Steel bar feeding robot

Abstract

Aiming at the problems of high cost and low efficiency caused by manual feeding of steel bar billets in the prior art, the utility model provides the steel bar feeding robot, which can complete automatic feeding of the steel bar billets, reduces the cost and improves the efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel bar processing, in particular to a steel bar feeding robot. Background Art

[0002] Steel rod is a material widely used in various industrial fields (such as construction) due to its high strength, good toughness and machinability.

[0003] Steel bars need to be loaded before processing. The specific process of loading is as follows:

[0004] 1. Manually find the ends (head end or tail end) of multiple steel bar billets;

[0005] 2. Manually pull out the required end and fix it to the straightening fixture for straightening;

[0006] 3. After the straightening is completed, the ends of the steel bar billets are manually led to the butt welding machine, and finally multiple steel bar billets are welded together head to tail;

[0007] 4. Manually lead the steel bar billets that are welded together end to end into the steel bar processing production line.

[0008] It can be seen that in the prior art, the loading of steel bar billets is done manually, which is costly and inefficient.

[0009] Therefore, in order to reduce costs and improve efficiency, it is necessary to provide a steel bar loading robot. Utility Model Content

[0010] Based on this, in order to solve the above technical problems, a steel bar loading robot is provided.

[0011] The technical solution adopted by the utility model is as follows:

[0012] A steel bar feeding robot, characterized in that it includes a mechanical arm, a fixed plate, a camera, a clamp, an arc welder and a base plate, the mechanical arm is arranged on the front side of the base plate, the back side of the base plate is provided with a walking mechanism for the robot to walk on a corresponding track, the fixed plate is fixed on the mechanical arm, and the camera, clamp and arc welder are all arranged on the fixed plate.

[0013] The steel bar feeding robot provided by the utility model can complete the automatic feeding of steel bar blanks, thereby reducing costs and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is described in detail below with reference to the accompanying drawings and specific embodiments:

[0015] Figure 1 This is a schematic diagram of the structure of the inner line robot of Example 1 of the utility model;

[0016] Figure 2 This is a schematic structural diagram of a fixing plate of an inner line robot according to Embodiment 1 of the present utility model;

[0017] Figure 3 This is a schematic structural diagram of an external line robot according to Embodiment 2 of the present utility model;

[0018] Figure 4 A schematic top view of the application environment of the embodiment of the utility model;

[0019] Figure 5 This is a schematic diagram of a material rack after loading materials according to an embodiment of the utility model;

[0020] Figure 6 It is a schematic structural diagram of a material rack according to an embodiment of the utility model. DETAILED DESCRIPTION

[0021] The following will illustrate the implementation methods of the utility model in conjunction with the drawings in the specification. It should be noted that the implementation methods involved in this specification are not exhaustive and do not represent the only implementation methods of the utility model. The following corresponding embodiments are only for the purpose of clearly illustrating the utility model content of the utility model patent, and are not intended to limit its implementation methods. For ordinary technicians in this field, different forms of changes and modifications can be made on the basis of the description of this embodiment. All obvious changes or modifications that belong to the technical concept and utility model content of the utility model are also within the scope of protection of the utility model.

[0022] Example 1

[0023] The steel bar feeding robot provided in this embodiment is an inner line robot. Figure 1 and Figure 2 As shown, it includes a robotic arm 1410, a fixing plate 1420, a camera 1430, a clamp 1440, an electric shear 1450, an arc welder 1460 and a base plate 1470.

[0024] The robot arm 1410 is a six-degree-of-freedom robot arm, which is arranged on the front side of the base plate 1470. A walking mechanism is provided on the back side of the base plate 1470, so that the inner line robot 1400 can walk on the inner line track 1200. The walking mechanism is an existing mechanism and its structure is not described in detail here.

[0025] The fixing plate 1420 is fixed on the robot arm 1410 .

[0026] like Figure 2 As shown, the first camera 1430 is fixed to the middle of the first fixing plate 1420, the clamp 1440 and the arc welder 1460 are arranged on the left and right sides of the camera 1430, and the clamp 1440 and the electric shears 1450 are arranged in parallel up and down.

[0027] The clamp 1440 is a pneumatic clamp, which is fixed to the fixing plate 1420 via a first mounting frame 1470. The mounting frame 1470 is an L-shaped spring steel plate, which acts as a buffer to prevent it from being broken during operation.

[0028] The electric clipper 1450 is fixed to the fixing plate 1420 via a second mounting bracket 1480 .

[0029] Among them, the second mounting frame 1480 includes an L-shaped spring steel plate 1481, a support plate 1482 and a support column 1483. The L-shaped spring steel plate 1481 is fixed on the fixed plate 1420. The support plate 1482 is parallel to the horizontal plate of the L-shaped spring steel plate 1481 and is fixed to the vertical plate of the L-shaped spring steel plate 1481. The support column 1483 is connected between the support plate 1482 and the horizontal plate.

[0030] Among them, the L-shaped spring steel plate 1481 also plays a buffering role to prevent it from being broken during work.

[0031] The electric shears 1450 include a bidirectional lead screw 1451, a drive motor 1452 and a pair of blades 1453. The bidirectional lead screw 1451 is arranged in the left and right directions, and its two ends are rotatably fixed on the support plate 1482 through bearing seats 1482a respectively. The drive motor 1452 is fixed on the vertical plate of the L-shaped spring steel plate 1481 and is connected to the adjacent lead screw ends. The lower ends of the pair of blades 1453 are respectively hinged to the left and right nut seats 1451a of the bidirectional lead screw 1451. The pair of blades 1453 are hinged through a hinge 1454, and both have cutting edges on the opposite sides of the two.

[0032] Among them, the hinge 1454 includes two hinge plates 1454a and two hinge bolts (not shown in the figure), a pair of blades 1453 are arranged side by side on the left and right, the two hinge plates 1454a are located on the front and back sides of the pair of blades 1453, and the two hinge bolts are arranged on the left and right, and respectively pass through a blade 1453 and are fixed to the two hinge plates 1454a.

[0033] The driving motor 1452 drives the bidirectional screw rod 1451 to rotate, so that the two nut seats 1451a on the bidirectional screw rod 1451 approach or move away from each other, thereby driving the edges of a pair of blades 1453 to approach or move away from each other.

[0034] The arc welder 1460 is fixed to the fixed plate 1420 via a flange seat 1490. The flange seat 1490 includes a supporting flange 1491 and an arc plate 1492. The supporting flange 1491 is fixed to the fixed plate 1420. The arc plate 1492 is fixed to the supporting flange 1491. Its curvature matches the curvature of the circumferential surface of the arc welder 1460, and the two are fixed by bolts.

[0035] Example 2

[0036] The steel bar feeding robot provided in this embodiment is an external line robot, which is different from the internal line robot in that the electric shear is omitted. Figure 3 As shown, it only includes a robotic arm 1510, a fixing plate 1520, a camera 1530, a clamp 1540, an arc welder 1550 and a base plate 1560. For the specific structure, please refer to Example 1.

[0037] The external line robot 1500 can walk on the external line track 1300 through the walking mechanism on the back side of the base plate 1560.

[0038] Among them, a butt welding machine 5 is arranged on the bottom plate 1560 and can move together with the external line robot 1500.

[0039] Figure 4 The application environment of the robot of the present invention is shown, a plurality of material racks 1100 are arranged side by side at intervals, an inner track 1200 in the front-to-back direction is arranged between two adjacent material racks 1100, an outer track 1300 in the left-to-right direction is arranged on the rear side of the plurality of material racks 1100, and a waste recovery belt 4 in the left-to-right direction is arranged between the material racks 1100 and the outer track 1300.

[0040] like Figure 6 As shown, the material rack 1100 has a steel bar billet suspension beam 1110 in the front-to-back direction for suspending the steel bar billet 2. Figure 5 It shows the state of two adjacent material racks 1100 after loading.

[0041] like Figure 6 As shown, the front end of the suspension beam 1110 has a limiting protrusion 1111 in the up and down directions, which is used to limit the steel bar billet roll 2 suspended on the suspension beam 1110, and the rear end of the suspension beam 1110 has a mounting plate 1112, and the mounting plate 1112 is provided with a straightening clamp 3 for straightening and positioning the head end or tail end of the steel bar billet roll 2.

[0042] Among them, the straightening fixture 3 is an existing device, and its structure is not described in detail here.

[0043] like Figure 4 As shown, multiple inner line robots 1400 are respectively arranged on the corresponding inner line tracks 1200, and the outer line robot 1500 is arranged on the outer line track 1300.

[0044] The robot of the embodiment of the present invention is used to complete the loading of steel bars, and the specific loading process is as follows:

[0045] 1. A steel bar billet coil 2 of the same specification is hung on each of the plurality of racks 1100.

[0046] 2. Internal robot 1400 work:

[0047] The camera is used to detect the bundled steel bars on the steel bar blank coil 2 on the corresponding material rack. After the bundled steel bars are detected, the detected bundled steel bars are clamped and cut by clamps and electric shears, and placed on the scrap recycling belt 4. After that, the camera is used to detect the tail end of one of the two adjacent steel bar blank coils 2 on the left and right and the head end of the other steel bar blank coil 2. After the detection is completed, the tail end and the head end are respectively placed in the corresponding straightening fixture 3 by clamps, and the tail end and the head end are respectively polished by an arc welder.

[0048] 3. Outside line robot 1500 work:

[0049] The tail end or head end of the steel bar billet coil 2 in the straightening fixture 3 is detected by a camera, and the detected tail end and head end are clamped in turn by a clamp and sent to the butt welding machine 5 for welding. After the welding is completed, the weld is polished by an arc welder and the welding quality is detected by a camera. The above process is repeated until the head and tail of each steel bar billet coil 2 are welded together in series, and the steel bar billet is clamped by a clamp and sent to a subsequent processing production line.

[0050] In order to improve efficiency, the number of external line robots 1500 can be multiple, and multiple external line robots 1500 work synchronously. According to the above work flow, multiple steel bar billet coils 2 are welded together in series end to end, and sent to the corresponding processing production lines respectively, thereby realizing 1 to 6 (1 external line robot is responsible for the end to end series welding of 6 steel bar billets), 5 to 30, or even 10 to 60.

[0051] In the above process, the camera can use image recognition technology for detection.

[0052] It can be seen from the above that the steel bar feeding robot provided by the embodiment of the utility model can complete the automatic feeding of steel bar blanks, thereby reducing costs and improving efficiency.

[0053] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A steel bar feeding robot, characterized in that: It includes a robotic arm, a fixed plate, a camera, a clamp, an arc welder and a base plate. The robotic arm is arranged on the front side of the base plate. The back side of the base plate is provided with a walking mechanism for the robot to walk on the corresponding track. The fixed plate is fixed on the robotic arm. The camera, the clamp and the arc welder are all arranged on the fixed plate.

2. A steel bar feeding robot according to claim 1, characterized in that: It also includes an electric shear, which is arranged on the fixed plate, and the clamp and the electric shear are arranged in parallel.

3. A steel bar feeding robot according to claim 2, characterized in that: The camera is arranged in the middle of the fixing plate, the clamp and the arc welder are arranged on the left and right sides of the camera, and the clamp and the electric shears are arranged in parallel up and down.

4. A steel bar feeding robot according to claim 3, characterized in that: The clamp is fixed to the fixing plate via a first mounting frame.

5. A steel bar feeding robot according to claim 4, characterized in that: The clamp is a pneumatic clamp, and the first mounting frame is an L-shaped spring steel plate.

6. The steel bar feeding robot according to claim 3, characterized in that: The electric shears are fixed to the fixing plate via a second mounting frame.

7. A steel bar feeding robot according to claim 6, characterized in that: The second mounting frame includes an L-shaped spring steel plate, a support plate and a support column. The L-shaped spring steel plate is fixed on the fixing plate. The support plate is parallel to the horizontal plate of the L-shaped spring steel plate and is fixed to the vertical plate of the L-shaped spring steel plate. The support column is connected between the support plate and the horizontal plate. The electric shears include a bidirectional screw rod, a drive motor and a pair of blades. The bidirectional screw rod is arranged in the left and right directions, and its two ends are rotatably fixed to the support plate through bearing seats respectively. The drive motor is fixed to the vertical plate of the L-shaped spring steel plate and is connected to the adjacent screw rod ends. The lower ends of the pair of blades are respectively hinged to the left and right nut seats of the bidirectional screw rod. The pair of blades are hinged through a hinge, and both opposite sides of the two have cutting edges.

8. The steel bar feeding robot according to claim 7, characterized in that: The hinged part includes two hinged plates and two hinged bolts. The pair of blades are arranged side by side. The two hinged plates are located at the front and rear sides of the pair of blades. The two hinged bolts are arranged left and right, pass through a blade respectively, and are fixed to the two hinged plates.

9. The steel bar feeding robot according to claim 3, characterized in that: The arc welder is fixed to the fixing plate via a flange seat, the flange seat comprises a supporting flange and an arc plate, the supporting flange is fixed to the fixing plate, the arc plate is fixed to the supporting flange, the curvature of the arc plate matches the curvature of the circumference of the arc welder, and the two are fixed by bolts.

10. A steel bar feeding robot according to any one of claims 1 to 9, characterized in that: The mechanical arm is a six-degree-of-freedom mechanical arm.

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