CN112978169B - Bar finishing line material handling robot system - Google Patents
Bar finishing line material handling robot system Download PDFInfo
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- CN112978169B CN112978169B CN202110096725.5A CN202110096725A CN112978169B CN 112978169 B CN112978169 B CN 112978169B CN 202110096725 A CN202110096725 A CN 202110096725A CN 112978169 B CN112978169 B CN 112978169B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a material handling robot system for a bar finishing line, which mainly comprises a standardized and informationized bar stock warehouse and a bar bundle sling type automatic sling for a crane, and belongs to the technical field of metallurgical equipment. The system comprises a standardized and informationized bar stock warehouse, an intelligent crown block, a bar bundle sling type automatic lifting appliance and a material identification device. The invention can realize maximization and informatization of the stock of the bar stock, and the visual system guides the overhead traveling crane to automatically take and place the bar bundle to replace manual operation, thereby effectively reducing the labor intensity and the production cost, improving the automation degree and the working efficiency of the finishing line, improving the industrial production environment and eliminating the potential safety hazard in the production process.
Description
Technical Field
The invention relates to a bar finishing bar stock warehouse and a material handling system, in particular to a bar production line standardization, information material stock warehouse, bar bundle automatic taking and placing device and a bar bundle sling type automatic lifting appliance for a crane.
Background
The present invention will be described by taking a bar as an example. A rod is widely used in industrial fields such as construction, machinery, automobiles, ships, and the like as one of the profiles. The bar production process needs to be processed on a plurality of production lines. The crane lifting is involved many times in the processes of process conversion, workshop conversion, delivery and the like.
With the implementation of the strong national strategy of "2025 manufacture in china", the use of robots to improve production efficiency and reduce production cost is certainly a necessary choice for enterprises to improve competitiveness. Industrial robots for arc welding, spot welding, stacking, assembling, carrying, injection molding, stamping, paint spraying and the like have been developed in China. However, the bar production plant has heavy material weight and still mainly uses a crane for hoisting. At present, bar materials are still conveyed by manually driving a crown block in the processes of feeding and discharging in a bar material rolling and straightening workshop, the crown block runs a raw material level when the material is taken, a lifting belt of a lifting appliance is sleeved and hung at two ends of a bar material bundle by ground operators, and then the crown block extracts the bar material bundle for transferring; when the material is discharged, the crown block runs to the material discharging position, and the hanging strips at the two ends of the bar are hung by the sleeves taken down by an operator on the ground, so that the automation degree is low, the feeding and discharging efficiency is low, the labor intensity is high, and the potential safety hazard is existed. The stacking positions of the raw material warehouse and the product warehouse are stacked by workers according to the actual field stacking position according to the shape of the #, the informatization degree is not high, and the automatic material tracking is difficult to realize.
Disclosure of Invention
The invention aims to provide an automatic material stacking and carrying system for a bar production line, which is mainly a bar warehouse standardization and informatization and bar bundle sling type automatic lifting appliance for a crane, and can effectively overcome the defects of high labor intensity, low working efficiency, more personnel, high potential safety hazard, high production cost and the like in a production field.
The invention is realized by the following steps: rod finishing line material handling robot system, its characterized in that: the system comprises a standardized and informationized bar stock warehouse, an intelligent overhead crane, a bar strapping type automatic lifting appliance and a material identification device; the structure of the bar stock library is as follows: drawing chessboard grids at equal intervals on the ground of a bar stock area, arranging sleepers at equal intervals in the stock area, forming isolating column jacks at equal intervals on the sleepers, after inserting isolating columns, stacking bar stacks according to a shape of a gap #, and recording stack position information in a computer database system; the structure of intelligence overhead traveling crane is: the cart, the trolley, the rotary mechanism and the hoisting mechanism are the same as a common double-hook rotary bridge crane, a mechanical anti-swing device and an electrical anti-swing device are arranged, and a servo driver and an encoder are selected for speed regulation of travelling crane to realize the speed and position control function; the structure of the automatic sling of the rod bundle sling type is as follows: the lifting beam is driven by the driving device to move along the lifting beam in the reverse direction or in an object direction, so that the automatic hanging of the bar bundle is realized, and the lifting rod group rises along with an overhead crane under the action of the gravity of the bar bundle so as to coat and safely hoist the bar. The structure of the material identification device is as follows: the system consists of a three-dimensional line laser scanner arranged below a trolley, a computer of a control room and three-dimensional image processing software, realizes the accurate positioning of the bar stacking position and the bar bundle position, and calibrates the database information called by a control system.
The invention has the advantages and positive effects that: the stacking of the bar stock warehouse is flexible, and the space utilization rate is high; when the crane is used for transporting the bar bundle, the automatic hanging sling for single, single or multiple bundles of materials can be automatically taken, the sling can be automatically separated from the materials after the materials are placed, the crane can be guided by a vision system to automatically take and place the materials, manual operation is replaced, the labor intensity and the production cost can be effectively reduced, the automation degree and the working efficiency of a finishing line are improved, the industrial production environment is improved, and potential safety hazards in the production process are eliminated.
Drawings
FIG. 1: the overall layout of the bar stock library;
wherein: 1-chessboard grid, 2-sleeper, 3-isolation column, 4-6m bar stock 'well' shaped stack, 5-9m bar stock 'well' shaped stack
FIG. 2: bar stock storehouse buttress bitmap
FIG. 3: a chessboard grid graph;
FIG. 4: a crosstie front view;
FIG. 5: isometric view of crosstie;
FIG. 6: isolating column diagram;
FIG. 7: a bar sling type automatic sling empty load diagram for a crane;
wherein: 6-hanging beam, 7-bearing seat, 8-mobile hanging bracket, 9-hanging rod group, 10-positive spiral ball screw, 11-bearing, 12-connecting shaft, 13-negative spiral ball screw, 14-motor, 15-ball screw nut;
FIG. 8: a bar bundle sling type automatic sling loading diagram for a crane;
FIG. 9: moving the hanger;
wherein: 16-moving hanger seat, 17-pulley, 18-pin shaft;
FIG. 10: an airborne view of the boom group;
wherein: 19-a hanging rod seat, 20-a pin shaft, 21-a hanging rod, 22-a sliding block, 23-a pin shaft, 24-a hanging strip, 25-a roller, 26-a tension spring and 27-a torsion spring;
FIG. 11: carrying a picture by the suspender set;
FIG. 12: visual recognition device system diagram
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the invention aims to provide a system for automatically stacking and carrying materials on a bar production line, which firstly standardizes and informationizes a bar stock library; secondly, realizing the automatic operation and accurate positioning function of the crown block; then, a gripping apparatus for automatically gripping the bar material bundle is arranged on the crown block, so that the automatic carrying function is realized; and finally, a visual recognition device is installed on the crown block, certain artificial intelligence is achieved, and the position of the bar stock bundle can be recognized.
The bar stock warehouse is shown in figures 1 and 2, and comprises chessboard grids, sleepers and isolating columns. As shown in fig. 3, chessboard grids are drawn on the ground of the library area at equal intervals in the longitudinal direction and the transverse direction, one corner of the library area is set as a coordinate origin, and the longitudinal lines and the transverse lines are respectively numbered in sequence; each intersection point of the longitudinal and transverse lines of the chessboard corresponds to an independent longitudinal and transverse number and also corresponds to a fixed coordinate of a coordinate system. And correspondingly recording the intersection point number and the coordinate information of the checkerboard grid into a bar stock database management system. Crossties are placed in the warehouse area at fixed intervals as shown in figures 1 and 2, the intervals are 1 lifting bar width, bars are stacked on the crossties in a 'well' shape, and every 1 lifting bar is separated by an isolation column. The conical head of the isolation column is inserted into the sleeper conical hole. And calculating the distance of the barstock extending out of the sleepers by a formula a ═ L- (n-1) × L-b)/2 (wherein L is the length of the barstock, n is the number of the sleepers to be pressed, L is the space between the sleepers, b is the width of the sleepers, and a is the extending length of the end part of the barstock), wherein the distance between the end part and any sleeper is at least 250mm when the barstocks are stacked, and a sling space is reserved. And the separation columns which do not work between the stack positions are lifted away by the travelling crane so as to avoid influencing the operation of the automatic lifting appliance. Grid numbers corresponding to direction angles of the stack position close to the origin of the coordinate system are used as stack position numbers, hanging numbers are divided according to isolation columns on each layer of the bar stack along the longitudinal or transverse increasing direction, and stack position information including the stack position numbers, the bar layer numbers, the hanging numbers, bar specifications and the like is recorded into a computer bar database management system. Through the measures, the information of the bar stock library can be realized, each stacking position has corresponding angular point coordinate information and size information, and each hanging bar has corresponding stacking position number, layer number, hanging number and other information. The method has the advantages that the information of the bar stock area is realized, the bar stock area information database is established, the three-dimensional line laser scanner is convenient to install, and a travelling crane with positioning, rotating and anti-shaking functions can automatically hoist and carry single bundles or multiple bundles of bars under the guidance of the scanner through an automatic lifting appliance.
The sleeper is as shown in fig. 4 and 5, the conical isolation column jacks are formed at equal intervals, the isolation columns are as shown in fig. 6, the lower ends of the isolation columns are conical heads, and the upper ends of the isolation columns are provided with lifting lugs, so that the isolation columns can be conveniently detached and installed as required.
The overhead crane used in the invention is a crane with a large crane, a small crane, a swing mechanism and a hoisting mechanism all provided with encoders, and can realize automatic positioning control of spatial positions.
The automatic bar bundle sling type hanger for the crane is shown in figures 7 and 8 and is characterized by comprising a hanging beam, a movable hanging bracket, a hanging rod group and a driving device.
The lifting beam is shown as a member 6 in fig. 7: the lifting lug is arranged at the upper part of the cross beam and is used for connecting a crane lifting hook; the lower part of the beam is provided with a guide rail for hanging the movable hanger, and is provided with a driving device mounting seat for mounting a transmission device;
the mobile crane is shown in fig. 7, part 8 and 9: the two hanging frames run on the hanging beam guide rail through a pulley 17 or a sliding block respectively, the bottom of each hanging frame is connected with a group of hanging rod groups 9, and meanwhile, the hanging frames are connected with a linear motion unit of a driving device, such as a nut 15 of a ball screw mechanism, and are driven by the driving device to run horizontally;
the boom set is shown as part 9 in fig. 7 and fig. 10: the hanger rod seat 19 is used for connecting the movable hanger 8, two hanger rods 21 are hung on two sides of the hanger rod seat through a pin shaft 20, and the slide block 22 can slide up and down along a hanger rod sliding groove; the two ends of the suspender 24 are hung on the sliding block along the center of the suspender by going around the roller 25 at the lower end of the suspender, and the sliding block is connected with the upper end of the suspender through a tension spring 26; the torsion spring 27 is arranged at the connecting pin of the hanging rod and the hanging bracket to provide the separated tension of the end parts of the hanging rods at the two sides.
The driving device is shown in fig. 7: the motor 14 and the bearing seat 7 are fixedly arranged at the lower part of the hanging beam, and the rotary motion of the motor is converted into linear motion through the forward spiral ball screw 10, the reverse spiral ball screw 13 and the connecting shaft 12 to drag the two movable hanging brackets at the two ends to be close to or separate from each other towards the middle along the guide rail.
The automatic sling for hanging the bar bundle on the lifting rope of the crane is composed of a hanging beam, a movable hanging bracket, a hanging rod group and a driving device as shown in figure 7. Before hoisting, the two groups of lifting rod groups are driven by the driving motor 14 to be separated towards two sides, the distance is larger than the length of the rod adjusting material, then the center of the lifting appliance is aligned to the center of the material in the vertical direction through the movement, rotation and lifting of the crane, the lifting rod groups are aligned to two ends of the material, and the lifting ropes are slightly lower than the bottom surface of the material. The driving motor 14 drives the two groups of hanging rod groups to approach to the center until the two ends of the material extend into the wrapping range of the hanging strip for a certain length; at the moment, the crane lifts the sling, the sling 24 pulls the slide block 22 to move downwards under the action of the gravity of the material, the sling extends out of the suspender, meanwhile, the suspender 21 is closed to the center around the rotating shaft 20, and the sling covers the material as shown in fig. 8; continuously lifting the lifting appliance until the materials reach the transfer height; then, the crane rotates and moves to a position right above the target placement position; next, the crane lowers the lifting appliance, the lifting appliance continues to be lowered after the material reaches the placing position until the hanging strip is separated from the material contact, and the lifting rod and the hanging strip restore to the initial state under the action of the tension spring and the torsional spring as shown in fig. 7; and finally, the hoisting rod group is driven by the driving motor 14 to be separated towards the two ends until the hoisting rod group leaves the end face of the material, and then the hoisting tool is lifted, so that the crane can be moved to carry out next hoisting.
The visual recognition device is shown in fig. 12: the laser scanner and the industrial camera are arranged below the overhead travelling crane trolley and scan the image information of the lower storage area along with the operation of the overhead travelling crane; and the visual computer acquires image information returned by the laser scanner and the industrial camera and position data of the big car and the small car returned by the overhead crane control system in real time, three-dimensionally reconstructs the image information to generate a stock position distribution model of the stock in the stock area, compares the stock position distribution model with the information of the production management system database, and corrects and obtains accurate three-dimensional position information of the stock position. The invention guides the travelling crane to automatically run to the appointed stack position to hoist the bar material bundle according to the production task instruction through the visual recognition device. The overhead traveling crane control system realizes the accurate positioning function of the overhead traveling crane in a workshop coordinate system through a servo driver and a position encoder, and realizes the anti-swing of the overhead traveling crane in the running process through the hard anti-swing or software anti-swing of a guide rod. The overhead traveling crane moves to the position near the designated bar stacking position according to the production instruction and the system database information, then the three-dimensional line laser scanner moves along with the overhead traveling crane to finish measuring the three-dimensional coordinate information of the stacking position, three-dimensional image reconstruction is finished through computer three-dimensional image software, comparison and correction are carried out on the three-dimensional image information and the system database information, and the overhead traveling crane and a lifting appliance are controlled to automatically lift the bar bundle by taking the measured information as the reference.
Claims (5)
1. Rod finishing line material handling robot system, its characterized in that: the system comprises a bar stock warehouse, an intelligent crown block, a bar bundle sling type automatic lifting appliance and a material identification device; the structure of the bar stock library is as follows: drawing chessboard grids at equal intervals on the ground of a bar stock area, arranging sleepers at equal intervals in the stock area, forming isolating column jacks at equal intervals on the sleepers, stacking bar stocks according to a gap #, and recording stack position information in a computer database system, wherein the bar stock area comprises the chessboard grids, the sleepers and the isolating columns;
drawing chessboard grids on the ground of a library area at equal intervals in the longitudinal direction and the transverse direction, setting one corner of the library area as a coordinate origin, and numbering a longitudinal line and a transverse line in sequence respectively; each intersection point of the longitudinal and transverse lines of the chessboard corresponds to an independent longitudinal and transverse number and also corresponds to a fixed coordinate of a coordinate system;
correspondingly inputting the intersection point number and the coordinate information of the checkerboard grid into a bar stock database management system;
sleepers are placed in the warehouse area at fixed intervals, the intervals are 1 lifting bar width, bars are stacked on the sleepers in a 'well' -shaped stack, every 1 lifting is separated by an isolation column, and the conical head of the isolation column is inserted into the conical hole of the sleeper;
by the formulaa=(L-（n-1）*l-b) A/2 whereinLIs the length of the bar stock,nthe number of the sleepers to be pressed,lthe distance between the sleepers is set as the distance between the sleepers,bthe width of the sleeper is equal to the width of the sleeper,acalculating and adjusting the distance of the bar extending out of the sleepers for the bar end extending length, wherein the distance between the end and any sleeper is at least 250mm when the bars are stacked, and reserving a sling rope space;
grid numbers corresponding to direction angles of the stack position close to the origin of the coordinate system are used as stack position numbers, hanging numbers are divided according to isolation columns on each layer of the bar stack along the longitudinal or transverse increasing direction, and stack position information including the stack position numbers, the bar layer numbers, the hanging numbers and bar specifications is recorded into a computer bar database management system;
the structure of intelligence overhead traveling crane is: the crane speed regulation selects a servo driver and an encoder to realize the speed and position control function;
the structure of the automatic sling of the rod bundle sling type is as follows: comprises a hanging beam, a movable hanging bracket, a hanging rod group and a driving device, wherein the driving device drives the movable hanging bracket to move along the hanging beam in the reverse direction or the forward direction to realize the automatic hanging of the bar bundle, the hanging rod group rises along with an overhead crane under the action of the gravity of the bar bundle to realize the coating and safe hanging of the bar,
the lifting lug is fixed on the upper part of the cross beam of the lifting beam and is used for connecting a crane lifting hook; the lower part of the beam is provided with a guide rail for hanging the movable hanger, and is provided with a driving device mounting seat for mounting a transmission device;
the movable hanging frames comprise two hanging frames which respectively run on the hanging beam guide rail through pulleys or sliding blocks, the bottom of each hanging frame is connected with a group of hanging rod groups, meanwhile, the hanging frames are connected with the linear motion units of the driving device through nuts of the ball screw mechanisms, and the hanging frames are driven by the driving device to run horizontally;
the hanging rod group comprises a hanging rod seat used for being connected with the movable hanging frame, two hanging rods are hung on two sides of the hanging rod seat through pin shafts, and the sliding block can slide up and down along the hanging rod sliding groove; the two ends of the sling are hung on the sliding block along the center of the suspender by bypassing the roller at the lower end of the suspender, and the sliding block is connected with the upper end of the suspender through a tension spring; a torsion spring is arranged at the connecting pin shaft of the hanging rod and the hanging bracket to provide separated tension for the end parts of the hanging rods on the two sides;
the driving device comprises a motor and a bearing seat, wherein the motor and the bearing seat are fixedly arranged at the lower part of the hanging beam, and the rotating motion of the motor is converted into linear motion through a forward spiral ball screw, a reverse spiral ball screw and a connecting shaft to drag the two movable hanging brackets to move close to or separate from each other towards the middle along the guide rail;
the structure of the material identification device is as follows: the system consists of a three-dimensional line laser scanner arranged below the trolley, a computer of a control room and three-dimensional image processing software.
2. The bar finishing line material handling robot system of claim 1, wherein: when there is no hanging object, the torsion spring makes the ends of the two hanging rods separate to two sides, and the tension spring makes the slide block move upwards and the hanging strip retract into the hanging rods to tension the bottom hanging strip.
3. The bar finishing line material handling robot system of claim 1, wherein: when the object is hung, the tension of the hanging strip overcomes the tension of the tension spring, so that the slide block moves downwards, the hanging strip extends out of the hanging rod, the end part of the hanging rod is stressed to overcome the torque of the torsion spring, the end part of the hanging rod is closed towards the middle, and the hanging strip is naturally bent under the gravity action of the heavy object to coat the heavy object.
4. The bar finishing line material handling robot system of claim 1, wherein: the three-dimensional line laser scanner is fixedly installed below the crown block trolley and irradiates downwards, the three-dimensional line laser scanner collects laser line elevation information along with the movement of the crown block, three-dimensional image processing software reconstructs a three-dimensional graph of a bar stock base according to the position information of the crown block and the information acquired by the laser scanner, the three-dimensional graph is compared with the information of the database, and the accurate three-dimensional position information of the bar stock stack position is corrected.
5. The bar finishing line material handling robot system of claim 1, wherein: guiding the travelling crane to automatically run to a specified stack position to hoist the bar material bundle according to a production task instruction through a visual recognition device; the overhead traveling crane control system realizes the accurate positioning function of the overhead traveling crane in a workshop coordinate system through a servo driver and a position encoder, the overhead traveling crane is prevented from swinging in the operation process through a guide rod and is prevented from swinging through software, the overhead traveling crane moves to a position near a designated bar stacking position according to a production instruction and system database information, then a three-dimensional line laser scanner completes measurement of three-dimensional coordinate information of the stacking position along with the movement of the overhead traveling crane, three-dimensional image reconstruction is completed through computer three-dimensional image software, and the three-dimensional line laser scanner is compared and corrected with the system database information, and the overhead traveling crane and a lifting appliance are controlled by taking the measurement information as a standard to realize accurate position automatic lifting of bar bundles.
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