Full-automatic production line for profile steel cutting

Abstract

The utility model provides a profile steel cutting full-automatic production line which comprises a robot profile steel cutting station, a feeding chain plate conveying line and a discharging chain plate conveying line, and the profile steel cutting station comprises a cutting room, a discharging bearing platform, a discharging servo motor, a six-axis industrial robot, a positioning roller, a cutting tool and a waste residue hopper. The feeding chain plate conveying line comprises a driven chain plate, a linear rail, a material pushing trolley and an electric hydraulic clamp. The material pushing trolley moves along the linear rail. The electric hydraulic clamp is fixed on the material pushing trolley and is used for clamping and conveying profile steel; the discharging chain plate conveying line is an electric chain plate conveyor and is in butt joint with the discharging bearing platform. The full-automatic forming machine can realize full-automatic forming from a profile raw material blank to a profile processing part which can be directly used, and is high in efficiency and low in production cost; selective assembly and combination can be carried out according to the actual automation degree requirement, and the investment cost, the automation function and the production efficiency are optimized and balanced.

Description

Technical Field

[0001] The utility model relates to the technical field of section steel cutting based on industrial automation mechanical arms. Background Art

[0002] Steel cutting is a necessary process in the current construction, shipbuilding, marine engineering, heavy machinery and other industries. It is used to cut, open holes, and shape flanges for different standard profiles (such as H-shaped steel, T-shaped steel, angle steel, bulb flat steel, etc.) to form steel structures that meet the size and connection form. The existing steel cutting production mainly relies on manual work, which has low cutting efficiency, large dimensional errors, and occupational hazards. In terms of automation, there are some cold processing machine tools, which have high precision, but low efficiency and huge equipment investment. In the hot processing steel cutting equipment, there are some robot applications, which are basically concentrated in the cutting process. The degree of automation of the supporting work such as feeding, coding, unloading and sorting of steel cutting is low, and manual cooperation is still required; and the forms that can be cut are relatively single, and the isolation protection of the automation equipment is relatively insufficient, and the overall situation is still relatively extensive. Utility Model Content

[0003] The purpose of the utility model is to address the above-mentioned deficiencies in the prior art and to provide a fully automatic production line for steel section cutting, which can achieve full automation of the entire process of steel section cutting, coding, loading and unloading, etc. with the required accuracy and low cost, thereby improving production efficiency and reducing manual occupational injuries.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A fully automatic production line for steel cutting, including a robot steel cutting station, a loading chain plate conveyor line and a unloading chain plate conveyor line.

[0006] The steel section cutting station comprises a cutting room, a discharging bearing platform, a discharging servo motor, a six-axis industrial robot, a positioning roller, a cutting tool and a waste slag hopper. The cutting room is provided with an inlet and outlet for incoming materials, and is a closed space connected to an external dust removal pipeline; the discharging bearing platform is initially provided at the discharging port of the cutting room and is driven by a discharging servo motor; the six-axis industrial robot is provided in the cutting room, and the cutting tool is provided on the working axis at the end of the six-axis industrial robot; the positioning roller is provided in the cutting room, and is used for mechanically limiting the steel section entering the cutting room; the waste slag hopper is provided at the bottom of the cutting room, and is used for collecting waste slag;

[0007] The feeding chain plate conveyor line includes a driven chain plate, a linear rail, a material pusher and an electric hydraulic clamp. The end of the driven chain plate is arranged at the entrance of the cutting room, the linear rail is arranged on the inner side of the driven chain plate, and the material pusher moves along the linear rail. The electric hydraulic clamp is fixed on the material pusher and is used to clamp and transport the steel.

[0008] The unloading chain plate conveyor line is an electric chain plate conveyor, which is connected to the unloading bearing platform.

[0009] Furthermore, the positioning rollers include vertical positioning rollers, transverse positioning rollers and supporting rollers. The vertical positioning rollers are transversely arranged above the incoming materials and move up and down; there are multiple transverse positioning rollers, which are vertically arranged on both sides of the incoming materials, and at least one transverse positioning roller moves left and right; the supporting rollers include driven rollers arranged transversely at the incoming material inlet and active rollers arranged at the incoming material outlet. The positioning rollers not only mechanically limit the steel sections entering the cutting room, but also can be set with a measuring function. The active rollers in the positioning rollers are electrically driven and can be used to measure the spatial size deformation of the profile and position the material when clamped. Before each cutting, the actual size of the profile will be measured and fed back to the control device and compared with the theoretical value. The arrangement of the material can also be checked to see if it is in the eccentric position of the cutting room. If eccentricity occurs, it usually indicates that the profile is bowed or bent.

[0010] The steel section cutting station may further be provided with a visual camera, which is arranged on the end working axis of the six-axis industrial robot and is used for accurate deformation measurement of the profile.

[0011] Furthermore, the six-axis industrial robot also comprises one or two transverse external axes for large-scale movement of the robot in the cutting room.

[0012] Furthermore, the driven chain plate includes multiple load-bearing chain plates, rollers, a first coupling and a coding sensor, and the coding sensor is used to detect whether the load-bearing chain plate moves at the same speed as the pushing trolley; if not, the pushing trolley stops moving to avoid jamming of the front end of the profile.

[0013] Furthermore, the discharging servo motor, the drive of the material pushing trolley, the motor of the electric hydraulic clamp and the servo motor of the unloading chain conveyor line are linked with the six-axis industrial robot.

[0014] The above-mentioned fully automatic production line for cutting steel sections further includes a loading buffer line and a unloading buffer line. The loading buffer line is parallel and adjacent to the loading chain plate conveyor line, and the unloading buffer line is parallel and adjacent to the unloading chain plate conveyor line, providing continuous loading and unloading functions. The loading buffer line and the unloading buffer line have the same structure and opposite conveying directions, and are used for loading and unloading and caching of profiles. Furthermore, the unloading buffer line includes multiple side-by-side chain belts, multiple auxiliary support slide bars, a second coupling and a variable frequency motor. All of the chain belts are connected through the second coupling and are uniformly driven by the variable frequency motor.

[0015] The above-mentioned fully automatic production line for cutting steel sections further includes a coding system, which is arranged above the material loading buffer line and is used for coding information such as part numbers, segment numbers, and workpieces. The coding system includes an aerial guide rail, a walking robot, and a coding machine. The span of the aerial guide rail matches the width of the material loading buffer line. The walking robot moves along the aerial guide rail, and the coding machine is arranged on the end working axis of the walking robot.

[0016] The above-mentioned fully automatic production line for cutting steel sections further includes a pushing mechanism, which is arranged on one side of the discharging bearing platform and is used to push the short materials out.

[0017] The above-mentioned fully automatic production line for steel section cutting further includes a conveyor chain and an automatic crane. The conveyor chain is respectively arranged on one side of the loading buffer line and / or the unloading buffer line, and the automatic crane is respectively arranged above the loading buffer line and the conveyor chain and above the unloading buffer line and the conveyor chain, and then connected to the vertical warehouse or other AGVs to realize the full process automation starting from loading the vertical warehouse.

[0018] Furthermore, the above-mentioned fully automatic production line for cutting steel sections can be set up symmetrically to realize the sharing of the conveyor chain and the automatic crane, thus saving equipment costs and production space.

[0019] Beneficial effects of the utility model:

[0020] The fully automatic production line for steel section cutting provided by the utility model can realize fully automatic forming from profile raw material blanks to directly usable profile processed parts, with high efficiency and low production cost; it can also be selected and combined according to actual automation requirements, to optimize and balance investment cost, automation function and production efficiency.

[0021] The utility model of the fully automatic production line for cutting section steel can be optionally equipped with multiple positioning or detection sensors to compensate and detect the deviation of the section steel raw materials after straightening, thereby improving the quality of the finished products discharged.

[0022] The following is an example of the specific implementation of the present invention in conjunction with the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall configuration of a fully automatic production line for cutting steel sections provided in an embodiment of the utility model.

[0024] Figure 2 A schematic diagram of the window opening of a cutting station of a fully automatic production line for cutting steel sections provided in an embodiment of the utility model.

[0025] Figure 3 A schematic diagram of the internal configuration of a cutting station of a fully automatic production line for cutting steel sections provided in an embodiment of the utility model.

[0026] Figure 4 A schematic diagram of the internal positioning roller structure of a cutting station of a fully automatic production line for cutting steel sections provided in an embodiment of the utility model.

[0027] Figure 5 A schematic diagram of the structure of a loading chain conveyor line for a fully automatic production line for cutting steel sections provided in an embodiment of the utility model.

[0028] Figure 6 A schematic diagram of the structure of a chain plate conveyor line for unloading steel of a fully automatic production line for cutting steel sections provided in an embodiment of the utility model.

[0029] Figure 7 This is a schematic diagram of the structure of the coding system of the fully automatic production line for section steel cutting provided in an embodiment of the utility model.

[0030] Figure 8 A schematic diagram of the conveyor chain and automatic crane structure of a fully automatic production line for section steel cutting provided in an embodiment of the utility model.

[0031] Fig. 9 This is a schematic diagram of symmetrically arranging two fully automatic production lines for cutting steel sections provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0032] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0033] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0034] refer to Figure 1-3The fully automatic production line for cutting steel provided in this embodiment includes a robot steel cutting station 1, a loading chain plate conveyor line 2 and a unloading chain plate conveyor line 3. The steel cutting station 1 includes a cutting room 101, a discharging bearing platform 102, a discharging servo motor 103, a six-axis industrial robot 104, a positioning roller 105, a cutting tool 106 and a waste slag hopper 108. The cutting room 101 is provided with an inlet and outlet for incoming materials, which is a closed space and is connected to an external dust removal pipeline; the discharging bearing platform 102 is initially arranged at the discharging port of the cutting room 101 and is driven by the discharging servo motor 103; the six-axis industrial robot 104 is arranged in the cutting room 101, and the cutting tool 106 is arranged at the end working axis of the six-axis industrial robot 104 On; the positioning roller 105 is arranged in the cutting room 101, and is used for mechanically limiting the steel section entering the cutting room 101; the waste slag hopper 108 is arranged at the bottom of the cutting room 101, and is used for collecting waste slag; the loading chain plate conveyor line 2 includes a driven chain plate 201, a linear rail 202, a pusher trolley 203 and an electric hydraulic clamp 204, the end of the driven chain plate 201 is arranged at the entrance of the cutting room 101, the linear rail 202 is arranged on the inner side of the driven chain plate 201, and the pusher trolley 203 moves along the linear rail 202; the electric hydraulic clamp 204 is fixed on the pusher trolley 203, and is used for clamping and conveying the steel section; the unloading chain plate conveyor line 3 is an electric chain plate conveyor, which is connected to the discharge bearing platform 102.

[0035] The cutting room 101 can be constructed using profiles, and is enclosed by panels and openable doors to form a closed space, so that the cutting smoke is enclosed in the room and connected to an external dust removal pipeline. At the same time, the cutting room 101 can also serve as a protective device to protect objects outside the cutting room.

[0036] The material discharging platform 102 can be composed of multiple metal chain plates (e.g., a chain plate with a width of 10 cm and a length of generally less than 9 meters), and driven by the material discharging servo motor 103. The material discharging platform is linked with the material pushing trolley 2 at the end of the cutting process to realize the carrying of the cut material during the cutting process; at the same time, after the cutting is completed, it is used as a material discharging platform to transport the cut material.

[0037] The cutting tool 106 may be a plasma cutting torch, a laser cutting torch or a flame cutting torch. Preferably, a visual camera 107 may be provided at the end of the six-axis industrial robot. The visual camera may be a point laser, a line laser or a planar structured light for accurate deformation measurement of the profile.

[0038] The waste slag hopper 108 is welded by a metal frame and a plate, and can be connected to the cutting room 101 through a slide rail, and is mainly used to collect waste slag cut out by cutting steel sections.

[0039] refer to Figure 4, one of the preferred solutions, the positioning roller 105 includes a vertical positioning roller 105a, a horizontal positioning roller 105b and a support roller 105c. The vertical positioning roller 105a is horizontally arranged above the incoming material and moves up and down; there are multiple horizontal positioning rollers 105b, which are vertically arranged on both sides of the incoming material, and at least one of the horizontal positioning rollers 105b moves left and right; the support roller 105c includes a driven roller horizontally arranged at the incoming material inlet and an active roller arranged at the incoming material outlet. The positioning roller 105 not only mechanically limits the steel section entering the cutting room 101, but also can be set with a measuring function. The active roller in the positioning roller 105 is electrically driven and can be used to measure the spatial size deformation of the profile and position the material when clamping. Before each cutting, the actual size of the profile will be measured and fed back to the control device and compared with the theoretical value. The arrangement of the material can also be checked to see if it is in an eccentric position in the cutting room. If eccentricity occurs, it usually indicates that the profile is bowed or bent. These measuring rollers operate independently, allowing hydraulic clamps to enter the cutting station to ensure the final positioning accuracy.

[0040] The six-axis industrial robot 104 may be further configured with one or two transverse external axes for large-scale movement of the robot in the cutting room.

[0041] refer to Figure 5 This embodiment further provides a driven chain plate 201, including a plurality of bearing chain plates 201a, a roller and a first coupling 201b and a coding sensor 201c, wherein the coding sensor 201c is used to detect whether the bearing chain plate 201a moves at the same speed as the pusher trolley 203; if not, the pusher trolley stops moving to avoid the front end of the profile being stuck. The size of the bearing chain plate is designed according to the required feeding length, generally 9-21 meters long and 800-1500 mm high.

[0042] The discharging servo motor 103 , the drive of the material pushing trolley 203 , the motor of the electric hydraulic clamp 204 and the servo motor of the unloading chain conveyor line 3 are linked with the six-axis industrial robot 104 .

[0043] The clamping jaws of the electric hydraulic clamp 204 can rotate around the bearing slide and open and close under hydraulic drive, with an opening and closing angle of 0-30°. There is a clamping locking mechanism at the end, and its pressure detection device triggers the motor to stop after contacting the material. After the pusher trolley moves forward a fixed distance, the clamping jaws of the hydraulic clamp and itself close to clamp the profile.

[0044] like Figure 1 As shown, this embodiment provides a loading buffer line and a unloading buffer line. The loading buffer line is parallel and adjacent to the loading chain plate conveyor line 2, and the unloading buffer line is parallel and adjacent to the unloading chain plate conveyor line 3, providing continuous loading and unloading functions. The loading buffer line and the unloading buffer line have the same structure and opposite conveying directions, and are used for loading and unloading and caching of profiles. Figure 6The unloading buffer line 4 includes a plurality of parallel chain belts 401, a plurality of auxiliary support slide bars 402, a second coupling 403 and a variable frequency motor 404. All of the chain belts 401 are connected through the second coupling 403 and are uniformly driven by the variable frequency motor 404.

[0045] The chain belt 401 is in the form of a chain row, and the number is generally 4-8, which varies according to the actual length of loading and unloading materials. The chain belt conveying speed: 0-10m / min infinitely adjustable. The auxiliary support slide bar 402 is used to carry shorter materials to prevent them from falling.

[0046] like Figure 1 As shown, the fully automatic production line for cutting steel sections can also be provided with a coding system 5, which is arranged above the feeding buffer line and is used for coding and marking information such as part numbers, segment numbers, and workpieces. Figure 7 The inkjet printer 5 of this embodiment includes an aerial guide rail 501, a walking robot 502 and an inkjet printer 503. The span of the aerial guide rail 501 matches the width of the loading buffer line. The walking robot 502 moves along the aerial guide rail 501, and the inkjet printer 503 is arranged on the end working axis of the walking robot 502.

[0047] After the profile is placed on the loading buffer line, it is transported forward, and then assisted by a visual laser sensor to determine the starting position, guiding the walking robot to spray code. The inkjet printer 503 uses a high-resolution nozzle to quickly print information such as parts, which can be inkjet or laser coding. Coding height: 5-10mm, characters or QR codes can be coded, size: ≤100*100mm, and the starting point position and web plane of the profile are automatically detected by a laser sensor. Preferably, the walking robot 502 has a repeatability positioning accuracy of ±0.02mm; coding position accuracy: ±5mm. The coding position is subject to actual production needs. The span of the aerial guide rail 501 is determined according to the width of the loading buffer line, generally 10-25 meters, covering the coding range of the entire profile.

[0048] like Figure 1 As shown, the fully automatic production line for cutting steel sections may further be provided with a pushing mechanism 6, which is located on one side of the discharging platform 102 and is used to push the short material out.

[0049] like Figure 1 As shown, the fully automatic production line for cutting steel sections may further be provided with a conveyor chain 7 and an automatic crane 8, wherein the conveyor chain 7 is respectively arranged on one side of the loading buffer line and / or the unloading buffer line. Figure 8 The automatic crane 8 is respectively arranged above the loading buffer line and the conveyor chain 7 and above the unloading buffer line and the conveyor chain 7, and then connected with the vertical warehouse or other AGV to realize the automation of the whole process starting from loading the vertical warehouse.

[0050] refer to Fig. 9The fully automatic production line for cutting steel sections of this patent can be symmetrically arranged to realize the sharing of the conveyor chain 7 and the automatic crane 8, thus saving equipment costs and production space.

[0051] The above is an example of the preferred implementation of the utility model, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the utility model. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A fully automatic production line for cutting steel sections, characterized by: It comprises a robot steel cutting station (1), a loading chain plate conveyor line (2) and a unloading chain plate conveyor line (3). The steel section cutting station (1) comprises a cutting room (101), a material discharging support platform (102), a material discharging servo motor (103), a six-axis industrial robot (104), a positioning roller (105), a cutting tool (106) and a waste slag hopper (108). The cutting room (101) is provided with a material inlet and outlet, and is a closable space connected to an external dust removal pipeline; the material discharging support platform (102) is initially arranged at the material discharging port of the cutting room (101) and is driven by the material discharging servo motor (103); the six-axis industrial robot (104) is arranged in the cutting room (101), and the cutting tool (106) is arranged on the end working shaft of the six-axis industrial robot (104); the positioning roller (105) is arranged in the cutting room (101) and is used for mechanically limiting the steel section entering the cutting room (101); the waste slag hopper (108) is arranged at the bottom of the cutting room (101); The feeding chain plate conveyor line (2) comprises a driven chain plate (201), a linear rail (202), a material pusher trolley (203) and an electric hydraulic clamp (204); the end of the driven chain plate (201) is arranged at the entrance of the cutting room (101); the linear rail (202) is arranged on the inner side of the driven chain plate (201); the material pusher trolley (203) moves along the linear rail (202); the electric hydraulic clamp (204) is fixed on the material pusher trolley (203) and is used for clamping and conveying the steel; The unloading chain plate conveyor line (3) is an electric chain plate conveyor, which is connected to the unloading bearing platform (102).

2. The fully automatic production line for cutting section steel as claimed in claim 1, characterized in that: The positioning rollers (105) include a vertical positioning roller (105a), a transverse positioning roller (105b) and a supporting roller (105c). The vertical positioning roller (105a) is transversely arranged above the incoming material and moves up and down; there are multiple transverse positioning rollers (105b), which are vertically arranged on both sides of the incoming material, and at least one of the transverse positioning rollers (105b) moves left and right; the supporting rollers (105c) include a driven roller transversely arranged at the incoming material inlet and an active roller arranged at the incoming material outlet.

3. The fully automatic production line for cutting section steel as claimed in claim 2, characterized in that: The active roller in the positioning roller (105) is electrically driven and is used to measure the spatial dimension deformation of the profile and the positioning of the material when clamping.

4. The fully automatic production line for cutting section steel as claimed in claim 1, characterized in that: It also includes a visual camera (107), which is arranged on the end working axis of the six-axis industrial robot (104) and is used for accurate deformation measurement of the profile.

5. The fully automatic production line for cutting section steel as claimed in claim 1, characterized in that: The six-axis industrial robot (104) further comprises one or two transverse external axes.

6. The fully automatic production line for cutting section steel as claimed in claim 1, characterized in that: The driven chain plate (201) comprises a plurality of load-bearing chain plates (201a), a roller and a first coupling (201b) and a coding sensor (201c), wherein the coding sensor (201c) is used to detect whether the load-bearing chain plates (201a) move at the same speed as the pusher trolley (203).

7. The fully automatic production line for cutting section steel as claimed in claim 1, characterized in that: The discharging servo motor (103), the drive of the material pushing trolley (203), the motor of the electric hydraulic clamp (204) and the servo motor of the unloading chain conveyor line (3) are all linked to the six-axis industrial robot (104).

8. The fully automatic production line for cutting section steel as described in any one of claims 1 to 7, characterized in that: It also includes a loading buffer line and a unloading buffer line, wherein the loading buffer line is parallel and adjacent to the loading chain plate conveyor line (2), and the unloading buffer line is parallel and adjacent to the unloading chain plate conveyor line (3).

9. The fully automatic production line for cutting section steel as claimed in claim 8, characterized in that: The loading and unloading buffer lines have the same structure and opposite conveying directions, and are used for loading and unloading and caching of profiles; the unloading buffer line (4) comprises a plurality of parallel chain belts (401), a plurality of auxiliary support slide bars (402), a second coupling (403) and a variable frequency motor (404); all of the chain belts (401) are connected via the second coupling (403) and are uniformly driven by the variable frequency motor (404).

10. The fully automatic production line for cutting section steel as claimed in claim 8, characterized in that: The invention also comprises a coding system (5) which is arranged above the material loading buffer line; the coding system (5) comprises an aerial guide rail (501), a walking robot (502) and a coding machine (503); the span of the aerial guide rail (501) matches the width of the material loading buffer line; the walking robot (502) moves along the aerial guide rail (501); and the coding machine (503) is arranged on the end working axis of the walking robot (502).

11. The fully automatic production line for cutting section steel according to any one of claims 1 to 7, characterized in that: It also includes a material pushing mechanism (6) which is arranged on one side of the material discharging support platform (102) and is used to push the short material out.

12. The fully automatic production line for cutting section steel as claimed in claim 8, characterized in that: It also includes a conveyor chain (7) and an automatic crane (8), wherein the conveyor chain (7) is respectively arranged on one side of a loading buffer line and / or a unloading buffer line, and the automatic crane (8) is respectively arranged above the loading buffer line and the conveyor chain (7) and / or above the unloading buffer line and the conveyor chain (7), and then connected to the vertical warehouse or AGV.

13. The fully automatic production line for cutting section steel as claimed in claim 12, characterized in that: The fully automatic production line for cutting section steel is symmetrically arranged and is provided with a set of conveyor chains (7) and an automatic crane (8).

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