成捆圆钢端面标牌自动焊接系统的研究

Study of Automatic Tag Welding System for the End Surface of Bundled Round Steel

为实现成捆圆钢端面标牌焊接的自动化,设计一套以双目视觉测量引导的基于工业机器人的标牌自动焊接系统。整个系统主要由工业机器人、双目视觉识别系统、焊钉送料系统、标牌制备系统、末端操作器、控制系统等构成。双目识别系统采用双目相机扫描成捆圆钢端面,得到焊接位置坐标;焊钉供料系统实现焊钉的分料传送,标牌制备系统通过激光打标机将圆钢生产信息制作在标牌上,并将标牌输送到指定位置;末端操作器由工业机器人带动实现焊钉与标牌的抓取、定位焊接以及掰断焊钉尾部等操作;焊接控制系统中工控机与机器人、PLC、双目视觉测量系统等进行通信,完成标牌焊接的自动化流程。

In order to realize the automation of welding tag on the end face of bundled round steel, an automatic tag welding system was designed based on industrial robot, guided by binocular vision measurement.The whole system was mainly composed of industrial robot, binocular vision recognition system, welding nail supplying system, tag preparation system, end-effector and control system.In the binocular recognition system, a binocular camera was used to scan the end face of bundled round steel in three dimensions, to obtain the welding position coordinate.The welding nail supplying system realized the distribution and transmission of welding nails, and the tag preparation system could realize the information preparation of tags.Driven by the industrial robot, the end-effector could grasp welding nail, hold tag, position and break welding nail.The industrial computer established communication with the robot, PLC and binocular vision measurement system, etc.So the automatic process of welding tag is realized.