CN114147068A - Intelligent automatic rejection system for non-fixed-length bars - Google Patents
Intelligent automatic rejection system for non-fixed-length bars Download PDFInfo
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- CN114147068A CN114147068A CN202111292816.2A CN202111292816A CN114147068A CN 114147068 A CN114147068 A CN 114147068A CN 202111292816 A CN202111292816 A CN 202111292816A CN 114147068 A CN114147068 A CN 114147068A
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- 238000005096 rolling process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B15/0007—Cutting or shearing the product
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Abstract
The invention discloses an intelligent automatic removing system for non-fixed-length bars, which comprises: the waste removing mobile guide rail comprises a first waste removing guide rail parallel to the running direction of a bar on the finishing collection chain, and waste removing equipment, wherein the waste removing equipment comprises a waste removing vehicle and a waste removing robot, the waste removing vehicle spans above the finishing collection chain, wheels of the waste removing vehicle are arranged on the waste removing mobile guide rail, the waste removing robot is arranged on the waste removing vehicle at intervals, the waste removing robot comprises a 3D camera and a clamp, and the waste removing vehicle comprises a temporary collecting tank; the vision identification positioning subsystem comprises a camera and a vision identification positioning module, acquires non-fixed-length information according to an image shot by the camera, sends the non-fixed-length information to the waste rejecting vehicle and the waste rejecting robot to enable the waste rejecting vehicle to move in place, and determines the waste rejecting robot and the clamp clamping position for executing clamping operation according to images of different sections of a single non-fixed-length bar in the length direction by the vision identification positioning module. The invention realizes the intelligent and accurate non-scale removal without frequently suspending scale collection, and improves the finishing collection efficiency.
Description
Technical Field
The invention relates to the technical field of bar production, in particular to an intelligent automatic removing system for non-fixed-length bars.
Background
In the production process of hot-rolled twisted steel bars and round bars, a multi-length bar about hundred meters on a cooling bed is firstly sized through cold shearing, and four sizes of 6, 9, 12 and 16m are generally available, and the deviation of the sizing is 0 to +50 mm. And (3) bundling, weighing and warehousing batches of fixed-length bars after non-fixed-length rejection and counting are completed on a conveying roller way, an inspection rack and a transfer chain.
The non-fixed length, i.e. the rod material whose length is less than the fixed length, generally includes the tail rod material (also called tail rod) which can be passed through the cold shearing zone smoothly after last cold shearing and can be fed into the transport roller way after cold shearing and the short rod mixed in after cold shearing and fixed length. Typically, the length of the short bars ranges from the shortest bar (expected to be around 3.5 m) that can smoothly pass through the cold shearing zone and enter the transport roller after cold shearing to a bar that is less than the specified length. Thus, the tail ruler is primarily a short ruler, and there may be a small number of fixed rulers, but the short ruler is not necessarily the tail ruler.
Moreover, the non-fixed length is not necessarily waste, and can be packaged and sold after being selected, cut twice, changed in size and then sold. However, if non-fixed length is mixed in the bundled fixed-length finished rods, the user will propose objections and cause the whole bundle of rods to be judged as unqualified, and the reputation and the benefit of the enterprise are finally influenced. Therefore, bar manufacturing enterprises place great importance on non-scale removal.
The non-fixed length is formed due to the factors of billet density and size fluctuation, misalignment before fixed length bar shearing, shearing precision deviation of flying shear and multiple length shear and the like. In actual production, stable, accurate and efficient collection of non-fixed length is not easy to realize. Although various non-scale removing modes are formed at present, the most widely used removing mode is still manual removing, namely, on a conveying roller way, an inspection rack or a transfer chain, after an operator quickly identifies, the operator manually pulls out non-scale bars mixed into a scale by using a clamp and puts the bars into a preset collecting tank for storage. The working process of the conventional finishing non-sizing removing process arrangement is as follows:
firstly, a transport roller way 1 before cold shearing transports the bar to a cold shear 2, and the fixed-length bar sheared by the cold shear 2 is transported by a cold shear rear roller way 3 and enters a finishing collection chain 6; before the fixed-length bar reaches the waste rejecting roller way 8, the finishing and collecting chain 6 stops transporting the bar 7 forwards, and meanwhile, the finishing and collecting chain 6 right above the waste rejecting roller way 8 descends, so that the plane 15-10 of the finishing and collecting chain is lower than the roller surface of the waste rejecting roller way 8; then, an operator near the waste removing roller way 8 manually pulls all short bars mixed in the fixed-length bars onto the waste removing roller way 8, and the short bars are transported to a position near a non-fixed-length collecting tank 10 by the waste removing roller way 8; finally, the short ruler is transferred to a non-fixed-length collecting tank 10 by a short ruler material shifting device 9, and meanwhile, a finishing collecting chain 6 right above the waste rejecting roller way 8 ascends to continuously convey the bars forwards, so that a rejecting process is completed. In addition, the last fixed length of multiple length rod is cuted the back, and remaining tail chi can be by cold shear back roll table 3 direct transport to the tail chi collect 5 by, dial by the tail chi material device 4 with the tail chi in the tail chi collects 5, accomplish the collection of tail chi again. The fixed-length bars are collected into bundles through a counting steel distribution system 11, a bundling front roller way 12, a bundling unit 13 and a bundling collection rack 14.
It can be seen that in each elimination process, the stop and the descent of the finishing collection chain 6 and the manual elimination by operators all slow down the production rhythm, and greatly affect the finishing productivity. And because the scale rod temperature is still very high, especially big specification rod, there is the potential safety hazard in the manual sorting non-scale rod, and intensity of labour is big moreover, inefficiency, with high costs, still can appear the condition of lou examining because of artifical carelessness. In addition, manual sorting can also greatly prolong the time of waiting to cut by cold shearing and the efficiency of finishing collection, and influence the production rhythm. Therefore, the elimination of the non-scale manual removing mode is inevitable in the technical development.
In order to reduce or even replace manual operation, reduce production safety risk and labor cost and improve rejection efficiency and quality, the automatic or semi-automatic non-fixed-length rejection technology applied in the current production line can be divided into two categories, namely an electromagnetic sorting method and a mechanical sorting method. The specific form of the automatic non-fixed-length removing technology of the electromagnetic sorting method is disclosed in a Chinese patent 'bar electromagnetic short-length removing device (CN 213103774U)' or 'a short-length removing and collecting device (CN 212654647U)'. However, the electromagnetic sorting method has the problems of complex electromagnet lifting mechanism, multiple fault points, inconvenient maintenance, unstable operation, high rejection error rate and the like, and has strict requirements on the flatness of the fixed-length rolled piece, whether the end part is warped or not and other shape factors, and the like, so that automatic rejection is difficult to realize and manual assistance is still needed. In addition, the structural characteristics of the electromagnetic sorting method lead to the installation of the method which requires a specific process arrangement and occupies a large installation space. Thus, the inherent drawbacks of electromagnetic sorting make it difficult to further generalize.
The mechanical sorting method has a much simpler equipment structure than the electromagnetic sorting method and has various specific forms, wherein the practical application of the mechanical sorting method is similar to the working principle of the electromagnetic sorting method, namely, a lifting roller or a baffle plate and the like are used for clamping and fixing or lifting and separating the aligned fixed-length bars, so that the non-fixed-length bars and the fixed-length bars can only move along a conveying roller way in sequence, and the separation of the non-fixed-length bars and the fixed-length bars is realized, and the specific forms are as described in the published Chinese patents of ' small-sized bar short-length automatic sorting device (CN207371874U), ' bar non-length separating device (CN211385856U), ' steel rolling bar wire short-length separating device (CN202460998U) ' or ' device and method for removing short-length bars ' (CN110102499A) '. Other forms of mechanical sorting methods have strong characteristics, are only suitable for specific production lines, and are difficult to be universally applied, for example, as disclosed in the published Chinese patents, "a bar non-scale automatic collecting device (CN 211914987U)", "a device and method for removing short scales after scale cutting in steel rolling production" (CN112387600A) ", and" a bar production line short scale collecting system (CN205289244U) ". Wherein, the utility model discloses a CN205289244U is very distinctive, discloses a bar production line short ruler collection system, is through the hydraulic pressure tailgating that the cold bed aligns under the roll table and cuts, cuts the multiple length rod that contains the short ruler for full multiple length material and short ruler material, and full multiple length material and short ruler material realize the separation of multiple ruler and short ruler along opposite direction on the cold bed rollout table moreover. However, in general, the simple mechanisms of mechanical sorting methods determine that they are not adaptable to the variable production conditions, in particular to the multi-line cutting process of small-format bars. Before and after the small-size bar is cut to length, the small-size bar is easy to present multilayer, stacked and crossed states, and the deflection in the length direction is large, so that the non-length separation is difficult to be simply completed by utilizing a liftable roller, a baffle plate and the like. Thus, mechanical sorting methods also do not leave manual assistance and still do not meet the need for non-scale stable, accurate, and efficient collection.
In conclusion, the existing non-scale removing methods can not really realize stable, reliable, accurate and efficient non-scale collection, and do not completely get rid of manual intervention all the time, and the automation degree is not high. Along with the continuous improvement of automation and intelligent control technology of bar rolling process, the rolling speed is faster and faster, the control requirement on the whole process flow is higher and higher, the efficiency and the quality of finished product collection become one of the important bottlenecks restricting the efficiency of the bar production line, the problems existing in the traditional non-fixed-length removing mode are more and more prominent, and the bar production line is an intelligent and less-humanized short plate.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent automatic removing system for non-fixed-length bars, which comprises:
the waste rejecting moving guide rail comprises a first waste rejecting guide rail parallel to the running direction of bars on the finishing and collecting chain,
the waste rejecting device comprises a waste rejecting vehicle and a waste rejecting robot, wherein the waste rejecting vehicle stretches across the finishing collection chain, wheels of the waste rejecting vehicle are arranged on a waste rejecting moving guide rail, the waste rejecting robots are arranged on the waste rejecting vehicle at intervals along the direction perpendicular to the running direction of bars on the finishing collection chain, each waste rejecting robot comprises a 3D camera and a clamp, and the waste rejecting vehicle comprises a temporary collecting tank and is used for collecting the non-fixed-length bars clamped by the clamp;
the vision identification positioning subsystem comprises a camera and a vision identification positioning module, the vision identification positioning module acquires non-fixed-length information comprising the number, the shape and the position of the non-fixed-length bars according to images shot by the camera, sends the non-fixed-length information to the waste rejecting vehicle and the waste rejecting robot to enable the waste rejecting vehicle to move in place, and determines the waste rejecting robot for clamping and the clamp clamping position according to images of different sections of a single non-fixed-length bar in the length direction by the 3D cameras,
wherein the non-scale comprises a short scale and/or a tail scale.
Optionally, the vision recognition positioning module acquires real-time digital images from the camera and the 3D camera, acquires position coordinate information of the waste rejecting vehicle and the waste rejecting robot, determines the non-fixed-length bar material by extracting image features and image recognition, and outputs coordinates of the clamping position to the waste rejecting vehicle and the waste rejecting robot.
Optionally, the automatic waste removing device also comprises a second waste removing guide rail and a waste removing roller way which are perpendicular to the running direction of the rods on the finishing collecting chain, and the automatic waste removing device is used for descending the finishing collecting chain above the waste removing roller way when a non-fixed-size collecting tank of the waste removing device is full or the finishing collecting chain does not have supplied materials, so that the plane of the finishing collecting chain is lower than the roller surface of the waste removing roller way, the waste removing vehicle moves to the upper part of the waste removing roller way and horizontally turns by 90 degrees through wheels, enters the second waste removing guide rail from the first waste removing guide rail, runs along the second waste removing guide rail to the side of the non-fixed-size collecting tank,
the temporary collecting tank is driven to tip by a collecting tank tipping mechanism of the waste rejecting vehicle, so that the non-fixed-length bars slide onto a waste rejecting roller way, and the non-fixed-length bars are stirred into the non-fixed-length collecting tank by a non-fixed-length stirring device.
Optionally, the tail ruler shifting device and the tail ruler collecting frame are further arranged, and the tail ruler shifting device is used for shifting the tail ruler conveyed from the cold-shearing rear roller way into the tail ruler collecting frame.
Optionally, there is also a non-sizing discharge robot on one side of the finishing collection chain, moving in the direction of travel of the bars of the finishing collection chain, for extracting the non-sizing bars from the end of the temporary collection chute and depositing them in the non-sizing collection chute.
Optionally, a plurality of non-scale collecting tanks are provided, and the waste removing robot sorts the waste according to the length of the non-scale collecting tanks and respectively puts the waste removing robot into different non-scale collecting tanks.
Optionally, in a case that the non-sized bars and the sized bars are overlapped in a cross manner, the vision recognition positioning module determines a pressing intersection point where the non-sized bars are pressed by the sized bars, divides the non-sized bars into a plurality of sections by the pressing intersection point, preferentially determines a clamping section by the sized bars with the most pressing intersection point in sequence, compares the total length of the sections on one side of the sized bars with the total length of the sections on the other side of the sized bars, selects the section on the side with the longer total length of the sections as a preferential clamping section and sends the preferential clamping section to the waste removing robot, and after the waste removing robot receives information, shoots the position of the sections through a 3D camera of the waste removing robot to determine whether clamping is suitable, wherein the sections connected with the pressing intersection point are processed on one side of the sized bars as long as part of the sections are on one side of the sized bars.
Optionally, the waste rejecting robot is a six-axis robot.
Optionally, when the waste removing robot clamps the non-fixed-length bars, the movement speed of the waste removing vehicle is the same as that of the finishing collection chain.
The invention has the following beneficial effects:
(1) the intelligent removing system based on industrial vision and robot technology really realizes intelligent and accurate removing with non-fixed length and thoroughly gets rid of manual waste removing.
(2) The non-fixed-length classification and partition storage in different length ranges can be realized, and subsequent collection management is facilitated, wherein the non-fixed-length classification and partition storage comprises a short ruler and a tail ruler.
(3) The device can adapt to non-fixed-length waste removal of bars in the full specification range, and solves the problem that non-fixed-length waste removal (for example, head warping, bending and winding and the like) in bars with irregular shapes, especially small-specification bars are stacked in multiple layers and crossed and inconvenient to remove.
(4) The non-scale removing rhythm is fast, the scale collecting is not required to be frequently suspended, and the finishing collecting efficiency is greatly improved.
Drawings
The above features and technical advantages of the present invention will become more apparent and readily appreciated from the following description of the embodiments thereof taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic layout showing a conventional non-sizing bar rejection system;
FIG. 2 is a schematic layout diagram of an intelligent automatic non-fixed-length bar removing system according to a first embodiment of the present invention;
FIG. 3-1 is a front view of the waste removal apparatus according to the first embodiment of the present invention;
FIG. 3-2 is a top view of the waste removal apparatus according to the first embodiment of the present invention;
FIG. 4-1 is a schematic view showing a waste picking robot according to a first embodiment of the present invention in a state of being positioned and waiting to pick up a non-sized bar;
FIG. 4-2 is a schematic view of the waste picking robot according to the first embodiment of the present invention in a state of being gripped and waiting to release or releasing the non-fixed-length bar;
4-3 are schematic diagrams showing the non-scale bar materials obliquely unloaded by the non-scale collecting groove of the waste removing vehicle according to the first embodiment of the invention;
FIG. 5 is a schematic layout diagram of an intelligent automatic non-fixed-length bar rejecting system according to a second embodiment of the present invention;
FIG. 6 is a schematic layout diagram of an intelligent automatic non-fixed-length bar rejecting system according to a third embodiment of the present invention;
FIG. 7 is a schematic layout diagram of an intelligent automatic non-fixed-length bar rejecting system according to a fourth embodiment of the present invention;
FIG. 8-1 is a schematic view showing a state where bars according to an embodiment of the present invention are not stacked;
FIG. 8-2 is a schematic view showing the bars of the embodiment of the present invention in a state of being stacked;
fig. 8-3 are schematic views showing the bars in another stacked state according to the embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described below with reference to the accompanying drawings. Those of ordinary skill in the art will recognize that the described embodiments can be modified in various different ways, or combinations thereof, without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in the present description, the drawings are not to scale and like reference numerals refer to like parts.
The first embodiment is as follows:
the intelligent automatic removing system for the non-fixed-length bars comprises a waste removing movable guide rail, a waste removing device 15 and a visual identification positioning subsystem, and is used for clamping the non-fixed-length bars, wherein the non-fixed-length bars comprise short lengths, as shown in fig. 2.
The waste rejecting moving guide rail comprises a first waste rejecting guide rail 16 parallel to the running direction of the bars on the finishing and collecting chain, so that the waste rejecting vehicle moves along the running direction of the bars on the finishing and collecting chain 6.
As shown in fig. 3-1 and 3-2, the waste rejecting device 15 comprises a waste rejecting vehicle 15-1 and a waste rejecting robot 15-6, wherein the waste rejecting vehicle 15-1 spans over the finishing and collecting chain 6, and wheels 15-4 of the waste rejecting vehicle 15-1 are arranged on a waste rejecting moving guide rail and driven by a driving motor 15-5. The waste removing vehicle 15-1 is mainly used for carrying a waste removing robot 15-6 and temporarily storing non-fixed-length bars 15-9 sorted by the waste removing robot. The waste rejecting robots 15-6 are arranged on the waste rejecting vehicle 15-1 at intervals along the direction perpendicular to the running direction of the bars on the finishing and collecting chain 6. The number of the waste rejecting robots 15-6 can be flexibly adjusted according to the width of the finishing collection chain and the speed of the production rhythm. Meanwhile, each waste rejecting robot can move left and right along the waste rejecting trolley according to the space relation of different sections of the non-fixed-length bars relative to the waste rejecting trolley, so that the utilization rate of the robot is improved, and the equipment cost is greatly reduced. The waste rejecting robot 15-6 is a multi-axis robot and can adopt a six-axis robot, the waste rejecting robot 15-6 comprises a 3D camera 15-7 and a clamp 15-8, and the waste rejecting robot is mainly used for precisely grabbing, separating, finishing and collecting non-fixed-length bars 15-9 on a chain plane 15-10. The waste removing vehicle comprises a temporary collecting groove 15-2 used for collecting the non-fixed-length bars clamped by the clamp 15-8. The collecting tank tilting mechanism 15-3 is used for tilting the collecting tank so that the non-scale bar 15-9 is tilted into the non-scale collecting tank 10, and the collecting tank tilting mechanism 15-3 can adopt an air cylinder or a hydraulic cylinder.
The vision identification positioning subsystem comprises a camera 18 and a vision identification positioning module, so that in order to shoot and collect the shape images of the whole length of the bars on the chain, 2 cameras 18 can be arranged and are arranged at two ends of the bar running direction on the finishing collection chain 6, and the vision identification positioning subsystem is mainly used for rapidly shooting the complete images of the whole length of the bars on the finishing collection chain in real time.
The vision recognition positioning module can realize real-time tracking and monitoring of bars transported on a finishing collection chain, acquire real-time digital images from the camera and the 3D camera, acquire position coordinate information of the waste removing vehicle and the waste removing robot, determine the non-fixed-length bars by extracting image characteristics and image recognition, and output coordinates of clamping positions to the waste removing vehicle and the waste removing robot.
Specifically, the vision identification positioning module realizes coordinate conversion, identifies and positions the number, the shape and the position of the non-fixed sizes through the computer high-speed image processing module, and finally sends all the information of the non-fixed sizes to the waste removing robot. The vision recognition positioning module obtains non-fixed-length information including the number, the shape and the positions of the non-fixed-length bars according to the images shot by the camera 18, sends the non-fixed-length information to the waste removing vehicle 15-1 and the waste removing robot 15-6 to enable the waste removing vehicle 15-1 to move in place, and the vision recognition positioning subsystem determines the waste removing robot and the clamp clamping position of the clamp to execute clamping operation according to the images of different sections of a single non-fixed-length bar in the length direction of each 3D camera. The waste rejecting robot 15-6 can clamp a non-fixed-length bar at the same time, or the waste rejecting robot 15-6 can clamp a non-fixed-length bar at the same time. This depends on the relative position of the rejecting robot 15-6 to the non-sized bars, for example 3.5m long, while some rejecting robots 15-6 are not located in the length area of the non-sized bars and cannot grip them.
The working process of the intelligent automatic non-fixed-length bar removing system comprises the following steps:
firstly, the fixed-length bar cut by the cold shears 2 is transported by the cold-sheared roller way 3 and enters the finishing collection chain 6. The vision identification positioning subsystem starts to identify the number, the appearance and the position of the bars in motion, and simultaneously judges whether the non-fixed-length bars are mixed. If no non-fixed-length bar is mixed, the waste removing equipment 15 does not act; if the non-fixed-length bars are mixed, an action instruction and the number, the shape and the position of the non-fixed-length bars are sent to the waste removing device 15, and the waste removing device 15 further identifies, positions, clamps and removes the non-fixed-length bars. Preferably, when the waste removing robot clamps the non-fixed-length bars, the waste removing vehicle can flexibly adjust the running speed according to the moving speed of the finishing collecting chain to enable the non-fixed-length bars on the finishing collecting chain to be in a relatively static state, so that the waste removing robot is matched to accurately and stably grab the non-fixed-length bars, and the grabbing reliability is guaranteed.
Fig. 4-1 is a schematic view of the rejecting robot in a positioned, ready to pick up a non-sized bar while a plurality of non-sized bars have been collected in the non-sized collecting chute. Fig. 4-2 is a schematic diagram of the waste-rejecting robot on the waste-rejecting vehicle in a state of clamping and waiting to release or releasing the non-fixed-length bar material. Fig. 4-3 illustrate the situation where the collector tank tipping mechanism on the reject vehicle is operated to tilt the non-sized collector tank and unload the collected non-sized bars.
Furthermore, the waste removing device also comprises a second waste removing guide rail 17 perpendicular to the running direction of the bars on the finishing and collecting chain, and the second waste removing vehicle guide rail 17 is parallel to the running direction of the bars on the waste removing roller way 8, so that the waste removing vehicle moves along the waste removing roller way 8. When the temporary collecting groove 15-2 of the waste removing device 15 is about to be filled or no material is fed to the finishing collecting chain 6, the finishing collecting chain 6 stops working, and meanwhile, the finishing collecting chain 6 right above the waste removing roller way 8 descends, so that the plane 15-10 of the finishing collecting chain is lower than the roller surface of the waste removing roller way 8. Meanwhile, the waste rejecting vehicle moves forward towards the running direction of the bars on the finishing collecting chain, reaches the position right above the waste rejecting roller table 8, turns 90 degrees through wheels, and enters the transverse waste rejecting vehicle guide rail 17 from the vertical waste rejecting vehicle guide rail 16. Then, the waste removing vehicle runs rightwards along the guide rail 17 of the transverse waste removing vehicle and finally reaches the side of the non-fixed-length collecting tank 10. And finally, driving a temporary collecting tank 15-2 by a collecting tank tilting mechanism 15-3 of the waste removing vehicle to enable the non-fixed-length bars to slide onto a waste removing roller table 8, and finally transferring the non-fixed-length bars to a non-fixed-length collecting tank 10 by a short-length material shifting device 9, thereby completing a waste removing process. In addition, the waste removing robot can sort again according to the length of the non-fixed length and respectively put into different non-fixed length collecting grooves, so that the processing work of changing the length of the non-fixed length, selling and the like at the later stage is facilitated.
Further, to the collection of tail chi, tail chi kickoff 4 stirs the tail chi that cold-shearing back roll table 3 conveyed and shifts to tail chi collection frame 5. Namely, for the collection of the tail ruler, the conventional tail ruler collection mode can also be adopted.
Further, in the waste removing device 15, the working process of the waste removing robot 15-6 flexibly adjusts the clamping strategy according to the placing position of the non-fixed-length bars on the finishing collecting chain and the relative relation with other fixed-length bars, such as overlapping, overlapping and the like.
Fig. 8-1 shows that the non-fixed-length bars identified by the vision identification and positioning subsystem are not crossed or overlapped with other fixed-length bars. At the moment, all the waste rejecting robots on the waste rejecting trolley can simultaneously perform clamping actions and can quickly complete the rejecting task.
As shown in fig. 8-2, the non-fixed-length bars identified by the vision identification positioning subsystem are crossed and overlapped with other fixed-length bars, and a part of the non-fixed-length bars is pressed, so that all the waste rejecting robots on the waste rejecting trolley cannot simultaneously perform clamping actions. The camera 18 and the vision recognition positioning module can recognize that the non-fixed-length bar is pressed by the fixed-length bar and give the position information of the pressing intersection point, wherein the pressing intersection point is the intersection point at which the non-fixed-length bar is pressed below the fixed-length bar. In fig. 8-2, three points are pressed by two fixed-length bars, namely, the pressing cross points 30, 40 and 50. The vision recognition positioning module divides the non-scale into four sections from the pressing cross point 30 to the left end, between the pressing cross points 30 and 40, between the pressing cross points 40 and 50 and between the pressing cross point 50 to the right end through the determined three pressing cross points.
Further, the vision recognition positioning module classifies the non-sized sections according to their spatial relationship, for example, in fig. 8-2, the two parts between the intersection 30 and the left end and between the intersection 40 and the intersection 50 are on one side of the sized bar 100 (it should be noted that although there is a part between 40 and 50 not on one side of the sized bar 100, it is not pressed, so it can be calculated as on one side of the sized bar 100), and the other part between the intersection 30 and the intersection 40 on the other side of the sized bar 100, according to the principle of preferentially clamping the side with the largest total length of the sections, it is obviously convenient to clamp the section between 30 and the left end and between 40 and 50, and turn the section between 30 and 40 out, so that the section is not pressed. As can also be appreciated from fig. 8-2, the section from the intersection 50 to the right end, if gripped, would obviously cause a greater roll and would make it more difficult to grip the entire non-fixed length. The area between the intersections 30 to 40, if gripped, will obviously also cause a large roll, making it difficult to grip the entire non-fixed length.
After turning over between 30 and 40, only the intersection 50 is pressed, and as viewed from the intersection 50 to the right end and from the intersection 50 to the left end, it is obvious that the section between the intersection 50 and the left end should be gripped on the principle of preferentially gripping the section on the side where the total length is largest. Due to the overlapping of the sections between 30 and the left end and between 40 and 50, the non-fixed length can be directly drawn out from the fixed length bar 200 by the clamping of the waste removing robot of the sections between 30 and the left end and between 40 and 50.
After the waste-removing robot receives the information, whether the waste-removing robot closest to the intersection is suitable for clamping is determined by the waste-removing robot at the nearest intersection through the self-contained 3D high-definition camera 15-7, for example, the waste-removing robot between the intersection 30 and the intersection 40 does not have a suitable clamping position, and the waste-removing robot at the right side of the intersection 50 does not have a suitable clamping position. The rejecting robot on the left side of the intersection 30 has a proper clamping position, the rejecting robot between the intersection 40 and the intersection 50 can also have a proper clamping position, and the rejecting robot which is suitable for clamping can clamp the non-fixed-length bar material to enable the non-fixed-length bar material to be separated from the lower portion of the fixed-length bar material, so that the non-fixed-length bar material can be normally clamped.
For example, as shown in fig. 8-3, for a length of the sized bar 100, 30 to the left end, between 40 and 50, and greater than a length between 30 and 40, then the gripper is preferentially gripping between 30 and 50 to the left end, and likewise the section between 30 and 40 may be turned over. After the bar material is turned over, only the intersection point 50 is pressed for the sizing bar material 200, and since the length of the section from 50 to the right end is longer than the total length of the section from 50 to the left end, the section from 50 to the right end is preferentially gripped. And after the waste removing robot receives the information, determining whether the waste removing robot is suitable for clamping according to the images shot by the 3D high-definition camera 15-7.
Therefore, the vision recognition positioning module can determine the pressing cross points of the non-fixed-length bars pressed by the fixed-length bars, divide the non-fixed-length bars into a plurality of sections by the pressing cross points, preferentially determine the clamping sections by the fixed-length bars with the most pressing cross points in sequence, compare the total length of the sections on one side of the fixed-length bars with that on the other side of the fixed-length bars, select the section on the longer side as the preferential clamping section and send the preferential clamping section to the waste removing robot, and after the waste removing robot receives information, shoot the positions of the sections by the 3D high-definition camera 15-7, so that whether clamping is suitable or not is determined. The section connected with the pressing intersection point is processed on one side of the fixed-length bar as long as part of the section is on one side of the fixed-length bar (such as the section between 40 and 50 in figure 8-2).
Example two:
the contents of the gripping non-sized bars of the second embodiment are the same as the first embodiment, except that there are some differences in transferring the gripped non-sized bars. In the second embodiment, the reject roller bed 8 is removed, at least one non-fixed-length collecting tank 10 can be added, and the non-fixed-length collecting tanks can be stored in different types according to the length of the non-fixed-length collecting tanks. The overall layout is as shown in fig. 5, the waste removing vehicle moves to the non-scale collecting tank 10 along the second waste removing guide rail 17, and the collecting tank tipping mechanism 15-3 drives the temporary collecting tank 15-2 to enable the non-scale bars to slide into the non-scale collecting tank 10. Likewise, for tail ruler collection, conventional tail ruler collection may also be used.
Example three:
in this embodiment, on the basis of the second embodiment, the tail ruler material-stirring device 4, the tail ruler collecting frame 5 and part of the cold-shearing rear roller bed 3 are removed, and the overall arrangement is as shown in fig. 6. The short ruler removing process is the same as the first embodiment and the second embodiment, but the tail ruler collecting process is changed.
In this embodiment, the tail ruler is collected by using the non-scale intelligent automatic removing system. After the multi-length bar is cut to length for the last time, the rest tail ruler is transported by the cold-cut roller way 3 and enters the finishing collection chain 6, the visual identification positioning subsystem 18 starts to identify and position the tail ruler, and meanwhile, an action instruction is sent to the waste removing equipment 15, so that the removing task is completed. Finally, guided by a guide rail 17 of the transverse waste-rejecting trolley, the tail ruler reaches the side of the non-fixed-length collecting tank 10, and the collecting tank tipping mechanism 15-3 unloads the tail ruler into the non-fixed-length collecting tank 10.
Example four:
in the embodiment, on the basis of the third embodiment, the second reject vehicle guide rail 17 is removed, the moving guide rail 20 is arranged on one side of the finishing and collecting chain, and the non-sizing discharging robot 19 which is arranged on the moving guide rail 20 and can move along the moving direction of the bars on the finishing and collecting chain is arranged, and the overall arrangement is as shown in fig. 7.
In the embodiment, the non-fixed-length discharging process comprises the tail ruler removing and collecting process which is completely the same as that of the third embodiment, but the non-fixed-length discharging process is changed. When the temporary collecting groove 15-2 of the waste removing vehicle is about to be filled or needs to be immediately unloaded, the finishing collecting chain 6 does not need to stop running and descend, and the waste removing vehicle does not need to cross the finishing collecting chain 6 to unload. In this embodiment, the non-sized bars are extracted directly from the end of the temporary collection tank 15-2 of the reject car and placed in the non-sized collection tank 10, by means of a non-sized discharge robot 19 arranged on one side of the finishing collection chain.
Moreover, a plurality of non-scale collecting grooves can be arranged in practical application, and the non-scale unloading robot can be classified into different non-scale collecting grooves according to different lengths of non-scale collecting grooves, so that the workload of secondary classification of workers is saved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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 (9)
1. The utility model provides an intelligent automatic system of rejecting of non-scale rod which characterized in that includes:
the waste removing moving guide rail comprises a first waste removing guide rail parallel to the running direction of the bars on the finishing and collecting chain;
the waste rejecting device comprises a waste rejecting vehicle and a waste rejecting robot, wherein the waste rejecting vehicle stretches across the finishing collection chain, wheels of the waste rejecting vehicle are arranged on a waste rejecting moving guide rail, the waste rejecting robots are arranged on the waste rejecting vehicle at intervals along the direction perpendicular to the running direction of bars on the finishing collection chain, each waste rejecting robot comprises a 3D camera and a clamp, and the waste rejecting vehicle comprises a temporary collecting tank and is used for collecting the non-fixed-length bars clamped by the clamp;
the vision identification positioning subsystem comprises a camera and a vision identification positioning module, the vision identification positioning module acquires non-fixed-length information comprising the number, the shape and the position of the non-fixed-length bars according to images shot by the camera, sends the non-fixed-length information to the waste rejecting vehicle and the waste rejecting robot to enable the waste rejecting vehicle to move in place, and determines the waste rejecting robot for clamping and the clamp clamping position according to images of different sections of a single non-fixed-length bar in the length direction by the 3D cameras,
wherein the non-scale comprises a short scale and/or a tail scale.
2. The intelligent automatic non-sizing bar removing system according to claim 1,
the vision recognition positioning module acquires real-time digital images from the camera and the 3D camera, acquires position coordinate information of the waste removing vehicle and the waste removing robot, determines the non-fixed-length bar material by extracting image characteristics and image recognition, and outputs coordinates of the clamping position to the waste removing vehicle and the waste removing robot.
3. The system of claim 1, further comprising a second reject guide rail, a reject roller way, and a collecting groove tipping mechanism perpendicular to the direction of travel of the rods on the reject roller way, wherein when the non-sized collecting groove of the reject apparatus is full or no material is fed from the reject roller way, the reject roller way lowers the reject collecting chain above the reject roller way, so that the plane of the reject collecting chain is lower than the roller surface of the reject roller way, the reject vehicle moves above the reject roller way, and is horizontally steered by 90 ° through wheels, enters the second reject guide rail from the first reject guide rail, and travels along the second reject guide rail to the side of the non-sized collecting groove,
the temporary collecting tank is driven by the collecting tank tilting mechanism to tilt, so that the non-fixed-length bars slide onto the waste removing roller way, and the non-fixed-length bars are stirred into the non-fixed-length collecting tank by the non-fixed-length stirring device.
4. The intelligent automatic non-fixed-length bar removing system according to claim 1, further comprising a tail ruler material shifting device and a tail ruler collecting frame, wherein the tail ruler material shifting device is used for shifting a tail ruler conveyed from a cold-shearing roller way into the tail ruler collecting frame.
5. The system of claim 1, further comprising a non-scale discharge robot on one side of the finishing collection chain, moving in the direction of travel of the bars of the finishing collection chain, for withdrawing non-scale bars from the end of the temporary holding tank and placing them in the non-scale holding tank.
6. The intelligent automatic non-scale bar rejecting system according to claim 1, wherein there are a plurality of non-scale collection troughs of different sizes.
7. The intelligent automatic non-sizing bar removing system according to claim 1, under the condition that the non-fixed-length bars and the fixed-length bars are crossed and overlapped, the vision identification positioning module determines the pressing cross points of the non-fixed-length bars pressed by the fixed-length bars, dividing the non-fixed length bar into a plurality of sections by pressing cross points, preferentially determining the clamping sections by pressing the fixed length bar with the most cross points in sequence, comparing the total length of the sections on one side and the other side of the fixed-length bar, selecting the section on the side with the longer total length of the sections as a preferential clamping section and sending the preferential clamping section to the waste rejecting robot, shooting the position of the section through a 3D camera of the waste rejecting robot after the waste rejecting robot receives information so as to determine whether the clamping is suitable, if part of the section extending and connected from the pressing intersection point is on one side of the fixed-length bar, the section is processed on one side of the fixed-length bar.
8. The intelligent automatic non-sizing bar rejecting system according to claim 1, wherein the rejecting robot is a six-axis robot.
9. The system of claim 1, wherein the reject robot grips the non-sized bars at the same speed as the bars on the finishing collection chain.
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