CN102975907A - Bar servo steel bar splitting method and device - Google Patents
Bar servo steel bar splitting method and device Download PDFInfo
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- CN102975907A CN102975907A CN 201210434525 CN201210434525A CN102975907A CN 102975907 A CN102975907 A CN 102975907A CN 201210434525 CN201210434525 CN 201210434525 CN 201210434525 A CN201210434525 A CN 201210434525A CN 102975907 A CN102975907 A CN 102975907A
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Abstract
The invention discloses a bar servo steel bar splitting method and a device. The bar servo steel bar splitting method includes the steps of collecting an image of the end portions of steel bars through an industrial personal computer and counting, stopping a chain bed after counting of the steel bars meets the demand and marking steel bar splitting lines in a counting window, sending a steel bar splitting command, achieving accurate positioning of steel bar splitting machines in the horizontal direction through a servo closed-loop control, calling a steel bar splitting strategy to enable steel bar splitting knives of the steel bar splitting machines to be inserted into a steel bar splitting position between the steel bars, and then separating the steel bars through actions of telescoping mechanisms. The steel bar splitting device comprises the steel bar splitting machines which are arranged on the outer side of conveyor chains and distributed between the two conveyor chains at intervals. Each steel bar splitting machine comprises a machine body, a rotation telescopic shaft, an eccentric shaft, a pneumatic cushion cylinder, a universal coupling and the steel bar splitting knife which is used for locking and separating the steel bars according to steel bar splitting signals. A servo control unit enables a programmable logic controller (PLC) module to control a servo driver to achieve accurate positioning and steel bar separating actions of the steel bar splitting machine. By means of the bar servo steel bar splitting method and the device, automatic steel bar splitting of the steel bars can be achieved in a complex working condition. The bar servo steel bar splitting method and the device have the advantages of high speed, high accuracy, strong practicality, and the like.
Description
Technical field
The present invention relates to a kind of online steel Bar Splitting System Based method and apparatus, automatically decide a minute steel in order to the bar to production line of bar, to reduce a minute steel error, raising production line automation level.
Background technology
By current standard of passing through in the world, the bar that steel rolling mill produces requires the number of as prescribed to carry out the normalisation bailing.The most artificial countings that adopt of the bar production of the numerous steel rolling mills of China divide steel at present, and people's work point steel mode is made mistakes easily, efficient is low, and packaging quality can not be guaranteed requirement.People's work point steel and the full tandem rolling system of bar do not match on the one hand, become the production bottleneck of Bar Plant; On the other hand, owing to pack accurately number, so that can only measure by weight in market sale, producer can't obtain from the rolling with negative tolerance aspect economic benefit.In addition, the working environment of steel rolling mill is very abominable, and temperature is high, radiation is large, dangerous height, and labor strength is large.From the angle of protection workman life security, also must the take measures working environment that reduces labor strength and improve the workman of steel rolling mill.
Therefore, consider that based on the labour intensity that reduces the workman, the capacity rating that improves steel rolling mill and productivity effect automatic steel splitting systematic research and application become one of steel rolling mill's important topic in the urgent need to address.
At present, a lot of producers and research institution have dropped into a large amount of manpower and materials research bar automatic steel splitting systems.
Central South University has designed a kind of minute steel device of fluid pressure type, and the patent No. is 200310110417.5, and this device mainly adopts hydraulic power to drive minute steel device and realizes that at guide rail horizontal direction is located and vertical direction is divided steel.The automatic separate mode of this bar is mechanical before having changed, people's work point steel mode slowly, but its horizontal location mode precision is low, speed is slow, the requirement of out of reach site technique.
Patent name is " metal bar automatic separation method and device ", the patent No. automatic steel splitting method and apparatus that has been 200810056497.3 patent disclosure: separate wiper arm or separate wiper arm and blocking arm inserts suitable position by one of one or many control, realize the initial gross separation to the metal bar end.And then the collection terminal surface information, carry out the action of separating for several times wiper arm according to actual condition, finish the separation of bar.The method divides the steel process loaded down with trivial details, needs a minute steel device frequent movement, and minute steel slow motion can not satisfy the requirement of high speed production line of bar.
Patent name is " the bar on-line Auto-counting divides the steel system ", the patent No. is 201210002751.8 patent disclosure, and Auto-counting divides the steel system: comprise that the termination divides steel machine, follow-up steel machine and minute steel visual feedback system of dividing fully, behind the position that the bundle bar will separate before and after identifying, divide gad to rise and move on to a minute steel position, minute steel knife at top is inserted in the bar Separation, thereby makes two bundle bars at the tip position place separately.The method need to repeatedly be moved equally with complete component steel, the reasonableness of minute steel device architecture, continuity and practicality shortcoming, and minute steel error is large.
And in actual production process, the automated production mode of full tandem rolling system need to improve minute steel speed of bar on the manufacturing line and divide a steel precision with the management mode that becomes more meticulous, and must develop the reliable steel system that divides of a cover, solves this practical problems.Therefore, the automatic steel splitting device under the research complex working condition has very huge technical study value and actual application value.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of bar on-line automatic steel splitting method and apparatus, and it can realize automatic steel splitting, and minute steel precision is high, and speed is fast, can greatly raise labour productivity and economic benefit.
The present invention realizes above-mentioned target by following measures:
Servo minute steel method of a kind of bar is characterized in that described method comprises:
Industrial computer Real-time Collection bar image and counting, after counting full, stop the chain bed and mark a minute steel wire at count window, industrial computer sends to turn-take number and the pulse count that minute steel positional value converts that servomotor need to rotate in servo-driver corresponding turn-take register and the impulse register by serial communication, send a minute steel order, realize accurately locating on minute steel machine horizontal direction;
, call minute steel strategy make the divide steel knife of minute steel machine turn round also accurately insertion bar middle divide steel position, divide the action of steel machine telescoping mechanism, add between the big rod apart from bar is separated thereafter.
Described servo minute steel method, it is characterized in that: before carrying out minute steel action, utilize the Blob recognizer to identify bar section Blob, obtain the Blob correlation parameter, and utilize heuristic tracking, realization is carried out real time image collection, bar to the bar of high-speed motion on the manufacturing line and is surely propped up counting, to produce a minute steel signal.
Described servo minute steel method is characterized in that: the camera of implementing image acquisition is line-scan digital camera.
Servo minute steel device of a kind of bar is characterized in that described device comprises:
The revolution expanding-contracting action of accurate location and minute steel machine divides steel on servo control unit: the PLC control servo-driver realization minute steel machine horizontal direction.
Minute steel machine: be positioned at the outside of conveyer chain and spaced apart in the middle of two messenger chains, and place on the slide rail, driven by motor-leading screw, the steel machine comprised body, revolution telescopic shaft, eccentric shaft, bounce cylinder and universal coupling in described minute, described revolution telescopic shaft is equipped with a minute steel knife, in order to according to a minute steel signal bar is propped up separation surely.
Described servo minute steel device is characterized in that: the revolution telescopic shaft is connected by needle bearing with a minute steel body, realizes the expanding-contracting action of revolution telescopic shaft.
Described servo minute steel device is characterized in that: the revolution telescopic shaft connects by universal coupling with servomotor.
Described servo minute steel device is characterized in that: revolution telescopic shaft end is fluted, and a minute steel knife is loaded on wherein, and minute steel knife adopts the Hardmetal materials manufacturing.
The invention has the beneficial effects as follows:
The present invention contrasts prior art following remarkable advantage: can finish automatic fixed minute steel of bar by means of the present invention, realize automated production, a fixed minute steel inaccuracy that causes owing to uncertain factor in the time of can avoiding people's work point steel.The automatic steel splitting method has solved the technical matters of minute steel from the servocontrol aspect, improved the precision of minute steel; Automatic steel splitting device adopt the revolution telescopic shaft realize Bar Splitting System Based from, the advantage such as have that speed is fast, strong adaptability, equipment are simple and reliable can be enhanced productivity, and reduces labor strength, has huge actual application value.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.Wherein:
Fig. 1 counting assembly hardware of the present invention forms scheme drawing;
The principle schematic of Fig. 2 the present invention counting minute steel device;
Fig. 3 automatic steel splitting algorithm flow chart of the present invention;
Fig. 4 servocontrol functional block diagram of the present invention;
Fig. 5 the present invention divides the structural representation of steel machine;
Fig. 6 the present invention divides minute steel knife structural representation of steel machine;
Among Fig. 5: 1 minute steel machine body, 2 bearing edge seals lid, 3 revolution telescopic shafts, 4 minutes steel knives, 5 eccentric bushings, 6 deep groove ball bearings, 7 eccentric shafts, 8 eccentric shaft shaft end rings, 9 hinges, 10 needle bearings, 11 butt flanges, 12 bounce cylinders, 13 universal couplings, 14 cylinder supports seats, 15 servomotors-retarder.
The specific embodiment
The technical problem to be solved in the present invention provides a kind of bar automatic steel splitting method and apparatus, and it can realize automatically fixed minute steel behind accurate counting, and minute steel precision is high, and speed is fast, can widespread use and popularization.
The invention will be further described below in conjunction with drawings and Examples.
The present invention includes the automatic steel splitting method and apparatus, minute steel machine is positioned at the outside of conveyer chain and spaced apart in the middle of two messenger chains, utilize minute steel policy control servo unit that servo minute steel method provide according to minute steel position of counting picture, realize the accurate location of end parts steel machine, the revolution telescopic shaft of control minute steel machine makes minute steel position between minute steel knife insertion bar again, accurately with two bundle bar end separating.Be positioned at the effect that the middle minute steel machine of chain bed plays middle minute steel, be used for the distance that two bundle bar terminations have separated is widened successively, until the bar end separates enough sizes fully.
Example of the present invention provides a kind of bar automatic steel splitting method, at first by the bar image on the number system Real-time Collection manufacturing line, carrying out image processing and bar follows the tracks of, finish the accurate metering of bar, then minute steel call by location according to the counting picture divides the steel strategy to produce a minute steel signal, and control servo drive unit action drives divides the steel machine to divide steel.Robot scaler forms scheme drawing as shown in Figure 1.
The counting assembly of example of the present invention uses Canadian Spyder3 line-scan digital camera, and the line sweep energizing signal by being installed on the relative type motor coder generation camera on the motor shaft that drives conveyer chain gathers bar end view picture.
Then utilize the Blob recognizer to identify bar section Blob, obtain the Blob correlation parameter, and utilize heuristic tracking, realize that bar to high-speed motion on the manufacturing line carries out real time image collection, statistics bar number and the function of mark bar sequence number on image.
Utilize the Blob algorithm quick and precisely to extract the end region of bar image, extract the end face Blob of bar in each two field picture, reject other Blob and disturb, and calculate the barycenter of each target area, mark its sequence number on present frame.
After the bar image carries out the Blob mark, same Blob zone association on each two field picture need to be got up, finish the tracking of bar section.
The principle schematic of example of the present invention counting minute steel device as shown in Figure 2, the automatic steel splitting algorithm flow chart is as shown in Figure 3.
Industrial computer stops the chain bed and minute steel position that will obtain is dividing a steel sash mouth to mark with line behind full of counting.Then industrial computer sends to turn-take number and the pulse count that minute steel positional value converts that servomotor 1 needs to rotate in turn-take register and the impulse register of servo-driver 1 correspondence by serial communication.
Industrial computer sends to servo-driver 1 and divides a steel order, and servo-driver 1 triggers servomotor 1 and rotates according to the value in turn-take register and the impulse register, realizes accurately locating on minute steel machine horizontal direction.After servomotor 1 arrived the target location, servo-driver 1 can return a shift value to industrial computer automatically, and industrial computer can read this value and compare with the value that sends, and forms the closed loop control system that precision is higher.After treating that the complete and position return of value of all command execution of being sent by industrial computer is correct, industrial computer sends order for minute steel machine, call a minute steel strategy, servo-driver 2 drives servomotors 2 and drives the revolution of revolution telescopic shafts, stretches out, and allows minute steel knife aim to divide a steel position to be held minute.Then the separation of bar is finished in follow-up minute steel machine continuous action.At this moment, industrial computer sends a minute steel settling signal, and a minute steel machine is got back to initial condition and waited for and divide the steel order next time, and simultaneously, frequency converter starts chain bed motor, and beginning counting next time divides the steel flow process.
The embodiment of the invention provides a kind of automatic steel splitting device, shown in Fig. 4,5,6.Comprise: industrial computer, PLC module, servo unit, frequency converter and minute steel machine.
Minute steel machine is positioned at the outside of conveyer chain and spaced apart in the middle of two messenger chains as shown in Figure 5, mainly contains: minute steel machine body 1, revolution telescopic shaft 3, eccentric shaft 7, universal coupling 13 and bounce cylinder 12.Revolution telescopic shaft 3 is supported in minute steel machine body 1 by two needle bearings 10, and revolution telescopic shaft 3 connects with universal coupling 13 by butt flange 11, and universal coupling 13 is realized the revolution action by servomotor-retarder 15 input powers; Eccentric bushing 5 places a minute steel body 1, cooperates with eccentric shaft 7 by deep groove ball bearing 6, and bounce cylinder 12 passes motion to eccentric shaft by hinge 9; Bounce cylinder 12 is connected by cylinder supports seat 14 with a minute steel body 1.For dustproof, minute steel machine end and eccentric shaft axle head are equipped with respectively bearing edge seal lid 2 and back-up ring 8.That realizes minute steel action divides steel knife 4 and revolution telescopic shaft 3 by screw attachment, works reliably for a minute steel machine, divides steel knife wear-resisting durable and easy to maintenance, adopts the Hardmetal materials manufacturing, as shown in Figure 6.
Divide steel device working process to be:
After counting is finished, industrial computer sends a minute steel order to servo-driver 1, after realizing accurately locating on minute steel machine horizontal direction, industrial computer sends instruction to PLC unit controls servo-driver 2 by serial communication, and minute 4 pairs of bars of steel knife of servomotor 2 and bounce cylinder 12 drive minute steel machines carry out the termination and divide steel.At this moment, servomotor-retarder 15 by minute steel machine drives, revolution telescopic shaft 3 rotates, when a minute steel knife 4 was turned back to the extreme higher position of minute steel point, bounce cylinder 12 stretched out, and drove eccentric shaft 7 revolutions by hinge 9, eccentric shaft 7 is in eccentric bushing 5 interior rotations, and drive revolution telescopic shaft 3 and in minute steel body 1, stretch out, minute steel knife 4 promotes to need the bar that separates and adds distance between the big rod termination, realizes that the bar termination separates.Then, industrial computer control again follow-up minute steel machine carry out successively in minute, until the bar end separates enough sizes fully.
In minute finish after, give minute steel end signal of industrial computer, industrial computer passes through PLC unit controls frequency converter startup chain bed motor after receiving minute steel the finish command, begins again next time Auto-counting and automatic steel splitting.
Above embodiment is described to be to specify this patent; though describe by specific term in the literary composition; but can not limit with this protection domain of this patent; being familiar with the personage in this field can be after the spirit of understanding this patent and principle change or revises it and reach equivalent purpose; and this equivalence change and modification all should be covered by the patent claimed range and define in the category.
Claims (7)
1. servo minute steel method of a bar is characterized in that described method comprises:
Industrial computer Real-time Collection bar image and counting, after counting full, stop the chain bed and mark a minute steel wire at count window, industrial computer sends a minute steel order to turn-take number and the pulse count that minute steel positional value converts that servomotor need to rotate to by serial communication, realizes accurately locating on minute steel machine horizontal direction;
, call minute steel strategy make the divide steel knife of minute steel machine turn round also accurately insertion bar middle divide steel position, divide the action of steel machine telescoping mechanism, add between the big rod apart from bar is separated thereafter.
2. method according to claim 1, it is characterized in that: before carrying out minute steel action, utilize the Blob recognizer to identify bar section Blob, obtain the Blob correlation parameter, and utilize heuristic tracking, the bar of high-speed motion on the manufacturing line is carried out real time image collection, bar surely prop up counting, to produce a minute steel signal.
3. method according to claim 1 is characterized in that: the camera of implementing image acquisition is line-scan digital camera.
4. servo minute steel device of a bar is characterized in that described device comprises:
The revolution expanding-contracting action of accurate location and minute steel machine divides steel on servo control unit: the PLC control servo-driver realization minute steel machine horizontal direction;
Minute steel machine: be positioned at the outside of conveyer chain and spaced apart in the middle of two messenger chains, and place on the slide rail, driven by motor-leading screw, the steel machine comprised body, revolution telescopic shaft, eccentric shaft, bounce cylinder and universal coupling in described minute, described revolution telescopic shaft axle head is equipped with a minute steel knife, in order to according to a minute steel signal bar is propped up separation surely.
5. device according to claim 4 is characterized in that: turn round telescopic shaft and be supported in minute steel machine body by needle bearing, realize the expanding-contracting action of revolution telescopic shaft.
6. device according to claim 4 is characterized in that: turn round telescopic shaft and connect by universal coupling with servomotor.
7. device according to claim 4 is characterized in that: revolution telescopic shaft end is fluted, and a minute steel knife is loaded on wherein, and minute steel knife adopts the Hardmetal materials manufacturing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210434525 CN102975907A (en) | 2012-11-05 | 2012-11-05 | Bar servo steel bar splitting method and device |
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| CN 201210434525 CN102975907A (en) | 2012-11-05 | 2012-11-05 | Bar servo steel bar splitting method and device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438523A (en) * | 2015-12-30 | 2016-03-30 | 天津市罗伯特数控设备制造有限公司 | Steel bar quantitative separation equipment |
| CN105501522A (en) * | 2015-12-30 | 2016-04-20 | 天津市罗伯特数控设备制造有限公司 | Steel drawing device |
| CN105501500A (en) * | 2015-12-30 | 2016-04-20 | 天津市罗伯特数控设备制造有限公司 | Grouping device of mass steel bars |
| CN105539928A (en) * | 2015-12-30 | 2016-05-04 | 天津市罗伯特数控设备制造有限公司 | Auxiliary separation device for steel pusher |
| CN105644826A (en) * | 2015-12-30 | 2016-06-08 | 天津市罗伯特数控设备制造有限公司 | Separating device for grouped reinforcing steel bars |
| CN109302176A (en) * | 2016-06-15 | 2019-02-01 | 湖南工业大学 | A kind of bar rolled piece method of counting |
-
2012
- 2012-11-05 CN CN 201210434525 patent/CN102975907A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438523A (en) * | 2015-12-30 | 2016-03-30 | 天津市罗伯特数控设备制造有限公司 | Steel bar quantitative separation equipment |
| CN105501522A (en) * | 2015-12-30 | 2016-04-20 | 天津市罗伯特数控设备制造有限公司 | Steel drawing device |
| CN105501500A (en) * | 2015-12-30 | 2016-04-20 | 天津市罗伯特数控设备制造有限公司 | Grouping device of mass steel bars |
| CN105539928A (en) * | 2015-12-30 | 2016-05-04 | 天津市罗伯特数控设备制造有限公司 | Auxiliary separation device for steel pusher |
| CN105644826A (en) * | 2015-12-30 | 2016-06-08 | 天津市罗伯特数控设备制造有限公司 | Separating device for grouped reinforcing steel bars |
| CN109302176A (en) * | 2016-06-15 | 2019-02-01 | 湖南工业大学 | A kind of bar rolled piece method of counting |
| CN109302176B (en) * | 2016-06-15 | 2022-03-18 | 湖南工业大学 | Bar rolled piece counting method |
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Application publication date: 20130320 |