding plate 37, the first anti-collision block 28 is made of polyurethane material, the polyurethane material has high toughness and wear resistance, and the polyurethane material can reduce the damage of the first anti-collision block 28 when colliding with the sliding plate 37, thereby prolonging the service life of the first anti-collision block 28. The walking ground rail robot 1 is installed at the middle position of the upper part of the sliding plate 37, the first anti-collision block 28 plays a limiting role in the walking operation process of the walking ground rail robot 1, and plays a blocking role after the motor fails, thereby preventing the ground rail guide rail slider 30 and the sliding plate 37 from being pulled out of the ground rail guide rail 22. The length direction of the ground rail guide rail 22 is fixedly provided with a first guard plate 39 in L-shaped structure, the first guard plate 39 is formed by splicing, the two ends of the first guard plate 39 are overlapped with the upper end and the outer side edge of the first baffle 27, the ground rail guide rail slider 30 is located inside the first guard plate 39, and the first guard plate 39 plays a protection role for the cooperation of the ground rail guide rail 22 and the ground rail guide rail slider 30.

[0035] The bottom surface of the sliding plate 37 is fixedly connected with the upper surface of the ground rail guide rail slider 30 on both sides, the position corresponding to one side of the rack 26 of the sliding plate 37 is fixedly provided with a motor fixing seat 29, the servo motor 23 is fixedly installed on the motor fixing seat 29, a motor shaft through hole is formed 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 engaged with the rack 26, so that the sliding plate 37 drives the ground rail guide rail slider 30 to move horizontally on the ground rail guide rail 22. A home proximity switch 38 is arranged at one end of the bottom of the sliding plate 37 close to the edge of the ground rail guide rail 22, a home position detection plate is fixedly arranged at the home position end of the ground rail base 21, the home position detection plate cooperates with the home proximity switch 38, and is used for assisting in judging whether the walking ground rail robot 1 successfully returns to the home position. The walking ground rail robot 1 comprises a mechanical arm 36 and a mechanical gripper, the lower end of the mechanical arm 36 is fixedly connected with the upper surface center position of the sliding plate 37, and the mechanical gripper is fixedly installed on the mechanical arm 36. The mechanical arm 36 is a six-axis joint robot.

[0036] The mechanical gripper comprises a gripper support 40, a first gripper 31 and a second gripper 34, the gripper support 40 is a T-shaped structure, the T-shaped structure comprises an integrally formed rectangular column and a circular column, the circular column is perpendicular to the rectangular column, one end of the circular column is fixedly connected with the middle position of one side of the rectangular column, the other end of the circular column is fixedly installed on the mechanical arm 36 through a connecting flange 42, the two ends of the rectangular column are respectively fixedly installed with the first gripper 31 and the second gripper 34, one end of a camera mounting bracket 41 is fixedly installed on the side of the rectangular column away from the circular column through a screw, and a visual detection camera 33 is fixedly installed at the other end of the camera mounting bracket 41.

[0037] The first gripper 31 and the second gripper 34 are made of a material capable of passing through a magnet, and the magnetic on-off connection box 43 is connected to realize the gripping or releasing of the angle steel. The first gripper 31 comprises a first gripper body, two groups of first gripper fingers are uniformly arranged on the upper side of the first gripper body in parallel, the first gripper fingers are provided with inclined surfaces, and the inclined surfaces of the two groups of first gripper fingers are oppositely inclined inward to form a V-shaped groove structure, so as to grip the angle steel needing to be cleaned. The second gripper 34 comprises a second gripper body, two groups of second gripper fingers are uniformly arranged on the lower side of the second gripper body in parallel, 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 grip the angle steel needing to be cleaned. The vertical side of the first gripper body and the second gripper body is fixedly installed with the magnetic on-off connection box 43, and the other vertical side of the first gripper body and the second gripper body is fixedly installed with the first photoelectric switch 32 and the second photoelectric switch 35. The first photoelectric switch 32 and the second photoelectric switch 35 are used to detect whether the gripper successfully grips the angle steel workpiece through a set distance.

[0038] The first gripper 31 is vertically upward by default in the initial state, the lens of the visual detection camera 33 is vertically downward by default and the same as the grabbing direction of the second gripper 34. When the visual detection camera 33 detects that the angle steel workpiece is in a positive V shape, the angle steel workpiece is directly grabbed by the second gripper 34 for backhoeing operation; when the visual detection camera 33 detects that the angle steel workpiece is in an inverted V shape, the control system controls the mechanical gripper to rotate 180° to realize the transposition of the first gripper 31 and the second gripper 34, and after successful transposition, the angle steel workpiece is grabbed by the first gripper 31 below for root cleaning operation.

[0039] The bunker base 44 is arranged at the position adjacent to the upper feeding position and the lower feeding position of each process, and is used to support the root cleaning angle steel bunker and the backhoeing angle steel bunker, such as Figure 4 As shown in the figure, the bunker base 44 is a frame welded by rectangular steel pipes, and the bunker base 44 is open on one side facing the safety door 4, which is convenient for the AGV trolley to replace the bunker on the bunker base 44; the first pad plates 45 are arranged at the four corners of the top of the bunker base 44, and the first pad plates 45 at one pair of diagonal positions are provided with the limiting protrusions 46 at the upper end center, which are arranged diagonally to facilitate the taking and placing of the bunker and limit the bunker to ensure the stability of the bunker.

[0040] As shown in the figure, the bunker base 44 is a frame welded by rectangular steel pipes, and the bunker base 44 is open on one side facing the safety door 4, which is convenient for the AGV trolley to replace the bunker on the bunker base 44; the first pad plates 45 are arranged at the four corners of the top of the bunker base 44, and the first pad plates 45 at one pair of diagonal positions are provided with the limiting protrusions 46 at the upper end center, which are arranged diagonally to facilitate the taking and placing of the bunker and limit the bunker to ensure the stability of the bunker. Figure 5 , 6As shown, the backhoe angle steel warehouse includes backhoe process upper warehouse (first backhoe process upper warehouse 5 and second backhoe process upper warehouse 15) and backhoe process lower warehouse (first backhoe process lower warehouse 16 and second backhoe process lower warehouse 11), the backhoe process upper warehouse is used for the placement of the angle steel workpiece to be processed in the angle steel backhoe machining process, and the backhoe process lower warehouse is used for the placement of the angle steel workpiece after the angle steel backhoe machining, the backhoe angle steel warehouse includes first chassis 48, second pad 49, support plate 47, backhoe angle steel support frame 50 and first limiting plate 51. The first chassis 48 is a frame welded with rectangular steel pipes, the second pad 49 is arranged at the four corners of the bottom of the first chassis 48, a limiting hole 52 is formed in the center of the lower part of the second pad 49 and matched with the limiting protrusion 46 of the first pad 45, the limiting hole 52 penetrates into the wall of the rectangular steel pipe of the first chassis 48, and the second pad 49 can increase the thickness of the four corners to facilitate the formation of the limiting hole 52. A plurality of groups of two opposite support plates 47 are parallelly welded on the upper surface of the first chassis 48, the two adjacent opposite support plates 47 are inwardly inclined to form a positive V shape, the backhoe angle steel support frame 50 is positively V-shapedly welded above the two adjacent opposite support plates 47, the backhoe angle steel support frame 50 is made of a first angle steel piece, a plurality of first weight reduction through holes are uniformly arranged on the surface of the first angle steel piece, the first weight reduction through holes make the backhoe angle steel warehouse lightweight, and facilitate the identification and grabbing of the angle steel workpiece by the mechanical gripper. The first limiting plate 51 is vertically arranged at the positions opposite to the backhoe angle steel support frame 50 on both sides of the first chassis 48, the first limiting plate 51 limits the backhoe angle steel workpiece, preventing the backhoe angle steel workpiece from being displaced or falling due to shaking of the AGV car during transportation.

[0041] As shown in Figure 7 The back cleaning angle steel warehouse includes back cleaning process upper warehouse 6 and back cleaning process lower warehouse 10, the back cleaning process upper warehouse 6 is used for the placement of the angle steel workpiece to be processed in the angle steel back cleaning machining process, and the back cleaning process lower warehouse 10 is used for the placement of the angle steel workpiece after the angle steel back cleaning machining, the back cleaning angle steel warehouse includes second chassis 53, third pad 54, back cleaning angle steel support frame 55 and second limiting plate 56. The third pad 54 is arranged at the four corners of the bottom of the second chassis 53, a plurality of back cleaning angle steel support frames 55 are inversely V-shapedly parallelly welded on the upper surface of the second chassis 53, and the second limiting plate 56 is vertically arranged at the positions opposite to the back cleaning angle steel support frame 55 on both sides of the second chassis 53, the back cleaning angle steel support frame 55 is made of a second angle steel piece, a plurality of second weight reduction through holes are uniformly arranged on the surface of the second angle steel piece, the second weight reduction through holes can make the back cleaning angle steel warehouse lightweight, and facilitate the identification and grabbing of the back cleaning angle steel workpiece by the mechanical gripper. The other structure and positional relationship of the back cleaning angle steel warehouse are the same as those of the backhoe angle steel warehouse, and will not be described herein.

[0042] In the embodiment one of the present application, the upper feeding position is provided with an upper feeding conveyor, and the walking ground rail robot 1 and the upper feeding conveyor of each process are controlled by an electric control system to realize automatic feeding of the angle steel workpiece. Figure 8 、 9 As shown in the drawings, the upper feeding conveyor comprises an upper feeding mechanism base 70 installed on the ground, the upper feeding mechanism base 70 is a frame structure welded with rectangular steel pipes and comprises four first vertical supporting legs, the bottom end of the first vertical supporting leg is provided with a first height adjusting seat 68, the first height adjusting seat 68 can adapt the upper feeding conveyor to different ground, and the upper surface and the side surface of the frame structure of the upper feeding mechanism base 70 are fixedly installed with a second guard plate 71. The opposite sides of the upper surface of the upper feeding mechanism base 70 are provided with a pair of first guide rails 74 parallel to each other, one end of the first guide rail 74 is fixedly installed with a second oil buffer 65, the other end of the first guide rail 74 is fixedly installed with a first oil buffer 72, and the first oil buffer 72 and the second oil buffer 65 are located on the same horizontal line and opposite to each other to form a group. The outer side of the first guide rail 74 on one side is fixedly installed with a supporting mounting frame 67, the supporting mounting frame 67 is fixedly connected with the upper end of the side surface of the upper feeding mechanism base 70, a pressing device 64 is fixedly installed at the top end of the supporting mounting frame 67, the pressing device 64 comprises a fifth photoelectric switch 80 and a telescopic pressing wheel, the pressing wheel is arranged on the inner side of the upper beam of the supporting mounting frame 67, the fifth photoelectric switch 80 is arranged on the outer side of the upper beam of the supporting mounting frame 67, the progress of the angle steel workpiece entering the machining equipment is detected through the fifth photoelectric switch 80, and the pressing wheel is extended downward to press the angle steel workpiece after the angle steel is in place. The first proximity switch 66 and the second proximity switch 69 are fixedly installed at the two ends of the first guide rail 74 adjacent to the supporting mounting frame 67, a pair of parallel upper feeding transposition cylinders 73 are fixedly installed at the middle position of the top end of the upper feeding mechanism base 70, the piston rods of the pair of upper feeding transposition cylinders 73 are consistent in the extension direction and consistent with the length direction of the first guide rail 74, and the fixed installation of the upper feeding transposition cylinders 73 can be realized by arranging the mounting beam.

[0043] The upper feeding conveying mechanism bracket 75 is slidably connected with the first guide rail 74. The upper feeding conveying mechanism bracket 75 is a rectangular bracket welded by rectangular steel pipes. A plurality of second sliding blocks 63 are fixedly installed at the lower ends of the length direction of the upper feeding conveying mechanism bracket 75 and are slidably installed on the first guide rail 74. A first motor mounting plate 60 and a second motor mounting plate 59 are fixedly arranged at the middle positions of the lower surfaces of the upper feeding conveying mechanism bracket 75. A first motor 61 is fixedly installed below the first motor mounting plate 60, and a second motor 62 is fixedly installed below the second motor mounting plate 59. The second guard plate 71 is provided with openings corresponding to the first motor 61 and the second motor 62 to provide movement spaces for the first motor 61 and the second motor 62. Two groups of upper feeding conveying mechanism mounting seats 58 are symmetrically arranged at the two sides of the upper surface of the length direction of the upper feeding conveying mechanism bracket 75. A first upper feeding conveying mechanism and a second upper feeding conveying mechanism are fixedly installed on the two groups of upper feeding conveying mechanism mounting seats 58. The first upper feeding conveying mechanism and the second upper feeding conveying mechanism are prior arts. The first upper feeding conveying mechanism and the second upper feeding conveying mechanism are drivingly connected with the first motor 61 and the second motor 62 through chains. The first motor 61 and the second motor 62 drive two groups of angle steel upper feeding conveying mechanisms to move along the length direction of the upper feeding conveying mechanism mounting seat 58 to realize angle steel conveying. A second baffle 78 is fixedly arranged at the side of the end of the upper feeding conveying mechanism bracket 75 away from the feeding port. The second baffle 78 is in an L-shaped structure. A first long slot 57 in the vertical direction is arranged at the upper end of the second baffle 78. A fourth photoelectric switch 77 and a third photoelectric switch 79 are installed in the first long slot 57 through double nuts. The height positions of the fourth photoelectric switch 77 and the third photoelectric switch 79 can be adjusted according to different angle steel workpieces through the first long slot 57. The fourth photoelectric switch 77 and the third photoelectric switch 79 can detect whether the angle steel workpiece is placed in place. The lower end protruding plate of the second baffle 78 is fixedly connected with the side of the upper feeding conveying mechanism bracket 75 through bolts. The lower end protruding plate of the second baffle 78 provides a horizontal installation space for the fourth photoelectric switch 77 and the third photoelectric switch 79. Second anti-collision blocks 76 are fixedly installed at the two ends of the length direction of the side of the upper feeding conveying mechanism bracket 75. The second anti-collision blocks 76 are correspondingly matched with a first oil buffer 72 and a second oil buffer 65 to provide buffer force when the two angle steel upper feeding conveying mechanisms are transposed. The second anti-collision blocks 76 are made of 45# steel, which has high strength and can well play the anti-collision role. A first proximity switch 66 and a second proximity switch 69 can detect whether the two angle steel upper feeding conveying mechanisms are transposed in place and can judge which angle steel upper feeding conveying mechanism is directly opposite the feeding port. When the first proximity switch 66 detects the first upper feeding conveying mechanism, the second upper feeding conveying mechanism is directly opposite the feeding port. When the second proximity switch 69 detects the second upper feeding conveying mechanism, the first upper feeding conveying mechanism is directly opposite the feeding port.The lower part of the feeding conveying mechanism bracket 75 is fixedly connected with the piston rods of a pair of feeding transposition air cylinders 73, the piston rods of the pair of feeding transposition air cylinders 73 act in the same direction, and the piston rod of the feeding transposition air cylinder 73 acts to realize the displacement of the two angle steel feeding conveying mechanisms, and the first feeding conveying mechanism and the second feeding conveying mechanism are arranged to improve the feeding efficiency.

[0044] In the embodiment one of the application, the discharging conveyor is arranged at the discharging position, and the walking rail robot 1 and the discharging conveyors of each process are controlled by the electric control system to realize the full-automatic discharging of the processed angle steel workpiece. Figure 10 As shown in the figure, the discharging conveyor includes a discharging conveying mechanism base 90 installed on the ground, the discharging conveying mechanism base 90 is a frame structure welded by rectangular steel pipes and including four second vertical supporting legs, the bottom ends of the second vertical supporting legs are provided with second height adjusting bases, the discharging conveying mechanism base 90 is provided with a fourth oil buffer 88, a third proximity switch 89, a third guard plate 91, a fourth proximity switch 92, a third oil buffer 93, a discharging transposition air cylinder 94 and a second guide rail 95, a discharging conveying mechanism bracket 97 is slidably connected with the second guide rail 95 through a third sliding block 87, the discharging conveying mechanism bracket 97 is provided with a third motor mounting plate 81, a fourth motor mounting plate 98, a pair of third baffle plates 84 and two groups of discharging conveying mechanism mounting bases 96, a third motor 82 is fixedly installed below the third motor mounting plate 81, a fourth motor 83 is fixedly installed below the fourth motor mounting plate 98, the third baffle plate 84 is arranged at the end of the discharging conveying mechanism base 90 away from the discharge port, a sixth photoelectric switch 85 and a seventh photoelectric switch 86 are respectively fixedly installed in the second long groove of the third baffle plate 84, a first discharging conveying mechanism and a second discharging conveying mechanism are respectively fixedly installed on the two groups of discharging conveying mechanism mounting bases 96, and the lower part of the discharging conveying mechanism base 90 is fixedly connected with the piston rod of the discharging transposition air cylinder 94.

[0045] The angle steel root cleaning shovel back full-automatic feeding and discharging production line further includes a control system, the control system adopts an S7-1500 type PLC programmable logic controller, the control system sends signals to the motors of the walking rail robot 1, the feeding conveyor and the discharging conveyor through a PROFINET communication mode, and each switch (sensor) sends signals to the control system through a digital quantity I / O communication mode. Embodiment two

[0046] The control method of the angle steel root cleaning shovel back full-automatic feeding and discharging production line in the embodiment one includes the following steps:

[0047] S1, before starting production, the production line is in a stop state, first the control system controls the AGV car to arrive at the safety door 4 corresponding to each process (that is, at the loading and unloading bin), the safety light barrier 3 outside the safety door 4 senses the arrival of the AGV car, and the safety light barrier 3 transmits the sensing signal of the arrival of the AGV car to the control system, and the control system opens the safety door 4 by controlling the push-pull door cylinder (the safety door 4 is equivalent to the protection lock of the production line, when the protection lock is opened, the devices of the production line will not start at this time); the AGV car replaces or removes the angle steel bin at the loading and unloading bin. The AGV car exits the safety door 4, and the safety light barrier 3 outside the safety door 4 senses the departure of the AGV car, and the safety light barrier 3 transmits the sensing signal of the departure of the AGV car to the control system, and the control system closes the safety door 4 by controlling the push-pull door cylinder (that is, the protection lock is closed, at this time the devices of the production line can be started).

[0048] S2, press the start button of the control system, first the devices of each process of the production line execute the home action and the processing devices of each process start running, the control system receives the device start signal and controls the servo motor 23 to rotate forward at the same time, the servo motor 23 rotates the main drive of the walking rail robot 1 to execute the home action, the encoder feedbacks the current position value of the walking rail robot 1 on the rail guide 22 in real time, and the home position detection plate and the home proximity switch 38 trigger signal can accurately determine whether the walking rail robot 1 is successfully homed; when the walking rail robot 1 is successfully homed, the home proximity switch 38 transmits the first signal to the control system.

[0049] S3, the control system receives the first signal and controls the servo motor 23 to start reverse rotation, the meshing transmission of the main drive gear 24 of the servo motor 23 and the rack 26 moves the walking rail robot 1 to the position of the first backhoe process loading bin 5;

[0050] When the walking rail robot 1 reaches the set position of the first backhoe process loading bin 5, the servo motor 23 stops running and feeds back the second signal to the control system, the control system receives the second signal and controls the walking rail robot 1 and the mechanical arm to rotate to the first backhoe process loading bin 5, at the same time, the vision detection camera 33 scans and takes a picture of the first backhoe process loading bin 5, and transmits the third signal (scanning image) to the control system, and the control system judges whether the first backhoe process loading bin 5 has material and the position of the angle steel material to be grabbed according to the third signal;

[0051] With material: the control system judges the current shovel back process by identifying the shape of the angle steel material, magnetizes the second hand claw 34 on the mechanical arm 36, and the second hand claw 34 is vertically downward in the initial state. The second hand claw 34 grabs the angle steel material according to the identification position of the visual detection camera 33. Under the cooperation of the distance detection induction 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 at this time. The fourth signal is fed back to the control system by the second photoelectric switch 35, and the control system controls the mechanical arm 36 to move parallel to the ground rail 20 to ensure the safety of operation; the next step S4 is executed.

[0052] No material: the feeding and discharging operations of the first shovel back process feeding position and discharging position are no longer performed, and step S6 is executed according to the control program to start feeding and discharging the angle steel root cleaning process.

[0053] S4, after the second hand claw 34 successfully grabs the angle steel material, the control system controls the servo motor 23 to move the walking ground rail robot 1 to the first shovel back process feeding position 19 (provided with the first shovel back feeding conveying mechanism and the second shovel back feeding conveying mechanism);

[0054] When reaching the set first shovel back process feeding position 19 position, the servo motor 23 stops running and feeds the fifth signal to the control system. After receiving the fifth signal, the control system controls the walking ground rail robot 1 to rotate towards the first shovel back process feeding position 19, and controls the visual detection camera 33 to take a photo of the first shovel back feeding conveying mechanism and the second shovel back feeding conveying mechanism of the first shovel back process feeding position 19, determines the feeding position and transmits the sixth signal to the control system.

[0055] S5, after receiving the sixth signal, the control system rotates the walking ground rail robot 1, so that the mechanical arm 36 places the angle steel material on the second hand claw 34 on the first shovel back feeding conveying mechanism, and releases the angle steel material by demagnetizing the second hand claw 34; after the angle steel material is successfully placed, the third photoelectric switch 79 at one end of the first shovel back feeding conveying mechanism senses the material and transmits the seventh signal (material signal) to the control system. The control system receives the seventh signal, judges whether the first shovel back feeding conveying mechanism is located at the feeding port of the first angle steel shovel back machine according to the eighth signal sensed and transmitted by the first proximity switch 66 and the second proximity switch 69;

[0056] Yes: the control system controls the first motor 61 to start, and the first shovel back feeding conveying mechanism conveys the angle steel material into the feeding port under the drive of the first motor 61;

[0057] No: the control system controls the action of the feeding transposition cylinder 73 to make the first shovel back feeding conveying mechanism move in the direction of the piston rod ejection until it contacts the first oil buffer 72 and triggers the second proximity switch 69 (at this time, the first shovel back feeding conveying mechanism is located at the feeding port), the control system receives the ninth signal and controls the feeding transposition cylinder 73 to stop running, while the first motor 61 starts, and under the drive of the first motor 61, the first shovel back feeding conveying mechanism conveys the angle steel workpiece into the feeding port.

[0058] After the angle steel workpiece enters the feeding port of the first angle steel shovel back machine, the fifth photoelectric switch 80 on one side of the pressing device 64 above the supporting mounting frame 67 senses and sends the tenth signal, and the control system controls the pressing device 64 to press the angle steel workpiece tightly for shovel back processing;

[0059] When the first shovel back feeding conveying mechanism has material signal is transmitted to the control system, the control system simultaneously judges whether the first shovel back feeding 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 work sequence unloading position 17 (provided with the first shovel back feeding conveying mechanism and the second shovel back feeding conveying mechanism);

[0060] Yes: start the third motor 82 of the first shovel back feeding conveying mechanism, and wait for the angle steel workpiece behind the shovel back to be discharged;

[0061] No: control the action of the unloading transposition cylinder 94 to make the first shovel back feeding conveying mechanism move in the direction of the piston rod ejection until it contacts the third oil buffer 93 and triggers the fourth proximity switch 92 (at this time, the first shovel back feeding conveying mechanism is located at the discharge port), and after transposition, the unloading transposition cylinder 94 stops running and transmits the twelfth signal to the control system, and after receiving the twelfth signal, the control system controls the third motor 82 corresponding to the first shovel back feeding conveying mechanism to start, and waits for the angle steel workpiece behind the shovel back to be discharged.

[0062] At the same time when the angle steel workpiece is successfully placed on the first shovel back feeding conveying mechanism, the walking ground rail robot 1 repeats the steps S3 and S4; after executing the steps S3 and S4, the control system controls the mechanical arm 36 to place the angle steel workpiece on the second shovel back feeding conveying mechanism, and releases the angle steel workpiece by demagnetizing the second hand claw 34; after successfully placing the angle steel workpiece, the fourth photoelectric switch 77 corresponding to the second shovel back feeding conveying mechanism senses and transmits the second shovel back feeding conveying mechanism has material signal to the control system, waits for processing, and the control system receives the second shovel back feeding conveying mechanism has material signal, indicating that the angle steel automatic feeding work of the first shovel back process has been completed.

[0063] S6, the control system controls the servo motor 23 to start, and moves the walking ground rail robot 1 to the position of the cleaning root process feeding bin 6;

[0064] When reaching the set position of the root cleaning work procedure feeding bin 6, 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 ground rail robot 1 to rotate towards the root cleaning work procedure feeding bin 6, controls the visual detection camera 33 to take a photo of the root cleaning work procedure feeding bin 6, and transmits the fourteenth signal to the control system. The control system judges whether the root cleaning work procedure feeding bin 6 has materials and the position of the angle steel workpiece to be grabbed according to the fourteenth signal.

[0065] With materials: the control system judges that the current is the root cleaning work procedure by identifying the placement shape of the angle steel workpiece. The control system controls the first hand claw 31 and the second hand claw 34 on the mechanical arm 36 to rotate and change positions, so that the first hand claw 31 is vertically downward. The first hand claw 31 is magnetized, and the angle steel workpiece is grabbed according to the identification position of the visual detection camera 33 and the magnetic attraction of the first hand claw 31. Under the cooperation of the detection and induction of the first photoelectric switch 32, when the distance between the angle steel workpiece and the first photoelectric switch 32 reaches the set value, the angle steel workpiece is successfully grabbed at this time. The fifteenth signal is fed back to the control system, and the control system controls the mechanical arm 36 to move parallel to the ground rail 20 to ensure the safety of operation; the next step S7 is executed.

[0066] Without materials: the control system no longer performs feeding and discharging on the feeding position and discharging position of the root cleaning work procedure of the angle steel. According to the control program, step S9 is executed to start feeding and discharging on the second shovel back work procedure.

[0067] S7, the control system receives the fifteenth signal and controls the servo motor 23 to start, and moves the walking ground rail robot 1 to the root cleaning work procedure feeding position 7 (provided with a first root cleaning feeding mechanism and a second root cleaning feeding mechanism);

[0068] When reaching the set position of the root cleaning work procedure feeding 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 ground rail robot 1 to rotate towards the root cleaning work procedure feeding position 7, and controls the visual detection camera 33 to take a photo of the first root cleaning feeding mechanism and the second root cleaning feeding mechanism, determines the feeding position and transmits it to the control system.

[0069] S8, the control system receives the root cleaning work procedure feeding signal, controls the mechanical arm 36 of the walking ground rail robot 1 to place the angle steel workpiece on the first root cleaning feeding mechanism, and the remaining steps and control methods are the same as step S5.

[0070] The walking rail robot 1 repeats the steps S6 and S7 again, and the control system controls the mechanical arm 36 of the walking rail robot 1 to place the angle steel workpiece on the first hand claw 31 on the second root cleaning feeding mechanism of the root cleaning workpiece feeding position 7 after the steps S6 and S7 are performed, and waits for processing.

[0071] S9, the control system controls the servo motor 23 to start, and according to the positions of the second back shoveling workpiece feeding bin 15 and the second back shoveling workpiece feeding position 14 set by the servo motor 23, reaches the second back shoveling work station to feed the angle steel, and then feeds the angle steel, the steps and control method of the second back shoveling work station are the same as those of the first back shoveling work station.

[0072] S10, after the walking rail robot 1 completes the first round of feeding and discharging of each work station, the seventeenth signal is transmitted to the control system, and the control system controls the walking rail robot 1 to repeat the feeding and discharging operation of each work station according to the received signals of the subsequent feeding and discharging of each work station.

[0073] The steps of the angle steel automatic feeding and discharging will be described in detail below taking the first back shoveling work station as an example:

[0074] S01, when the angle steel workpiece on the first back shoveling feeding mechanism completely enters the first angle steel back shoveling machine from the feeding port, the seventeenth signal is transmitted to the control system through the fifth photoelectric switch 80, the control system controls the pressing device 64 to reset, and when the third photoelectric switch 79 detects that the distance 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 from running, and controls the feeding position changing cylinder 73 to act, so that the second back shoveling feeding mechanism is opposite to the feeding port of the first angle steel back shoveling machine to prepare for feeding.

[0075] At the same time, the walking rail robot 1 feeds the first back shoveling feeding mechanism again.

[0076] S02, after the angle steel workpiece is processed by back shoveling, the angle steel workpiece is moved out of the discharging port to the first back shoveling discharging feeding mechanism, and the angle steel workpiece is fed outwards through the first back shoveling discharging feeding 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, and the control system controls the discharging position changing cylinder 94 to act, so that the second back shoveling discharging feeding mechanism is opposite to the discharging port of the first angle steel back shoveling machine to prepare for discharging.

[0077] S03, the third proximity switch 89 and the fourth proximity switch 92 detect the success of transposition, and the sixth photoelectric switch 85 detects that the blank conveying mechanism has blanks at the same time, the control system receives the nineteenth signal and controls the walking ground rail robot 1 to move to the position of the set first backhoe process blanking position 17, grabs the angle steel workpiece completed backhoeing, and then moves to the first backhoe process blanking bin 16, and places the angle steel workpiece completed backhoeing in the first backhoe process blanking bin 16.

[0078] When the walking ground rail robot 1 reaches a certain process, the control vision detection camera 33 photographs and scans the process blanking bin, and then transmits the photographing and scanning information to the control system. When the control system determines that the blanking bin is empty, the control system no longer performs blanking on the blanking position of the process, and according to the control program, the control system performs blanking and blanking on other processes. When the processing equipment of the blanking bin of the process is empty and the last angle steel workpiece is processed and blanked, the processing equipment feeds back to the control system, and the control system receives the signal that the last angle steel workpiece is processed to stop the processing equipment. The control system no longer performs blanking and blanking on the process. Until the blanking bin of each process is empty and the last angle steel workpiece of each process is blanked, the production line stops running and waits for the next start.

[0079] It should be noted that during the production line processing, if the safety door 4 is opened, the production line will immediately stop running to ensure safety. In addition, when the walking ground rail robot 1 blanks each process, the mechanical arm 36 needs to be parallel to the ground rail 20 first, and then according to the next command to walk, so as to prevent the mechanical arm 36 from colliding during walking, and ensure the safe and stable operation of the production line.

[0080] In the embodiments of the present application, the technical features not described in detail are all prior art or conventional technical means, which will not be described here.

[0081] Finally, it should be noted that the above embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit the protection scope of the present application. Those skilled in the art should understand that any skilled person in the art can modify or easily think of changes to the technical solutions described in the above embodiments within the technical scope disclosed by the present application, or make equivalent replacement to some technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered in the protection scope of the present application.

Claims

1. A fully automated angle steel cleaning and back-shoveling production line, comprising a control system, a walking rail robot, several angle steel cleaning machines, and several angle steel back-shoveling machines, characterized in that... The angle steel root cleaning machine and the angle steel back shovel machine are equipped with a feeding conveyor and a discharging conveyor at the inlet and outlet, respectively. The feeding conveyor is equipped with a feeding bin, and the discharging conveyor is equipped with a discharging bin. The feeding bin, the discharging bin, the angle steel root cleaning machine, and the angle steel back shovel machine are evenly distributed on both sides of the walking path of the walking ground rail robot. The feeding conveyor includes a first feeding conveyor mechanism and a second feeding conveyor mechanism that are arranged in parallel and can switch positions relative to the inlet. The discharging conveyor includes a first discharging conveyor mechanism and a second discharging conveyor mechanism that are arranged in parallel and can switch positions relative to the outlet. The feeding conveyor base is mounted on a horizontally movable feeding conveyor bracket. The first and second feeding conveyors are mounted on the feeding conveyor base. A second baffle is provided on the side of the feeding conveyor bracket away from the inlet. A vertical first elongated groove is formed at the upper end of the second baffle. A fourth and third photoelectric switches are respectively installed in the first elongated groove. The discharging conveyor base is mounted on a horizontally movable discharging conveyor bracket. The first and second discharging conveyors are mounted on the discharging conveyor base. A vertical first elongated groove is formed on the upper end of the discharging conveyor bracket away from the outlet. A third baffle is provided on the surface, and a second elongated slot is opened at the upper end of the third baffle in a vertical direction. The sixth and seventh photoelectric switches are respectively installed in the second elongated slot. A first height adjustment seat is provided at the bottom end of the frame structure feeding conveyor base. A pair of first guide rails are arranged parallel to each other on opposite sides of the upper surface of the feeding conveyor base. A second hydraulic buffer is installed at one end of the first guide rail and 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 at the middle position of the top of the feeding conveyor base, with the extension direction of the piston rods parallel to the length direction of the first guide rails. A consistent feeding and shifting cylinder is used. Several second sliders are installed below both ends of the feeding conveyor bracket along its length. The second sliders are slidably mounted on the first guide rail. The lower part of the feeding conveyor bracket is connected to the piston rod of the feeding and shifting cylinder. A second height adjustment seat is set at the bottom of the frame structure of the unloading conveyor base. A pair of second guide rails are arranged parallel to each other on opposite sides of the upper surface of the unloading conveyor base. 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. The top center of the unloading conveyor base is... A pair of parallel piston rods are installed in the same direction as the length of the second guide rail for the material shifting cylinder. Several third sliders are installed at the lower ends of the material feeding mechanism bracket along the length of the bracket. The third sliders are slidably installed on the second guide rail. The lower part of the material feeding mechanism bracket is connected to the piston rods of the material shifting cylinders. The support mounting frame is connected to the upper side of the base of the feeding conveying mechanism. A clamping device is installed on the top of the support mounting frame. The clamping device includes a fifth photoelectric switch and a retractable clamping wheel. The clamping wheel is set on the side of the upper beam of the support mounting frame away from the feed inlet, and the fifth photoelectric switch is set on the other side of the upper beam of the support mounting frame. The walking track robot includes a robotic arm and a robotic gripper. The lower end of the robotic arm is mounted at the center of the upper surface of the skateboard, and the robotic gripper is mounted on the upper part of the robotic arm. The robotic gripper includes a gripper support, a first gripper, and a second gripper. The gripper support has a T-shaped structure, and the first and second grippers are symmetrically mounted at both ends of the gripper support. A vision inspection camera is mounted on the side of the gripper support. The first and second grippers are made of magnetically permeable materials. A magnetic connection box is mounted and connected to one side of the first and second grippers, and a first photoelectric switch and a second photoelectric switch are mounted on the other side of the first and second grippers. The first gripper has a V-shaped groove structure, and the second gripper has a V-shaped protrusion structure. The first and second photoelectric switches interact with the control system. The control system is electrically connected to the walking rail robot, the first feeding conveyor, the second feeding conveyor, the first unloading conveyor, the second unloading conveyor, the first proximity switch, the second proximity switch, the third proximity switch, and the fourth proximity switch.

2. The fully automatic angle steel root cleaning and back-shoveling production line according to claim 1, characterized in that, The control system uses a PLC programmable logic controller. The control system sends signals to the walking rail robot, the feeding conveyor and the unloading conveyor via PROFINET communication. Each switch sends signals to the control system via digital I / O communication.

3. The fully automatic angle steel root cleaning and back-shoveling production line according to claim 1, characterized in that, The walking robot is mounted on a ground track, which includes a base and guide rails. Guide rails are positioned on both sides of the upper surface of the base along its length. A rack is installed on the inner side of one guide rail along its length, with a gap between the rack and the guide rail. Vertical first baffles are installed at both ends of each guide rail, with a first anti-collision block on the upper surface of the inner side of each baffle. An L-shaped first guard plate is installed on the outer side of each guide rail along its length, with both ends overlapping the upper surface and outer edge of the first baffle. The bottom surface of the sliding plate connects to the upper surfaces of several guide rail sliders on both sides. The guide rail slider is slidably installed on the ground rail. The height of the first anti-collision block matches the slide plate. A motor mounting base is set on the side of the slide plate corresponding to the rack. The servo motor is installed on the motor mounting base. A motor shaft through hole is opened in the center of the motor mounting base. The main shaft of the servo motor passes through the motor shaft through hole. The drive gear at the lower end of the main shaft of the servo motor meshes with the rack. A home proximity switch is set at one end of the bottom of the slide plate near the edge of the ground rail. A home position detection plate is set at the home return end of the ground rail base. The home position detection plate cooperates with the home proximity switch. The home proximity switch and the control system realize data interaction.

4. The fully automatic angle steel root cleaning and back-shoveling production line according to claim 1, characterized in that, The production line is set up in a rectangular area enclosed by a safety fence. Safety gates with casters are installed at the positions of the upper and lower hoppers corresponding to the safety fence. Safety light curtains are symmetrically installed on both sides of the safety gates. The safety gates and light curtains interact with the control system. Angle steel hoppers are movably mounted on a hopper base. The hopper base opens to the side facing the safety gates. First pads are installed at the four corners of the top of the hopper base, with a limiting protrusion at the center of the upper part of one pair of diagonally opposite first pads. The backing angle steel hopper includes a first base frame, second pads, support plates, a backing angle steel support frame, and a first limiting plate. Second pads are installed at the four corners of the bottom of the first base frame. A limiting hole that mates with the limiting protrusion is opened at the center of the lower part of one pair of diagonally opposite second pads. Several sets of two opposing support plates are welded parallel to each other on the upper surface of the first base frame. Two opposing support plates are inclined inward in a positive V shape. The back angle steel support frame is welded in a positive V shape above the adjacent two opposing support plates. Several first weight-reducing through holes are evenly arranged on the surface of the back angle steel support frame. The first limiting plate is set vertically on both sides of the first base frame, directly opposite the back angle steel support frame. The root cleaning angle steel hopper includes a second base frame, a third pad plate, root cleaning angle steel support frames, and a second limiting plate. The third pad plate is set at the four corners of the bottom of the second base frame. The lower center of a pair of diagonally opposite third pad plates has a limiting hole that matches the limiting protrusion. Several root cleaning angle steel support frames are welded in an inverted V shape parallel to the upper surface of the second base frame. Several second weight-reducing through holes are evenly arranged on the surface of the root cleaning angle steel support frame. The second limiting plate is set vertically on both sides of the second base frame, directly opposite the root cleaning angle steel support frame.

5. The control method for the fully automated loading and unloading production line for cleaning and shoveling angle steel as described in claim 1, characterized in that, A walking-rail robot transports angle steel parts from the loading bin to the loading conveyor. Third and fourth photoelectric switches detect whether angle steel parts are placed on the first and second loading conveyors and send detection signals to the control system. First and second proximity switches detect the positions of the first and second loading conveyors and send detection signals to the control system, which then determines whether the first and second loading conveyors have switched positions. A fifth photoelectric switch detects the feeding progress of the angle steel parts and sends a detection signal to the control system, which then controls the clamping device to clamp or reset the angle steel parts. Sixth and seventh photoelectric switches detect whether finished angle steel workpieces are placed on the first and second unloading conveyors and send detection signals to the control system. Third and fourth proximity switches detect the positions of the first and second unloading conveyors and send detection signals to the control system, which then determines whether the first and second unloading conveyors have switched positions. The walking-rail robot then transports the finished angle steel workpieces from the unloading conveyor to the unloading bin.

6. The control method for the fully automatic loading and unloading production line for cleaning and shoveling angle steel according to claim 5, characterized in that, The first and second photoelectric switches send detection signals to the control system, which determines whether the first and second grippers have successfully grasped the angle steel. When the walking robot reaches a certain process, the vision inspection camera takes a picture of the corresponding feeding bin for that process and transmits the image to the control system. If the control system determines that the feeding bin is empty, it will no longer feed materials to the feeding position of that process. After the processing equipment of the process with an empty feeding bin finishes processing and unloading the last angle steel piece, the control system will no longer feed or unload materials to that process. The production line stops running and waits for the next start-up after all the feeding bins of each process are empty and the last angle steel workpiece of each process has been unloaded.

7. The control method for the fully automatic loading and unloading production line for cleaning and shoveling angle steel according to claim 5, characterized in that, Before production begins, the production line is in a stopped state. The control system controls the AGV (Automated Guided Vehicle) to reach the safety gate. The safety light curtain outside the safety gate senses the arrival of the AGV and transmits the sensing signal to the control system. The control system then controls the opening of the safety gate, allowing the AGV to replace or transport the angle steel hopper. When the AGV exits the safety gate, the safety light curtain senses its departure and transmits the sensing signal to the control system, which then 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 rail, and then the walking rail robot moves according to the next command.

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