CN110978245B - Automatic measuring and distributing method of prefabricated part distributing machine - Google Patents
Automatic measuring and distributing method of prefabricated part distributing machine Download PDFInfo
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- CN110978245B CN110978245B CN201911422467.4A CN201911422467A CN110978245B CN 110978245 B CN110978245 B CN 110978245B CN 201911422467 A CN201911422467 A CN 201911422467A CN 110978245 B CN110978245 B CN 110978245B
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- point
- sensor
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- die
- laser ranging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
- B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
- B28B13/026—Feeding the moulding material in measured quantities from a container or silo by using a movable hopper transferring the moulding material to the moulding cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
- B28B17/0081—Process control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a prefabricated part material distributing machine, in particular to an automatic measuring and material distributing method of the prefabricated part material distributing machine. The method comprises the following steps: A. installing a swing angle sensor, a laser ranging sensor and a servo motor at the middle position of a cross beam of the distributing machine; B. the projection point of the laser ranging sensor on the mold table is specified as the origin of coordinates (0, 0, h), and the value of h is calculated by utilizing a trigonometric function; C. the edge height of the die is specified to be a, the thickness of the bottom die of the die is specified to be b, and when the distance between the detected point and the sensor in the Z direction is in an (h-a, h-b) interval, the point needing the material distributing machine to distribute material is obtained; D. when the distance between the detected point and the sensor in the Z direction is in the (h-a, h-b) interval, the PLC controls the cart and the trolley of the material distributing machine to move to the position to distribute materials; E. and after the primary distribution is finished, carrying out secondary detection on each point on the die table, and controlling the distribution cart and the trolley to move to the position of the point by the PLC to carry out secondary distribution. The operation is simple, secondary detection and material distribution are carried out, the problem of non-uniform material distribution is effectively solved, and the production efficiency is improved.
Description
Technical Field
The invention relates to a prefabricated part material distributing machine, in particular to an automatic measuring and material distributing method of the prefabricated part material distributing machine.
Background
The production mode of the prefabricated part gradually replaces the scattered, low-level and low-efficiency manual production mode in the traditional construction industry, and the prefabricated part type construction mode with high quality, high efficiency and low loss is gradually realized.
The prefabricated part production line complete equipment mainly comprises multiple kinds of equipment such as a curing kiln, a stacking machine, a distributing machine, a vibrating table, a ferry vehicle and the like, wherein the multiple kinds of equipment are matched to act to form a production line and a closed-loop production chain, high-efficiency flow production operation is realized, and meanwhile, an electrical control module is matched to realize an automatic production function. But the cloth process of prefabricated component production line cloth machine at present is in practical application, still need the operative employee to pass through remote controller control cloth cart and dolly and remove the position that needs the cloth, and the operative employee passes through remote controller control cloth thickness at the cloth in-process, can not realize automatic cloth at the cloth in-process, even cloth, and because the cloth process is accomplished by manual control, it is inhomogeneous that the blanking can often appear in the manual control in-process, phenomenon such as thickness is not uniform, still need the operative employee to carry out the secondary after the cloth machine cloth finishes and shakeouts, and then realize the thickness unanimity. The manual control mode is time-consuming and labor-consuming, and the overall beat of the automatic production line is reduced.
Disclosure of Invention
The invention aims to solve the technical problems and provides an automatic measuring and distributing method of a prefabricated part distributing machine, which measures three-dimensional data of the arrangement shape of a die on a die table so as to realize distribution automation.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for automatic measurement and distribution of a prefabricated part distributing machine comprises the following steps:
A. installing a swing angle sensor, a laser ranging sensor and a servo motor at the middle position of a cross beam of the material distribution machine, wherein the swing angle sensor, the laser ranging sensor and the servo motor are connected with a control cabinet through circuits, and the movement direction of a material distribution cart is regulated to be Y direction, the movement direction of a material distribution trolley is regulated to be X direction, and the direction vertical to the X direction and the Y direction is regulated to be Z direction;
B. the projection point of the laser ranging sensor on the die table is specified as the origin of coordinates, the space coordinates of the sensor are (0, 0, h), h is the vertical distance between the sensor and the die table, the distance between each point on the die and the laser ranging sensor and the swing angle of the swing angle sensor are measured by the laser ranging sensor, and the value of h is calculated by utilizing a trigonometric function;
C. the height of the edge of the die is specified to be a, the thickness of the bottom die of the die is specified to be b, and when the distance between the detected point and the sensor in the Z direction is in an (h-a, h-b) interval, the detected point is positioned in the die, namely the point needing the material distributing machine to distribute the material;
D. when the distance between the detected point and the sensor in the Z direction is in the (h-a, h-b) interval, the control cabinet records the coordinate value of the point and transmits the coordinate value to the PLC, and the PLC controls the cart and the trolley of the material distributor to move to the position of the point for distributing;
E. and after the primary distribution is finished, carrying out secondary detection on each point on the die table, when the distance between the detected point and the laser ranging sensor in the Z direction is in an (h-a, h-b) interval, carrying out secondary distribution on the point with insufficient distribution, recording the coordinate value of the point, transmitting the coordinate value to the PLC, and controlling the distribution cart and the trolley to move to the position of the point by the PLC to carry out secondary distribution.
Compared with the prior art, the invention adopting the technical scheme has the beneficial effects that:
the invention adopts electric control in the whole process, has simple operation and lower requirement on the skill of operators, and carries out secondary detection and secondary material distribution, thereby effectively solving the problem of uneven material distribution, replacing manual intervention material distribution, greatly shortening the material distribution construction period and improving the production efficiency.
Drawings
FIG. 1 is a schematic illustration of laser scanning according to an embodiment of the present invention;
FIG. 2 is a top view of a die table of an embodiment of the present invention;
in the figure, a vertical column 1 of a material distributor; a spreader beam 2; a support wheel 3; a mold table 4; a mold 5; a swing angle sensor 6; a laser ranging sensor 7; left scan line 7-1; right scan line 7-2; a servo motor 8.
Detailed Description
The invention is further described in detail below with reference to the figures and examples.
Referring to fig. 1 and fig. 2, the present embodiment is a method for automatic measurement and distribution of a prefabricated part distribution machine, including the following steps:
A. installing a laser ranging sensor 7 on a swing angle sensor 6, installing the swing angle sensor 6 on an output shaft of a servo motor 5, installing the servo motor 5 on a cross beam 2 of a material distributor, locating the laser ranging sensor 7 at the middle position of the cross beam 2 of the material distributor and right above a die table 4, and enabling a light head of the laser ranging sensor 7 to face downwards; the swing angle sensor 6, the laser ranging sensor 7 and the servo motor 5 are respectively connected with the control cabinet through circuits, the die 5 is placed on the die table 4, the die table 4 reciprocates under the action of the driving wheels and the supporting wheels 3, the die 5 moves along with the movement of the die table 4, the movement direction of the die table 4 is specified to be the Y direction, namely the long edge of the die table 4 is the Y direction, the wide edge of the die table 4 is the X direction, the cloth cart reciprocates in the Y direction, the cloth cart reciprocates in the X direction, and the Z direction which is vertical to the X direction and the Y direction is specified;
B. when the die table 4 drives the die 5 to pass below the swing angle sensor 6 and the laser ranging sensor 7, the servo motor 8 drives the swing angle sensor 6 and the laser ranging sensor 7 to swing, so that the laser ranging sensor 7 can measure the distance from each point on the die 5 to the laser ranging sensor 7, the swing angle of the laser ranging sensor 6 is measured by the swing angle sensor 6, and the distance between the laser ranging sensor 7 and any point on the die 5 in the X direction and the Z direction can be obtained by solving a trigonometric function; the projection point of the laser ranging sensor 7 on the mold table 4 is set as the origin of coordinates, the space coordinates of the laser ranging sensor 7 are (0, 0, h), and h is the vertical distance between the laser ranging sensor 7 and the mold table 4;
C. when the distance between one point on the die table 4 and the laser distance measuring sensor 7 in the Z direction, which is measured by the laser distance measuring sensor 7 and the swing angle sensor 6, is less than h, the detected point is on the die 5; the height of the edge of the die is specified to be a, the thickness of the bottom die of the die is specified to be b, and when the distance between the detected point and the laser ranging sensor 7 in the Z direction is in an (h-a, h-b) interval, the detected point is positioned in the die 5, namely the point needing the material distributing machine to distribute the material;
D. each point on the die table 4 has a unique coordinate value corresponding to the point, when the distance between the detected point and the laser ranging sensor 7 in the Z direction is in an (h-a, h-b) interval, the control cabinet records the coordinate value of the point and transmits the coordinate value to the PLC, the PLC controls the cart and the trolley of the material distributing machine to move to the position of the point for distributing materials, and determines the opening size of the material distributing opening according to the distance value in the Z direction of the detected point, controls the amount of discharged materials, and further realizes uniform material distribution;
E. and after the primary distribution is finished, carrying out secondary detection on each point on the die table 4, when the distance between the detected point and the laser ranging sensor 7 in the Z direction is in an (h-a, h-b) interval, carrying out secondary distribution on the point with insufficient distribution, recording the coordinate value of the point, transmitting the coordinate value to the PLC, and controlling the large distribution car and the small distribution car to move to the position of the point by the PLC to carry out secondary distribution.
The working process of the embodiment is that the die table 4 carries the die 5 and passes through a laser scanning surface under the combined action of the supporting wheel 3 and the driving wheel, namely, an included angle range formed by the left side scanning line 7-1 and the right side scanning line 7-2, when the die table 4 carries the die 5 and passes through the laser scanning surface, the laser ranging sensor 7 is driven by the servo motor 8 to do reciprocating swing angle motion, and the swing angle is measured at any time through the swing angle sensor 6. When the laser line swings from the left side of the die 5 to the right side of the die, two data are obtained, the first is the distance between the laser and the projection surface from the sensor 7, the second is the angle generated by the distance, the numerical values of the continuous points of the X axis and the Z axis of the current section are obtained through a trigonometric function, the numerical values of the continuous points of the die table 4 to the Y axis are driven by the driving wheel, and thus the continuous data of the die 5 on the die table 4 in the three-dimensional space are obtained and are transmitted to the PLC controller to control the material distribution action of the material distributor.
The invention utilizes a swing angle sensor 6, a laser ranging sensor 7 and a servo motor 8 to form continuous three-dimensional data for measuring the appearance of the mold 5 on the mold table 4, and the continuous three-dimensional data is transmitted to a PLC controller to control the material distribution action of the material distributor. The swing angle sensor 6, the laser ranging sensor 7 and the servo motor 8 are all arranged in the middle of the beam 2 of the material distributing machine and are in a static state, and do not move along with the movement of the material distributing cart and the material distributing trolley, so that the measured data are accurate.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A method for automatic measurement and distribution of a prefabricated part distributing machine comprises the following steps:
A. installing a swing angle sensor, a laser ranging sensor and a servo motor at the middle position of a cross beam of the material distribution machine, wherein the swing angle sensor, the laser ranging sensor and the servo motor are connected with a control cabinet through circuits, and the movement direction of a material distribution cart is regulated to be Y direction, the movement direction of a material distribution trolley is regulated to be X direction, and the direction vertical to the X direction and the Y direction is regulated to be Z direction;
B. the projection point of the laser ranging sensor on the die table is specified as the origin of coordinates, the space coordinates of the sensor are (0, 0, h), h is the vertical distance between the sensor and the die table, the distance between each point on the die and the laser ranging sensor and the swing angle of the swing angle sensor are measured by the laser ranging sensor, and the value of h is calculated by utilizing a trigonometric function;
C. the height of the edge of the die is specified to be a, the thickness of the bottom die of the die is specified to be b, and when the distance between the detected point and the sensor in the Z direction is in an (h-a, h-b) interval, the detected point is positioned in the die, namely the point needing the material distributing machine to distribute the material;
D. when the distance between the detected point and the sensor in the Z direction is in the (h-a, h-b) interval, the control cabinet records the coordinate value of the point and transmits the coordinate value to the PLC, and the PLC controls the cart and the trolley of the material distributor to move to the position of the point for distributing;
E. and after the primary distribution is finished, carrying out secondary detection on each point on the die table, when the distance between the detected point and the laser ranging sensor in the Z direction is in an (h-a, h-b) interval, carrying out secondary distribution on the point with insufficient distribution, recording the coordinate value of the point, transmitting the coordinate value to the PLC, and controlling the distribution cart and the trolley to move to the position of the point by the PLC to carry out secondary distribution.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911422467.4A CN110978245B (en) | 2019-12-31 | 2019-12-31 | Automatic measuring and distributing method of prefabricated part distributing machine |
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| CN201911422467.4A CN110978245B (en) | 2019-12-31 | 2019-12-31 | Automatic measuring and distributing method of prefabricated part distributing machine |
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| CN110978245A CN110978245A (en) | 2020-04-10 |
| CN110978245B true CN110978245B (en) | 2020-12-15 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3347720A1 (en) * | 1983-12-31 | 1985-09-05 | Gebr. Knauf Westdeutsche Gipswerke, 8715 Iphofen | Control device for a building board production plant |
| JPH01297217A (en) * | 1988-05-26 | 1989-11-30 | Matsushita Electric Works Ltd | Manufacture of cement plate |
| JPH10146815A (en) * | 1996-11-15 | 1998-06-02 | Matsushita Electric Works Ltd | Cutting sensing method for lower face of inorganic sheet formed by extrusion molding |
| CN103624870A (en) * | 2013-11-15 | 2014-03-12 | 中联重科股份有限公司 | Cloth control system, method and device |
| CN204450872U (en) * | 2014-12-31 | 2015-07-08 | 三一汽车制造有限公司 | Metering system and wet mixing mortar produce vehicle |
| CN108267451A (en) * | 2017-01-02 | 2018-07-10 | 泰山医学院 | A kind of cloth evenness intelligent checking system |
| CN109397506A (en) * | 2018-10-19 | 2019-03-01 | 沈阳建筑大学 | A kind of concrete spreader based on laser range sensor pre- scaling method automatically |
| CN110185236A (en) * | 2019-06-27 | 2019-08-30 | 广东博智林机器人有限公司 | A kind of linked network fills out slurry equipment and linked network Tian Jiang robot |
-
2019
- 2019-12-31 CN CN201911422467.4A patent/CN110978245B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3347720A1 (en) * | 1983-12-31 | 1985-09-05 | Gebr. Knauf Westdeutsche Gipswerke, 8715 Iphofen | Control device for a building board production plant |
| JPH01297217A (en) * | 1988-05-26 | 1989-11-30 | Matsushita Electric Works Ltd | Manufacture of cement plate |
| JPH10146815A (en) * | 1996-11-15 | 1998-06-02 | Matsushita Electric Works Ltd | Cutting sensing method for lower face of inorganic sheet formed by extrusion molding |
| CN103624870A (en) * | 2013-11-15 | 2014-03-12 | 中联重科股份有限公司 | Cloth control system, method and device |
| CN204450872U (en) * | 2014-12-31 | 2015-07-08 | 三一汽车制造有限公司 | Metering system and wet mixing mortar produce vehicle |
| CN108267451A (en) * | 2017-01-02 | 2018-07-10 | 泰山医学院 | A kind of cloth evenness intelligent checking system |
| CN109397506A (en) * | 2018-10-19 | 2019-03-01 | 沈阳建筑大学 | A kind of concrete spreader based on laser range sensor pre- scaling method automatically |
| CN110185236A (en) * | 2019-06-27 | 2019-08-30 | 广东博智林机器人有限公司 | A kind of linked network fills out slurry equipment and linked network Tian Jiang robot |
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| CN110978245A (en) | 2020-04-10 |
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