Grinding robot system of bar finishing line

Abstract

The utility model discloses a coping robot system for a bar finishing line. The coping robot system comprises a feeding assembly and a grinding assembly, a discharging assembly; the stepping flat supporting device is arranged between the feeding assembly and the discharging assembly, the stepping flat supporting device comprises at least two contra-rotating roller ways, the contra-rotating roller ways are arranged in the first direction at intervals and extend in the second direction, the feeding assembly is used for feeding bars to the contra-rotating roller ways, the contra-rotating roller ways are used for rotating the bars, and the discharging assembly is used for discharging the bars. The at least two contra-rotating roller ways are used for discharging the bars to the discharging assembly; and the grinding robot is arranged on one side of the stepping flat supporting device, and the movement range of the grinding robot covers the at least two contra-rotating roller ways. By arranging the at least two contra-rotating roller ways, the coping robot does not need to wait for the process of feeding the bars and transferring the bars to the defect positions, coping can be continuously conducted, and therefore the operation waiting time is shortened, and the coping operation rate of the coping robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing technology in metallurgy, and in particular to a grinding robot system for a bar finishing line. Background Technology

[0002] Bar finishing refers to the subsequent processing and surface treatment of metal bars to improve their surface quality, dimensional accuracy, and mechanical properties. Before finishing, bar finishing requires flaw detection to identify potential defects inside the material or on its surface. Based on the analysis of the detection results, a grinding robot is used to repair or treat these defects.

[0003] In related technologies, grinding robots process defects in bar stock on single-station rotary conveyors. The bar stock is transported by lifting the input roller conveyor, and after the input roller conveyor descends, the rotary conveyor rotates the bar stock to the defect position, whereupon the grinding robot performs the grinding operation.

[0004] However, after each single-station rotation roller conveyor finishes processing the bars, the grinding robot has to wait for the bars to be conveyed and rotated to the defect position, resulting in a low operating rate. Utility Model Content

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a grinding robot system for a bar finishing line. By setting at least two counter-rotating roller conveyors, the grinding robot eliminates the need to wait for bar loading and transfer the bar to the defect location, thereby improving the grinding robot's grinding operation rate.

[0006] A bar finishing line grinding robot system according to an embodiment of the present invention includes: a feeding assembly; a discharging assembly; a stepping flat support device, wherein the stepping flat support device is disposed between the feeding assembly and the discharging assembly, the stepping flat support device includes at least two counter-rotating roller conveyors, the at least two counter-rotating roller conveyors are spaced apart in a first direction and extend in a second direction, the feeding assembly is used to feed bars to the counter-rotating roller conveyors, the at least two counter-rotating roller conveyors are used to rotate the bars, and the at least two counter-rotating roller conveyors are used to discharge the bars to the discharging assembly; and a grinding robot, wherein the grinding robot is disposed on one side of the stepping flat support device and the range of motion of the grinding robot covers at least two of the counter-rotating roller conveyors.

[0007] According to the embodiment of the present invention, the grinding robot system of the bar finishing line, by setting at least two counter-rotating roller conveyors, eliminates the need for the grinding robot to wait for bar loading and transfer the bar to the defect position, and can perform grinding continuously, thereby reducing the operation waiting time and improving the grinding operation rate of the grinding robot.

[0008] According to some embodiments of the present invention, the stepping flat support device further includes: an input roller conveyor extending in a second direction, wherein the feeding assembly is used to feed the bar stock onto the input roller conveyor; an output roller conveyor extending in a second direction, wherein the input roller conveyor, the output roller conveyor, and at least two counter-rotating roller conveyors are spaced apart in a first direction, wherein the output roller conveyor is used to unload the bar stock onto the unloading assembly; and a plurality of roller conveyor frames spaced apart in a second direction, wherein the input roller conveyor, the output roller conveyor, and at least two counter-rotating roller conveyors are disposed on the plurality of roller conveyor frames.

[0009] According to some embodiments of the present invention, the stepping flat support device further includes: a plurality of rotating members, the plurality of rotating members being disposed on a plurality of roller conveyor frames, and the plurality of rotating members rotating between the input roller conveyor, the output roller conveyor and at least two opposing roller conveyors.

[0010] According to some embodiments of the present invention, the stepping flat support device further includes: a transmission assembly, which is disposed on both sides of the stepping flat support device, and the transmission assembly is connected to at least two of the opposing rotating roller conveyors.

[0011] According to some embodiments of the present invention, the grinding robot system further includes: a visual recognition device, which is disposed at one end of the stepping flat support device, and the visual recognition device includes at least two recognition cameras, which move according to the positions of at least two of the opposing roller conveyors.

[0012] According to some embodiments of the present invention, the feeding assembly includes: a first feeding roller conveyor and a second feeding roller conveyor, the first feeding roller conveyor and the second feeding roller conveyor being spaced apart in a first direction and extending in a second direction, the second feeding roller conveyor being used to feed the bar to the input roller conveyor; and the unloading assembly includes: a first unloading roller conveyor and a second unloading roller conveyor, the first unloading roller conveyor and the second unloading roller conveyor being spaced apart in a first direction and extending in a second direction, the second unloading roller conveyor being used to unload the bar from the output roller conveyor.

[0013] According to some embodiments of the present invention, the feeding assembly further includes: a plurality of feeding platforms, which are spaced apart in a second direction and disposed between the first feeding roller conveyor and the second feeding roller conveyor; and the unloading assembly further includes: a plurality of unloading platforms, which are spaced apart in a second direction and disposed between the first unloading roller conveyor and a portion of the second unloading roller conveyor.

[0014] According to some embodiments of the present invention, the grinding robot system further includes: multiple sets of material feeding components, which are arranged on both sides of the multiple loading platforms and the multiple unloading platforms in a second direction.

[0015] According to some embodiments of the present invention, the grinding robot system of the bar finishing line further includes: at least one set of adjusting components, the at least one set of adjusting components being disposed on the side of the feeding platform facing the second feeding roller conveyor, and the at least one set of adjusting components being spaced apart from the at least one set of feeding components.

[0016] According to some embodiments of the present invention, the grinding robot system further includes: at least two sets of material blocking components, wherein the at least two sets of material blocking components are respectively disposed on the loading platform and the unloading platform.

[0017] The beneficial effects of this embodiment are as follows: by setting at least two counter-rotating roller conveyors, the grinding robot does not need to wait for the bar to be fed and the bar to be moved to the defect position, and can perform grinding continuously, thereby reducing the waiting time and improving the grinding operation rate of the grinding robot.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0020] Figure 1 This is a schematic diagram of the structure of the grinding robot system according to an embodiment of the present utility model;

[0021] Figure 2 This is a schematic diagram of the stepping flat support device and the grinding robot according to an embodiment of the present utility model;

[0022] Figure 3 This is a partial schematic diagram of the stepping flat support device according to an embodiment of the present utility model;

[0023] Figure 4 This is a structural schematic diagram of the feeding assembly according to an embodiment of the present utility model;

[0024] Figure 5 yes Figure 4 Partial schematic diagram A;

[0025] Figure 6 This is a schematic diagram of the structure of the feeding assembly according to an embodiment of the present utility model;

[0026] Figure 7 yes Figure 6Partial schematic diagram B.

[0027] Figure label:

[0028] 100. Grinding robot system;

[0029] 10. Feeding assembly; 11. First feeding roller conveyor; 12. Second feeding roller conveyor; 13. Feeding platform;

[0030] 20. Feeding assembly; 21. First feeding roller conveyor; 22. Second feeding roller conveyor; 23. Feeding platform;

[0031] 30. Stepping flat support device; 31. Counter-rotating roller conveyor; 32. Input roller conveyor; 33. Output roller conveyor; 34. Roller conveyor frame; 35. Rotating component; 351. Fixing part; 352. Rotating part; 353. Supporting part;

[0032] 41. Grinding robot; 42. Material feeding component; 43. Adjusting component; 44. Material blocking component; 45. Bar stock. Detailed Implementation

[0033] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0034] The following is for reference. Figures 1-7 Description of a grinding robot system 100 for a bar 45 finishing line according to an embodiment of the present invention.

[0035] Reference Figures 1-7 As shown, the grinding robot system 100 of the bar 45 finishing line of this utility model includes: a feeding component 10, a discharging component 20, a stepping flat support device 30, and a grinding robot 41.

[0036] Both the feeding assembly 10 and the unloading assembly 20 are used to convey the bar stock 45. The stepping flat support device 30 is set between the feeding assembly 10 and the unloading assembly 20. The feeding assembly 10 can convey the bar stock 45 after flaw detection to the stepping flat support device 30. The grinding robot 41 is set on one side of the stepping flat support device 30. After the grinding robot 41 finishes grinding the bar stock 45 conveyed to the stepping flat support device 30, the bar stock 45 is conveyed from the stepping flat support device 30 to the unloading assembly 20. The unloading assembly 20 can buffer the bar stock 45 and wait for other systems cooperating with the grinding robot 41 to issue a re-inspection command to convey the bar stock 45 to the flaw detection equipment for re-inspection. This process can be repeated until the bar stock 45 meets the quality requirements.

[0037] The stepping flat support device 30 includes at least two counter-rotating roller conveyors 31, which are spaced apart in a first direction and extend in a second direction. The first direction can be the width direction of the grinding robot system 100, and the second direction can be the length direction of the grinding robot system 100. The feeding assembly 10 is used to feed the bar stock 45 to the counter-rotating roller conveyors 31, the at least two counter-rotating roller conveyors 31 are used to rotate the bar stock 45, and the at least two counter-rotating roller conveyors 31 are used to unload the bar stock 45 to the unloading assembly 20. In other words, the feeding component 10 conveys the flaw-inspected bar 45 to the counter-rotating roller conveyor 31. The counter-rotating roller conveyor 31 can adjust the position of the bar 45 so that the grinding robot 41 can grind the defects on the bar 45. The flaw-inspected bar 45 is then conveyed to the unloading component 20. The unloading component 20 can buffer the bar 45 and wait for other systems cooperating with the grinding robot 41 to issue a re-inspection command to convey the bar 45 to the flaw detection equipment for re-inspection. This process can be repeated until the bar 45 meets the quality requirements.

[0038] It should be noted that the counter-rotating roller conveyor 31 consists of two rows of rollers that rotate relative to each other in the length direction. In the counter-rotating roller conveyor 31, the two rows of rollers rotate relative to each other in opposite directions. The rod 45 is placed between the two rows of rollers. When the rod 45 comes into contact with the rollers on both sides, the surface of the rollers pushes the rod 45 forward through friction. Since the rollers rotate relative to each other, the frictional forces applied by the rollers on both sides to the rod 45 are in different directions, which can simultaneously apply a torsional force to the rod 45, causing the rod 45 to rotate around its own axis.

[0039] Therefore, the rotation speed and stability of the bar 45 can be adjusted by changing the rotation speed, diameter, surface friction coefficient of the rollers, and the relative angle between the two rows of rollers, so as to process more types of bar 45.

[0040] The grinding robot 41 has an operating range that covers at least two counter-rotating roller conveyors 31. Specifically, there can be two counter-rotating roller conveyors 31, and the grinding robot 41 can cover the operating range of the two counter-rotating roller conveyors 31. Two bars 45 can be placed on the two counter-rotating roller conveyors 31. When the grinding robot 41 is processing one bar 45, the other counter-rotating roller conveyor 31 can rotate the bar 45 so that the defect is rotated to a direction that is easy for the grinding robot 41 to process. After processing one bar 45, the bar 45 is conveyed to the unloading component 20, and the bar 45 with the defect found can be transferred to the original counter-rotating roller conveyor 31 of the first bar 45. The grinding robot 41 continues to work on the bar 45, and the loading component 10 conveys another bar 45 to the counter-rotating roller conveyor 31, and so on.

[0041] In this way, the grinding robot 41 does not need to wait for the bar 45 to be fed and the bar 45 to be moved to the defect position during the grinding process. It can perform grinding continuously, thereby reducing the waiting time and improving the grinding operation rate of the grinding robot 41. The efficiency is increased by more than 50% throughout the entire grinding cycle.

[0042] Moreover, the two opposing roller conveyors 31 extend in the length direction and are side by side in the width direction. The distance between them is relatively small, and the grinding robot 41 moves less distance when replacing the bar 45 for grinding, which improves the integration of the equipment, saves operation time, and reduces the difficulty of operation.

[0043] Since most of the grinding robots 41 grind the bar 45 from above the rotating roller conveyor 31, the rotating roller conveyor 31 can rotate the defect to the radial 12 o'clock direction of the bar 45.

[0044] Furthermore, there can be three or more counter-rotating roller conveyors 31, and the grinding robot 41 can work continuously on multiple counter-rotating roller conveyors 31 side by side, thereby improving the work efficiency.

[0045] Therefore, by setting at least two counter-rotating roller conveyors 31, the grinding robot 41 does not need to wait for the bar 45 to be fed and the bar 45 to be moved to the defect position, and can perform grinding continuously, thereby reducing the waiting time and improving the grinding operation rate of the grinding robot 41.

[0046] Reference Figures 1-7 As shown, the stepping flat support device 30 also includes: an input roller conveyor 32, an output roller conveyor 33, and multiple roller conveyor frames 34.

[0047] The input roller conveyor 32 and the output roller conveyor 33 extend in the second direction, and multiple roller conveyor frames 34 are spaced apart in the second direction. That is, the input roller conveyor 32 and the output roller conveyor 33 extend in the length direction of the grinding robot system 100, and multiple roller conveyor frames 34 are spaced apart in the length direction of the grinding robot system 100. The input roller conveyor 32, the output roller conveyor 33 and at least two counter-rotating roller conveyors 31 are arranged on the multiple roller conveyor frames 34. The roller conveyor frames 34 are used to fix and support the input roller conveyor 32, the output roller conveyor 33 and the counter-rotating roller conveyor 31, so that the height of the bar 45 is in a suitable position, and the stability of the system can also be improved.

[0048] In this embodiment, there can be eight roller conveyor frames 34.

[0049] An input roller conveyor 32, an output roller conveyor 33, and at least two counter-rotating roller conveyors 31 are spaced apart in a first direction. The input roller conveyor 32, the output roller conveyor 33, and the counter-rotating roller conveyors 31 are arranged side by side in the width direction of the grinding robot system 100 to facilitate the movement of the bar 45 among the three. Specifically, the feeding assembly 10 feeds the bar 45 to the input roller conveyor 32, the input roller conveyor 32 conveys the bar 45 to the counter-rotating roller conveyor 31, and after the grinding robot 41 has finished its work, the counter-rotating roller conveyor 31 conveys the bar 45 to the output roller conveyor 33, which can unload the bar 45 to the unloading assembly 20.

[0050] The input roller conveyor 32 and the output roller conveyor 33 can be equipped with V-shaped rollers. When the rollers rotate, the bar 45 will move forward steadily along the groove of the V-shaped roller. The V-shaped roller can effectively prevent the bar 45 from shifting left and right, ensuring that the bar 45 remains stable during the conveying process.

[0051] Reference Figures 1-7 As shown, the stepping flat support device 30 also includes: a plurality of rotating parts 35, which are disposed on a plurality of roller conveyor frames 34, and rotate between the input roller conveyor 32, the output roller conveyor 33, and at least two opposing roller conveyors 31. Each rotating part 35 includes: a fixed part 351 and a rotating part 352. The fixed part 351 is fixed to one side of the roller conveyor frame 34, and one end of the rotating part 352 is fixed to the fixed part 351 and rotates around a fixed axis. The rotating part 352 is also provided with a plurality of support parts 353 for placing and transferring the bar 45.

[0052] Specifically, the feeding assembly 10 conveys the bar 45 to the input roller conveyor 32. The rotating part 352 has a height change when it rotates. When the rotating part 352 rotates to the input roller conveyor 32 and is higher than the input roller conveyor 32, it can lift the bar 45 on the input roller conveyor 32 and transfer it to the support part 353. When the rotating part 352 rotates to the counter-rotating roller conveyor 31 and the height continues to decrease, the bar 45 is placed on the counter-rotating roller conveyor 31. In this way, the rotating part 352 can transfer the bar 45 from the input roller conveyor 32 to the counter-rotating roller conveyor 31 and the output roller conveyor 33 by rotating.

[0053] The rotating component 35 enables the bar 45 to move quickly between the input roller conveyor 32, the counter-rotating roller conveyor 31, and the output roller conveyor 33. There is no need to lift and rotate the input roller to transport the bar 45 to the counter-rotating roller conveyor 31. By setting the rotating component 35, the bar 45 does not need to be lifted by the input roller conveyor 32 when it is transferred. More bars 45 can be placed on the counter-rotating roller conveyor 31, thereby reducing the waiting time of the grinding robot 41.

[0054] Furthermore, the stepping flat support device 30 also includes a transmission assembly, which is disposed on both sides of the stepping flat support device 30 and is connected to at least two opposing rotating roller conveyors 31. The transmission assembly includes a transmission part and a gear part. The transmission part can be a transmission rod disposed on both sides of the roller conveyor frame 34. The transmission part is driven by a motor to move, and the transmission part drives the gear part to rotate. The gear part is provided with multiple gears, which drive the rollers on the opposing rotating roller conveyors 31 to rotate, thereby adjusting the defect position of the bar 45 to the 12 o'clock direction in the radial direction of the bar 45, which facilitates the grinding operation of the grinding robot 41.

[0055] The gear drive has higher transmission efficiency and higher transmission accuracy compared to the previous sprocket drive. It has a small backlash when searching for surface defects of bar 45 in both forward and reverse directions, and can quickly and accurately transfer the defect position of bar 45 to a suitable angle.

[0056] The grinding robot system 100 also includes a visual recognition device, which is located at one end of the stepping flat support device 30. The visual recognition device includes at least two recognition cameras, which move according to the positions of at least two opposing rotating roller conveyors 31. Specifically, after two bars 45 are loaded onto the dual-station opposing rotating roller conveyors 31, the dual-station recognition cameras located at the ends of the bars 45 take pictures of the identification codes on the end faces of the bars 45 and associate them with the defect location information obtained by the flaw detection equipment. Then, the transmission assembly rotates one set of rollers to the defect location of the bar 45, and the robot performs spot grinding. The other set of rollers rotates the defect location to the radial 12 o'clock direction of the bar 45, such as when the axial position of the defect location of the second bar 45 is close to the defect location of the first bar 45. Since the arm span of the grinding robot 41 can cover the surface defects of the first bar 45, after the grinding robot 41 finishes grinding the surface defects, it can directly and automatically grind the second bar 45 without moving its position through the seventh axis. While the second bar 45 is being ground, the recognition camera identifies the newly fed bar 45, and the rollers of the first bar 45 rotate to find the second defect location. This process continues, so the grinding robot 41 does not need to wait for the rotating roller conveyor 31 to find the defect location of the bar 45 and for the feeding process, thus increasing the operating rate.

[0057] Reference Figures 1-7 As shown, the feeding assembly 10 includes a first feeding roller conveyor 11 and a second feeding roller conveyor 12. The first feeding roller conveyor 11 and the second feeding roller conveyor 12 are spaced apart in a first direction and extend in a second direction. The second feeding roller conveyor 12 is used to feed the bar stock 45 to the input roller conveyor 32. That is, the first feeding roller conveyor 11 and the second feeding roller conveyor 12 are spaced apart in the width direction of the grinding robot system 100 and extend in length, and are aligned with the directions of the input roller conveyor 32, the counter-rotating roller conveyor 31 and the output roller conveyor 33, which facilitates the conveying of the bar stock 45.

[0058] The first and second feeding roller conveyors 11 and 12 can be equipped with V-shaped rollers. When the rollers rotate, the bar 45 will move forward steadily along the groove of the V-shaped roller. The V-shaped roller can effectively prevent the bar 45 from deviating left or right, ensuring that the bar 45 remains stable during the conveying process. In addition, a collision protection platform is also provided on one side of the first feeding roller conveyor 11 to prevent the bar 45 from moving out of the feeding assembly 10, thereby improving the reliability of the system.

[0059] Furthermore, the feeding assembly 20 includes a first feeding roller conveyor 21 and a second feeding roller conveyor 22. The first feeding roller conveyor 21 and the second feeding roller conveyor 22 are spaced apart in a first direction and extend in a second direction. The second feeding roller conveyor 22 is used to feed the bar stock 45 from the output roller conveyor 33. That is, the first feeding roller conveyor 21 and the second feeding roller conveyor 22 are spaced apart in the width direction of the grinding robot system 100 and extend in length, and are aligned with the directions of the input roller conveyor 32, the counter-rotating roller conveyor 31 and the output roller conveyor 33, which facilitates the conveying of the bar stock 45.

[0060] The first feeding roller conveyor 21 and the second feeding roller conveyor 22 can be equipped with V-shaped rollers. When the rollers rotate, the bar 45 will move forward steadily along the groove of the V-shaped roller. The V-shaped roller can effectively prevent the bar 45 from shifting left and right, ensuring that the bar 45 remains stable during the conveying process.

[0061] In addition, a collision protection platform is provided on one side of the second feeding roller conveyor 22 to prevent the bar 45 from moving out of the feeding assembly 20, thereby improving the reliability of the system.

[0062] Reference Figures 1-7 As shown, the feeding assembly 10 also includes: a plurality of feeding platforms 13, which are spaced apart in the second direction and located between the first feeding roller conveyor 11 and the second feeding roller conveyor 12. The bar 45 is conveyed from the first feeding roller conveyor 11 to the second feeding roller conveyor 12 after passing through the feeding platform 13. The plurality of feeding platforms 13 serve to support and transfer the bar 45.

[0063] The loading platforms 13 are spaced apart along the length of the grinding robot system 100, and are angled to the horizontal direction. Specifically, the loading platform 13 at the first loading roller conveyor 11 is slightly higher than the loading platform 13 at the second loading roller conveyor 12, so that the bar 45 can move along the inclination angle of the loading platform 13 to the second loading platform 13, and then be conveyed to the stepping flat support device 30. Preferably, the inclination angle of the loading platform 13 to the horizontal plane can be 3 degrees.

[0064] Furthermore, the unloading assembly 20 also includes multiple unloading platforms 23, which are spaced apart in the second direction and positioned between the first unloading roller conveyor 21 and a portion of the second unloading roller conveyor 22. The bar stock 45 is conveyed from the output roller conveyor 33 to the second unloading roller conveyor 22, then through the unloading platforms 23 to the first unloading roller conveyor 21. The multiple unloading platforms 23 serve to support, transfer, and temporarily store the bar stock 45. The unloading platforms 23 buffer the bar stock 45, waiting for other systems cooperating with the grinding robot 41 to issue a re-inspection command, which then conveys the bar stock 45 to the flaw detection equipment for re-inspection. This process can be repeated until the bar stock 45 meets the quality requirements.

[0065] The loading platforms 13 are spaced apart along the length of the grinding robot system 100, and the loading platforms 13 can be angled with the horizontal direction, that is, the unloading platform 23 at the second unloading roller conveyor 22 is slightly higher than the unloading platform 23 at the first loading roller conveyor 11, so that the bar 45 can move along the inclination angle of the loading platform 13 to the second loading platform 13, and then be conveyed to the flaw detection equipment. Preferably, the inclination angle of the unloading platform 23 with the horizontal plane can be 3 degrees.

[0066] Reference Figures 1-7 As shown, the grinding robot system 100 of the bar 45 finishing line also includes: multiple sets of material feeding components 42, which are disposed on both sides of multiple loading platforms 13 and multiple unloading platforms 23 in a second direction. The material feeding components 42 are fixed to both sides of the loading platform 13 or the unloading platform 23 via connecting rods. Material feeding components 42 fixed on the same connecting rod constitute a group. In this embodiment, there are four groups of material feeding components 42, which are used to feed the bars 45 on the first loading roller conveyor 11, the second loading roller conveyor 12, the first unloading roller conveyor 21, and the second unloading roller conveyor 22, respectively. The number of material feeding components 42 in each group is the same as the number of loading platforms 13 or unloading platforms 23.

[0067] In the existing bar finishing line's grinding robot system 100, the defective bars 45, after flaw detection, are fed into the loading platform 13 via a hydraulic fork. The hydraulic fork then places the bars 45 onto the input roller conveyor 32, which transports them to the grinding area of ​​the grinding robot 41. Due to the rigidity of the hydraulic cylinders, secondary damage to the bars 45 is unavoidable during loading and unloading, necessitating downgrading and causing unnecessary losses. Furthermore, due to sealing issues in the hydraulic system, after a period of use, the area around the hydraulic cylinders becomes covered in oil stains, causing environmental pollution.

[0068] In this embodiment, the feeding component 42 can be a Samsung feeding structure. The feeding component 42 rotates on the connecting rod. The curve of the feeding component 42 is optimized. The contact positions between the feeding component 42 and the bar 45 are all arc-shaped. The bar 45 is transferred by the Samsung feeding structure driven by the motor, so that the bar 45 can be flexibly loaded and unloaded, avoiding secondary damage to the bar 45.

[0069] Furthermore, the feeding component 42 can also be a four-star feeding structure, which can further improve the feeding speed of the bar 45.

[0070] Reference Figures 1-7 As shown, the grinding robot system 100 of the bar 45 finishing line also includes: at least one set of adjusting members 43, which are disposed on the side of the loading platform 13 facing the second loading roller conveyor 12, and are spaced apart from at least one set of feeding members 42. Specifically, a set of adjusting members 43 is disposed at the second loading roller conveyor 12, and the adjusting members 43 are fixed to the loading platform 13 by connecting rods. Since the bars 45 have various sizes and models, the adjusting members 43 can control that only one bar 45 enters the feeding member 42 at a time by adjusting the distance between them and the second loading roller conveyor 12, thereby improving the reliability of the system.

[0071] Additionally, a set of adjusting components 43 can be provided on one side of the first feeding assembly 20 to control that only one bar 45 enters the flaw detection equipment at a time.

[0072] Reference Figures 1-7 As shown, the grinding robot system 100 of the bar 45 finishing line also includes at least two sets of stoppers 44, which are respectively set on the loading platform 13 and the unloading platform 23. Since the distance between the loading platform and the unloading platform 23 is relatively long, stoppers 44 are provided between the loading platform 13 and the unloading platform 23 to prevent the bar 45 from being damaged again during rolling, thus buffering the movement of the bar 45. Furthermore, the stoppers 44 use pneumatic cylinders instead of hydraulic cylinders. Pneumatic systems are inherently compressible, and as the driving force for the buffer stopper structure, they can further reduce the impact of the bar 45 sliding on the loading platform 13 and the unloading platform 23, while also avoiding problems such as hydraulic oil leakage polluting the environment.

[0073] The feeding assembly 20 can be equipped with multiple baffles 44 to buffer the bar stock 45.

[0074] In summary, the production process of the grinding robot system 100 is as follows: Other systems feed the bar stock 45 to the first feeding roller conveyor 11. The motor drives the feeding component 42 to feed the bar stock 45. The bar stock 45 rolls to the stop component 44 of the feeding platform 13 for buffering, and then enters the second feeding roller conveyor 12 through the feeding component 42 and the adjusting component 43. The bar stock 45 is fed to the input roller conveyor 32. After two bars stock 45 are fed to the double-station counter-rotating roller conveyor 31 by the rotating component 35 on the roller conveyor platform 34, the identification code on the end face of the bar stock 45 is photographed and identified by the dual-station recognition camera set at the end of the bar stock 45, and associated with the defect location information obtained by the flaw detection equipment. Then, the transmission component rotates one set of rollers to the defect position of the bar stock 45, and the robot performs spot grinding operation. The other set of rollers rotates the defect position to the radial 12 o'clock direction of the bar stock 45, such as the second bar stock. If the defect location of material 45 is close to the axial position of the defect location of the first bar 45 and the arm span of the grinding robot 41 can cover it, then after the grinding robot 41 finishes grinding the surface defect of the first bar 45, it can directly and automatically grind the second bar 45 without moving through the seventh axis of the grinding robot 41. While the second bar 45 is being ground, the recognition camera identifies the newly fed bar 45, and the rollers of the first bar 45 rotate to find the second defect location. This process continues until the ground bar 45 is unloaded to the second unloading roller conveyor 22 and then moved by the feeding component 42. It can be temporarily stored at the unloading platform 23 by the buffer of the blocking component 44, waiting for other systems cooperating with the grinding robot 41 to issue a re-inspection command to transport the bar 45 to the flaw detection equipment for re-inspection. This process can be repeated until the bar 45 meets the quality requirements.

[0075] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0077] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A grinding robot system for a bar finishing line, characterized in that, include: Feeding assembly (10); Material feeding assembly (20); A stepping flat support device (30) is disposed between the feeding assembly (10) and the unloading assembly (20). The stepping flat support device (30) includes at least two counter-rotating roller conveyors (31). The at least two counter-rotating roller conveyors (31) are spaced apart in a first direction and extend in a second direction. The feeding assembly (10) is used to feed the bar (45) to the counter-rotating roller conveyor (31). The at least two counter-rotating roller conveyors (31) are used to rotate the bar (45). The at least two counter-rotating roller conveyors (31) are used to unload the bar (45) to the unloading assembly (20). A grinding robot (41) is disposed on one side of the stepping flat support device (30) and the range of motion of the grinding robot (41) covers at least two of the counter-rotating roller conveyors (31).

2. The grinding robot system for the bar finishing line according to claim 1, characterized in that, The stepping flat support device (30) further includes: an input roller conveyor (32) extending in a second direction, wherein the feeding assembly (10) is used to feed the bar (45) to the input roller conveyor (32); and an output roller conveyor (33) extending in a second direction, wherein the input roller conveyor (32), the output roller conveyor (33), and at least two counter-rotating roller conveyors (31) are spaced apart in a first direction, wherein the output roller conveyor (33) is used to unload the bar (45) to the unloading assembly (20). Multiple roller conveyor frames (34) are spaced apart in a second direction, and the input roller conveyor (32), the output roller conveyor (33) and at least two counter-rotating roller conveyors (31) are disposed on the multiple roller conveyor frames (34).

3. The grinding robot system for the bar finishing line according to claim 2, characterized in that, The stepping flat support device (30) further includes: a plurality of rotating parts (35), which are disposed on a plurality of roller table frames (34) and rotate between the input roller table (32), the output roller table (33) and at least two opposing roller tables (31).

4. The grinding robot system for the bar finishing line according to claim 2, characterized in that, The stepping flat support device (30) further includes a transmission assembly, which is disposed on both sides of the stepping flat support device (30) and is connected to at least two of the counter-rotating roller conveyors (31).

5. The grinding robot system for a bar finishing line according to claim 1, characterized in that, Also includes: A visual recognition device is disposed at one end of the stepping flat support device (30), the visual recognition device includes at least two recognition cameras, the at least two recognition cameras move according to the positions of at least two of the opposing roller conveyors (31).

6. The grinding robot system for a bar finishing line according to claim 2, characterized in that, The feeding assembly (10) includes a first feeding roller conveyor (11) and a second feeding roller conveyor (12). The first feeding roller conveyor (11) and the second feeding roller conveyor (12) are spaced apart in a first direction and extend in a second direction. The second feeding roller conveyor (12) is used to feed the bar (45) to the input roller conveyor (32). The feeding assembly (20) includes a first feeding roller conveyor (21) and a second feeding roller conveyor (22), the first feeding roller conveyor (21) and the second feeding roller conveyor (22) being spaced apart in a first direction and extending in a second direction, the second feeding roller conveyor (22) being used to feed the bar (45) from the output roller conveyor (33).

7. The grinding robot system for a bar finishing line according to claim 6, characterized in that, The feeding assembly (10) further includes: a plurality of feeding platforms (13), which are spaced apart in the second direction and disposed between the first feeding roller conveyor (11) and the second feeding roller conveyor (12); In addition, the feeding assembly (20) further includes a plurality of feeding platforms (23), which are spaced apart in a second direction and disposed between the first feeding roller conveyor (21) and a portion of the second feeding roller conveyor (22).

8. The grinding robot system for a bar finishing line according to claim 7, characterized in that, Also includes: Multiple sets of feeding components (42) are provided on both sides of the multiple loading platforms (13) and the multiple unloading platforms (23) in the second direction.

9. The grinding robot system for a bar finishing line according to claim 8, characterized in that, Also includes: At least one set of adjusting members (43) is provided on the side of the feeding platform (13) facing the second feeding roller conveyor (12), and at least one set of adjusting members (43) is provided at intervals with at least one set of feeding members (42).

10. The grinding robot system for a bar finishing line according to claim 7, characterized in that, It also includes: at least two sets of material stoppers (44), the at least two sets of material stoppers (44) being respectively disposed on the loading platform (13) and the unloading platform (23).

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