CN102941290B - Steel bar bending machine and steel bar bending machine control method - Google Patents
Steel bar bending machine and steel bar bending machine control method Download PDFInfo
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Abstract
The invention provides a steel bar bending machine, which comprises a steel bar transmission track, a twisting shaft, a bending servo shaft, a driving mechanism and a control unit. The control unit comprises an angle input subunit, an angle calculation subunit and a driving control subunit, wherein the angle input subunit is used for receiving an input steel bar bending angle; the angle calculation subunit is used for calculating the rotating angle of the bending servo shaft according to the steel bar bending angle; and the driving control subunit is used for controlling the driving mechanism to enable the bending servo shaft to move forwards for the rotating angle. The invention additionally provides a corresponding steel bar bending machine control method. By calculating the turning angle of the bending servo shaft according to the steel bar bending angle, the setting of a compensation value is avoided and the accurate bending of steel bars can be realized without needing a large storage space.
Description
Technical field
The present invention relates to stirrup bender field, more particularly, relate to a kind of hoop bender and hoop bender control method.
Background technology
Hoop bender is a kind of machining tool to reinforcing bar operation, for by bar bending predetermined angular, thus reinforcing bar is used in different occasion.
Along with the development of technology, hoop bender develops into full-automatic numerical control equipment gradually by manual operating equipment, namely operating personnel only need input angle of bend can automatically steel bar meter be become predetermined shape.Existing hoop bender, when bar bending Angle ambiguity, needs offset when experimentally setting bending different angles.
But, obtain compensate for bend data will bring very big inconvenience to user by testing, need during use to arrange a lot of compensating parameter, and be difficult to the accuracy of accomplishing each point of 0-180 degree scope.If need ensure, every bit is all accurate, then need a large amount of memory spaces to store offset.
Summary of the invention
The technical problem to be solved in the present invention is, obtain inconvenience for above-mentioned hoop bender angle of bend offset and high accuracy time need the problem of a large amount of memory space, a kind of hoop bender and hoop bender control method are provided.
The technical scheme that the present invention solves the problems of the technologies described above is, a kind of hoop bender is provided, comprises reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail side and periphery and tangent the turning round axle, bending axis servomotor that running orbit crosses over described reinforcing bar transporting rail, drive the driving mechanism that the center of circle of the center of described bending axis servomotor outside this bending axis servomotor is rotated and the control unit controlling described driving mechanism of this reinforcing bar transporting rail; Described control unit comprises angle input subelement, angle calculation subelement and drived control subelement; Wherein: described angle input subelement, for receiving the bar bending angle of input; Described angle calculation subelement, for bending the rotational angle of axis servomotor according to described bar bending angle calculation; Described drived control subelement; For controlling driving mechanism, described bending axis servomotor is moved ahead described rotational angle; The described center of circle is positioned on reinforcing bar transporting rail and this center of circle and is greater than to the distance at bending axis servomotor center and this center of circle to the difference of the distance at Niu Zhou center and turns round axle radius and bending axis servomotor radius sum.
In hoop bender of the present invention, the initial position of described bending axis servomotor be the periphery of this bending axis servomotor tangent with reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
In hoop bender of the present invention, described angle calculation subelement bends the rotational angle β of axis servomotor by following formulae discovery:
l1
2+l2
2-2×l1×l2×cos(β-β0)＝l，
l1
2+l
2-2×l1×l×cos(β3)＝l2，
cos(β2)×l＝R1+R2，
α＝2π-β3-β2-θ，
Wherein l1 is the distance that Niu Zhou center is arrived in the center of circle, l2 be the center of circle arrive bending axis servomotor center distance, β 0 is bending axis servomotor moves to this bending axis servomotor center and the center of circle from periphery and the horizontal tangency location of reinforcing bar transporting rail, turn round axle and be centrally located at the angle that same straight line rotates, l is the distance between Niu Zhou center and bending axis servomotor center, β 3 is the center of circle and Niu Zhou center place straight line and the angle between Niu Zhou center and place, bending axis servomotor center straight line, β 2 is the angle between the normal of the tangent line of Niu Zhou center and bending axis servomotor center place straight line and Niu Zhou center and the reinforcing bar after bending, θ is the angle between the center of circle and Niu Zhou center place straight line and the normal of the horizontal line tangent line turning round axle, α is bar bending angle, described R1, R2 is respectively the radius turning round axle and bending axis servomotor.
In hoop bender of the present invention, described hoop bender also comprises steel bar traction mechanism, for the reinforcing bar on reinforcing bar transporting rail is drawn to precalculated position.
The present invention also provides a kind of hoop bender control method, described hoop bender comprises reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail side and periphery and this reinforcing bar transporting rail tangent turn round axle, running orbit crosses over the bending axis servomotor of described reinforcing bar transporting rail, drive the driving mechanism that the center of circle of the center of described bending axis servomotor outside this bending axis servomotor is rotated and the control unit controlling described driving mechanism, the described center of circle be positioned on reinforcing bar transporting rail and this center of circle to the distance at Niu Zhou center and this center of circle to bending axis servomotor center the difference of distance be greater than and turn round axle radius and bending axis servomotor radius sum, the method comprises the following steps:
A () control unit receives the bar bending angle of input;
B () control unit bends the rotational angle of axis servomotor according to described bar bending angle calculation;
C () control unit controls driving mechanism makes described bending axis servomotor move ahead described rotational angle.
In hoop bender control method of the present invention, the initial position of described bending axis servomotor be the periphery of this bending axis servomotor tangent with reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
In hoop bender control method of the present invention, in described step (b), bent the rotational angle β of axis servomotor by following formulae discovery:
l1
2+l2
2-2×l1×l2×cos(β-β0)＝l，
l1
2+l
2-2×l1×l×cos(β3)＝l2，
cos(β2)×l＝R1+R2，
α＝2π-β3-β2-θ，
Wherein l1 is the distance that Niu Zhou center is arrived in the center of circle, l2 be the center of circle arrive bending axis servomotor center distance, β 0 is bending axis servomotor moves to this bending axis servomotor center and the center of circle from periphery and the horizontal tangency location of reinforcing bar transporting rail, turn round axle and be centrally located at the angle that same straight line rotates, l is the distance between Niu Zhou center and bending axis servomotor center, β 3 is the center of circle and Niu Zhou center place straight line and the angle between Niu Zhou center and place, bending axis servomotor center straight line, β 2 is the angle between the normal of the tangent line of Niu Zhou center and bending axis servomotor center place straight line and Niu Zhou center and the reinforcing bar after bending, θ is the angle between the center of circle and Niu Zhou center place straight line and the normal of the horizontal line tangent line turning round axle, α is bar bending angle, described R1, R2 is respectively the radius turning round axle and bending axis servomotor.
In hoop bender control method of the present invention, comprise before described step (c): the reinforcing bar on reinforcing bar transporting rail is drawn to precalculated position.
Hoop bender of the present invention and hoop bender control method, calculate bending axis servomotor operation angle by angle of bend, thus avoid offset setting, can realize the accurately bending of reinforcing bar without the need to large memory space.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of hoop bender embodiment of the present invention.
Fig. 2 is the high-level schematic functional block diagram of the control unit of hoop bender.
Fig. 3 is the control principle drawing of hoop bender of the present invention.
Fig. 4 is the schematic flow sheet of hoop bender control method embodiment of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, be the schematic diagram of hoop bender embodiment of the present invention.Hoop bender in the present embodiment comprises reinforcing bar transporting rail 11, turns round axle 12, bends axis servomotor 13, driving mechanism and control unit, wherein: turn round axle 12 be fixed on reinforcing bar transporting rail 11 side and this turn round the periphery of axle 12 and reinforcing bar transporting rail 11 tangent: bending axis servomotor 13 can be movable in the both sides of reinforcing bar transporting rail 15, and namely the running orbit 15 of this bending axis servomotor 13 center (axle) crosses over reinforcing bar transporting rail 11; Driving mechanism rotates around the center of circle 16 (this center of circle 16 is positioned at outside bending axis servomotor 13) for driving the center of bending axis servomotor 13; Control unit is for controlling driving mechanism.
Above-mentioned driving mechanism can comprise motor, and it drives bending axis servomotor 13 to rotate around the center of circle by structures such as gear, chain and/or transmission support arms.Correspondingly, control unit can be integrated into equipment such as controlling the frequency converter of motor rotation or servo-driver.
As shown in Figure 2, be the schematic diagram of control unit embodiment.This control unit 14 comprises angle input subelement 141, angle calculation subelement 142 and drived control subelement 143.When control unit is positioned at frequency converter or servo-driver, above-mentioned angle input subelement 141, angle calculation subelement 142 and drived control subelement 143 can be realized by the element operated on frequency converter or servo-driver.
Angle input subelement 141 is for receiving the bar bending angle of input.The input of bar bending angle can realize in conjunction with input key and the mode such as display screen, touch-screen.
Angle calculation subelement 142 is for bending the rotational angle of axis servomotor 13 according to bar bending angle calculation.Angle calculation subelement 142 in the present embodiment utilizes the relation such as size, position turning round axle 12, bending axis servomotor 13, bar bending angle is converted into the required angle of rotating of bending axis servomotor 13, thus avoids using compensation value and carry out bending control.
Drived control subelement 143 makes the bending axis servomotor 13 angle calculation subelement 142 that moves ahead calculate the rotational angle of gained for controlling driving mechanism.When driving mechanism comprises motor, above-mentioned rotational angle is directly scaled the angle of electric machine rotation by this drived control subelement 143, and the angle namely by controlling electric machine rotation realizes the rotational angle of bending axis servomotor 13.
By the way, control unit ensure angle of bend control accuracy prerequisite under, without the need to using large memory space to store offset, and without the need to obtaining offset by experiment.
Especially, in above-mentioned hoop bender, the center of circle 16 (i.e. the center of the center running orbit 15 of bending axis servomotor 13) that bending axis servomotor 13 rotates is positioned on reinforcing bar transporting rail 11, and this center of circle 16 is greater than the radius sum of radius and the bending axis servomotor 13 turning round axle 12 to the difference of distance at the center turning round axle 12 to the distance at the center of bending axis servomotor 13 and this center of circle 16, namely turn round axle 12 between bending axis servomotor 13 and the center of circle 16, and bending axis servomotor 13 can not touch in rotation process and turns round axle 12.
As shown in Figure 3, at this initial position, the periphery of bending axis servomotor 13 is tangent and this bending axis servomotor 13 and turn round the both sides that axle is positioned at reinforcing bar transporting rail 11 with reinforcing bar transporting rail 11 for the initial position of above-mentioned bending axis servomotor 13.
Below illustrate the rotational angle Computing Principle of angle calculation subelement 142.As shown in Figure 3, bending axis servomotor 13 be its initial position, and bending axis servomotor 13 ' completes the position after bar bending for it, then, in the triangle be made up of the center of circle 16, the center turning round axle 12, the center that bends axis servomotor 13 ', determine Li Ke get by cosine:
l1
2+l2
2-2×l1×l2×cos(β-β0)＝l (1)
l1
2+l
2-2×l1×l×cos(β3)＝l2 (2)
Wherein l1 is the center of circle 16 to the distance at center turning round axle 12, l2 is the distance of the center of circle 16 to the center of bending axis servomotor 13 ', β 0 moves to the center of this bending axis servomotor and the center of circle from initial position (i.e. periphery and the horizontal tangency location of reinforcing bar transporting rail), turns round axle and be centrally located at the angle that same straight line rotates for bending axis servomotor, l turns round the distance between the center of axle 12 and the center of bending axis servomotor 13 ', and β is that bending axis servomotor 13 is from initial position to the rotational angle completing bar bending.
In addition, according to similar triangles theorem, can obtain:
cos(β2)×l＝R1+R2 (3)
α＝2π-β3-β2-θ (4)
Wherein β 3 is the center of circle 16 and place, the center straight line turning round axle 12 and the angle turned round between the center of axle 12 and place, the center straight line of bending axis servomotor 13 ', place, the center straight line that β 2 is the center and bending axis servomotor 13 ' of turning round axle 12 and turn round the center of axle 12 and its bending after reinforcing bar tangent line normal between angle, θ is the angle between the center of circle 16 and place, the center straight line turning round axle 12 and the normal of the horizontal line tangent line turning round axle 12, and α is bar bending angle.
In above-mentioned four formula, to be fixedly installed and the initial position of bending axis servomotor 13 is fixed owing to turning round axle 12, therefore θ and β 0 is determined value.Thus, according to formula (1)-(4), can solve and obtain rotational angle β corresponding to bending axis servomotor corresponding to bar bending angle [alpha].
Certainly, in a particular application, bending axis servomotor 13 also can be made in the center of circle 16 and turn round between axle 12, and calculating the rotational angle of bending axis servomotor 13 corresponding to angle of bend by similar size and position relationship.
In above-mentioned hoop bender, also can comprise a steel bar traction mechanism, for the reinforcing bar on reinforcing bar transporting rail is drawn to precalculated position.
As shown in Figure 4, be the schematic flow sheet of hoop bender control method embodiment of the present invention, wherein hoop bender comprises reinforcing bar transporting rail, is fixed on reinforcing bar transporting rail side and periphery and tangent the turning round axle, bending axis servomotor that running orbit crosses over reinforcing bar transporting rail, drive the driving mechanism that the center of circle of center outside this bending axis servomotor of bending axis servomotor is rotated and the control unit controlling driving mechanism of this reinforcing bar transporting rail; The method comprises the following steps:
Step S41: control unit receives the bar bending angle of input.
Step S42: control unit bends the rotational angle of axis servomotor according to described bar bending angle calculation.
Step S43: control unit controls driving mechanism makes described bending axis servomotor move ahead described rotational angle.
In above-mentioned hoop bender control method, the center of circle be positioned on reinforcing bar transporting rail and this center of circle to the distance at Niu Zhou center and this center of circle to bending axis servomotor center the difference of distance be greater than and turn round axle radius and bending axis servomotor radius sum.The initial position of bending axis servomotor be the periphery of this bending axis servomotor tangent with reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
Bent the rotational angle β of axis servomotor by following formulae discovery in step S42:
l1
2+l2
2-2×l1×l2×cos(β-β0)＝l，
l1
2+l
2-2×l1×l×cos(β3)＝l2，
cos(β2)×l＝R1+R2，
α＝2π-β3-β2-θ，
Wherein l1 is the distance that Niu Zhou center is arrived in the center of circle, l2 be the center of circle arrive bending axis servomotor center distance, β 0 is bending axis servomotor moves to this bending axis servomotor center and the center of circle from periphery and the horizontal tangency location of reinforcing bar transporting rail, turn round axle and be centrally located at the angle that same straight line rotates, l is the distance between Niu Zhou center and bending axis servomotor center, β 3 is the center of circle and Niu Zhou center place straight line and the angle between Niu Zhou center and place, bending axis servomotor center straight line, β 2 is the angle between the normal of the tangent line of Niu Zhou center and bending axis servomotor center place straight line and Niu Zhou center and the reinforcing bar after bending, θ is the angle between the center of circle and Niu Zhou center place straight line and the normal of the horizontal line tangent line turning round axle, α is bar bending angle.
Before step S43, also can comprise: the reinforcing bar on reinforcing bar transporting rail is drawn to precalculated position.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (8)
1. a hoop bender, is characterized in that: comprise reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail side and periphery and tangent the turning round axle, bending axis servomotor that running orbit crosses over described reinforcing bar transporting rail, drive the driving mechanism that the center of circle of the center of described bending axis servomotor outside this bending axis servomotor is rotated and the control unit controlling described driving mechanism of this reinforcing bar transporting rail; Described control unit comprises angle input subelement, angle calculation subelement and drived control subelement; Wherein: described angle input subelement, for receiving the bar bending angle of input; Described angle calculation subelement, for bending the rotational angle of axis servomotor according to described bar bending angle calculation; Described drived control subelement; For controlling driving mechanism, described bending axis servomotor is moved ahead described rotational angle; The described center of circle is positioned on reinforcing bar transporting rail and this center of circle and is greater than to the distance at bending axis servomotor center and this center of circle to the difference of the distance at Niu Zhou center and turns round axle radius and bending axis servomotor radius sum.
2. hoop bender according to claim 1, is characterized in that: the initial position of described bending axis servomotor is that the periphery of this bending axis servomotor is tangent with reinforcing bar transporting rail and be positioned at the side relative with turning round axle of described reinforcing bar transporting rail.
3. hoop bender according to claim 2, is characterized in that: described angle calculation subelement bends the rotational angle β of axis servomotor by following formulae discovery:
l1
2+l2
2-2×l1×l2×cos(β-β0)＝l，
l1
2+l
2-2×l1×l×cos(β3)＝l2，
cos(β2)×l＝R1+R2，
α＝2π-β3-β2-θ，
Wherein l1 is the distance that Niu Zhou center is arrived in the center of circle, l2 be the center of circle arrive bending axis servomotor center distance, β 0 is bending axis servomotor moves to this bending axis servomotor center and the center of circle from periphery and the horizontal tangency location of reinforcing bar transporting rail, turn round axle and be centrally located at the angle that same straight line rotates, l is the distance between Niu Zhou center and bending axis servomotor center, β 3 is the center of circle and Niu Zhou center place straight line and the angle between Niu Zhou center and place, bending axis servomotor center straight line, β 2 is the angle between the normal of the tangent line of Niu Zhou center and bending axis servomotor center place straight line and Niu Zhou center and the reinforcing bar after bending, θ is the angle between the center of circle and Niu Zhou center place straight line and the normal of the horizontal line tangent line turning round axle, α is bar bending angle, described R1, R2 is respectively the radius turning round axle and bending axis servomotor.
4. hoop bender according to claim 3, is characterized in that: described hoop bender also comprises steel bar traction mechanism, for the reinforcing bar on reinforcing bar transporting rail is drawn to precalculated position.
5. a hoop bender control method, is characterized in that: described hoop bender comprises reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail side and periphery and tangent the turning round axle, bending axis servomotor that running orbit crosses over described reinforcing bar transporting rail, drive the driving mechanism that the center of circle of the center of described bending axis servomotor outside this bending axis servomotor is rotated and the control unit controlling described driving mechanism of this reinforcing bar transporting rail; The described center of circle be positioned on reinforcing bar transporting rail and this center of circle to the distance at Niu Zhou center and this center of circle to bending axis servomotor center the difference of distance be greater than and turn round axle radius and bending axis servomotor radius sum; The method comprises the following steps:
A () control unit receives the bar bending angle of input;
B () control unit bends the rotational angle of axis servomotor according to described bar bending angle calculation;
C () control unit controls driving mechanism makes described bending axis servomotor move ahead described rotational angle.
6. hoop bender control method according to claim 5, is characterized in that: the initial position of described bending axis servomotor is that the periphery of this bending axis servomotor is tangent with reinforcing bar transporting rail and be positioned at the side relative with turning round axle of described reinforcing bar transporting rail.
7. hoop bender control method according to claim 6, is characterized in that: the rotational angle β being bent axis servomotor in described step (b) by following formulae discovery:
l1
2+l2
2-2×l1×l2×cos(β-β0)＝l，
l1
2+l
2-2×l1×l×cos(β3)＝l2，
cos(β2)×l＝R1+R2，
α＝2π-β3-β2-θ，
Wherein l1 is the distance that Niu Zhou center is arrived in the center of circle, l2 be the center of circle arrive bending axis servomotor center distance, β 0 is bending axis servomotor moves to this bending axis servomotor center and the center of circle from periphery and the horizontal tangency location of reinforcing bar transporting rail, turn round axle and be centrally located at the angle that same straight line rotates, l is the distance between Niu Zhou center and bending axis servomotor center, β 3 is the center of circle and Niu Zhou center place straight line and the angle between Niu Zhou center and place, bending axis servomotor center straight line, β 2 is the angle between the normal of the tangent line of Niu Zhou center and bending axis servomotor center place straight line and Niu Zhou center and the reinforcing bar after bending, θ is the angle between the center of circle and Niu Zhou center place straight line and the normal of the horizontal line tangent line turning round axle, α is bar bending angle, described R1, R2 is respectively the radius turning round axle and bending axis servomotor.
8. hoop bender control method according to claim 5, is characterized in that: comprise before described step (c): the reinforcing bar on reinforcing bar transporting rail is drawn to precalculated position.
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|---|---|---|---|
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| CN103778523B (en) * | 2014-01-09 | 2017-04-19 | 武汉猎隼科技有限公司 | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof |
| CN111346990B (en) * | 2020-03-13 | 2022-09-27 | 山东超同步智能装备有限公司 | Hoop bending machine for butterfly-shaped bending structure and control method |
| CN112958724B (en) * | 2021-03-03 | 2022-07-29 | 中国十七冶集团有限公司 | Simple bending method for non-standard stirrup |
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| FR2806943B1 (en) * | 2000-04-03 | 2002-08-16 | Macsoft | ERASABLE FOLDING NOSE BAR BENDING MACHINE |
| ITBO20000602A1 (en) * | 2000-10-16 | 2002-04-16 | Schnell Spa | METHOD AND EQUIPMENT FOR BENDING PROFILES AND SIMILAR ACCORDING TO PROGRAMMABLE BENDING RAYS |
| CN2512529Y (en) * | 2001-09-28 | 2002-09-25 | 黄亦成 | Hooping curving machine |
| CN200998755Y (en) * | 2006-09-22 | 2008-01-02 | 李宝玉 | Numerical control bar bending machine |
| CN201223909Y (en) * | 2008-07-18 | 2009-04-22 | 孙龙骧 | Numerical control hoop bending machine |
| JP5796268B2 (en) * | 2011-04-04 | 2015-10-21 | 東陽建設工機株式会社 | Rebar bending equipment |
| CN102430668B (en) * | 2011-10-25 | 2014-03-12 | 青岛利东机械有限公司 | Multidirectional hoop bending device of numerically-controlled reinforcement bar hoop bending machine |
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Effective date of registration: 20160222 Address after: Wuzhong District Wuzhong Economic Development Zone, Suzhou City, Jiangsu province 215000 Wang Xiang Shan Industrial Park Road on the north side of friends Patentee after: Suzhou Huichuan Technology Co.,Ltd. Patentee after: Shenzhen Inovance Technology Co., Ltd. Address before: Wuzhong District Wuzhong Economic Development Zone, Suzhou City, Jiangsu province 215000 Wang Xiang Shan Industrial Park Road on the north side of friends Patentee before: Suzhou Huichuan Technology Co.,Ltd. Patentee before: Suzhou Monarch Control Technology Co., Ltd. Patentee before: Shenzhen Inovance Technology Co., Ltd. |
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Inventor after: Kuang Liangchuan Inventor after: Huang Xiangmin Inventor before: Kuang Liangchuan |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000 Huichuan technology headquarters building, Guanlan high tech Industrial Park, Longhua New District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN INOVANCE TECHNOLOGY Co.,Ltd. Patentee after: SUZHOU INOVANCE TECHNOLOGY Co.,Ltd. Address before: 215000 north side of Youxiang Road, Wangshan Industrial Park, Wuzhong Economic Development Zone, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: SUZHOU INOVANCE TECHNOLOGY Co.,Ltd. Patentee before: SHENZHEN INOVANCE TECHNOLOGY Co.,Ltd. |