CN115535563A - Non-fixed-length bar removing system and non-fixed-length bar removing method thereof - Google Patents

Non-fixed-length bar removing system and non-fixed-length bar removing method thereof Download PDF

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Publication number
CN115535563A
CN115535563A CN202211208744.3A CN202211208744A CN115535563A CN 115535563 A CN115535563 A CN 115535563A CN 202211208744 A CN202211208744 A CN 202211208744A CN 115535563 A CN115535563 A CN 115535563A
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China
Prior art keywords
fixed
bars
conveying roller
length
roller way
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CN202211208744.3A
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Chinese (zh)
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CN115535563B (en
Inventor
徐言东
王晓晨
程知松
杨荃
王京
张勇军
郭强
刘洋
余伟
韩爽
胡博
王兆辉
白金龙
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University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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Priority to CN202211208744.3A priority Critical patent/CN115535563B/en
Publication of CN115535563A publication Critical patent/CN115535563A/en
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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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B07C5/34—Sorting according to other particular properties
    • 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
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/88—Separating or stopping elements, e.g. fingers
    • B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
    • B65G47/8815—Reciprocating stop, moving up or down in the path of the article
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • 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
    • B65G65/00—Loading or unloading
    • B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
    • B65G65/32—Filling devices
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/0217—Elongated
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention discloses a non-fixed-length bar removing system and a non-fixed-length bar removing method thereof, relating to the technical field of steel rolling. The equipment is used for removing the non-fixed-length bars, so that the normal transportation and bundling of the fixed-length bars are ensured, a whole set of equipment system for removing the non-fixed-length bars is established, and the problems that the manual efficiency is low, the non-fixed-length bars are easily misjudged, the production rhythm is influenced and the like are solved; the remote special lifting baffle plate is used for eliminating the phenomenon that the cut bars, small-size bars and the like which are easy to be wound by bars are not completely eliminated, so that the processing time is shortened; the visual judgment system is added, and the short ruler rejection industrial robot is humanized, so that the automation and intelligence degree is improved, the labor intensity is reduced, and the operation efficiency is improved.

Description

Non-fixed-length bar removing system and non-fixed-length bar removing method thereof
Technical Field
The invention relates to the technical field of steel rolling, in particular to a non-fixed-length bar removing system and a non-fixed-length bar removing method thereof.
Background
The quality grade of the whole Chinese steel product is not high, the difference between the quality grade and the requirement of a user is large, and the quality, the performance and the variety of the product cannot meet the requirement of various industries on the quality of the variety. At present, the manual operation is mainly adopted for bundling bar products, the contents of finished product bundles are easy to be mixed into non-fixed-length bars, so that quality objections are caused, and the improvement on the steel production is needed by paying attention to the product quality and reducing operators and the like. With the market fierce competition spread to all walks of life, the requirements for improving product quality and reducing personnel cost are higher and higher, wherein the objection of improving product quality and reducing quality becomes the emphasis of enterprises.
In the prior art, manual operation is mainly adopted, the automatic rejection process cannot be realized, misjudgment is easy to occur in manual operation, the production rhythm is influenced, the labor cost is high, and the working efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a non-fixed-length bar removing system and a non-fixed-length bar removing method thereof, which are used for solving the problems in the prior art. The technical scheme is as follows:
a non-sizing bar rejection system comprising: the sorting device comprises a rough sorting module and a secondary sorting module, wherein the rough sorting module is in transmission connection with the secondary sorting module;
the coarse sorting module comprises: the second sorting module comprises a rolling line conveying roller bed and a first vision device, the rolling line conveying roller bed is connected with the second sorting module, the first vision device is arranged above the rolling line conveying roller bed, the rolling line conveying roller bed comprises a plurality of rolling line conveying rollers, a swinging feeding section chain of a first swinging chain type conveyer is arranged between every two rolling line conveying rollers, the swinging feeding section chain of each first swinging chain type conveyer is matched with a swinging discharging section chain of the first swinging chain type conveyer, the discharging end of the swinging discharging section chain of each first swinging chain type conveyer is in transmission connection with a first horizontal chain type conveyer, first lifting baffles are arranged between every two rolling line conveying rollers, each first lifting baffle supports independent lifting, and the distance between every two first lifting baffles is equal;
the secondary sorting module includes: the first conveying roller way is connected with the rolling line conveying roller way, wherein the first conveying roller way comprises a plurality of first conveying rollers, every two swinging feeding section chains of a second swinging chain type conveyer and swinging feeding section chains of every second swinging chain type conveyer are arranged between every two first conveying rollers and are in transmission connection with a second horizontal chain type conveyer, second lifting baffles and third lifting baffles which are respectively arranged at two ports of the first conveying roller way, and a second vision device and a lifting non-fixed-length conveying roller way device which are arranged above the second horizontal chain type conveyer, wherein the lifting non-fixed-length conveying roller way device conveys non-fixed-length bars on the second horizontal chain type conveyer to a secondary non-fixed-length bar collecting module, and the fixed-length bars on the second horizontal chain type conveyer are collected by the collecting module.
Preferably, the system further comprises a third horizontal chain conveyor, a gantry-type frame movable industrial robot and a movable industrial robot with a ground rail;
the third horizontal chain conveyor is in transmission connection with one end, far away from the second swing blanking section chain, of the second horizontal chain conveyor;
the support of the gantry frame movable industrial robot and the ground rail of the movable industrial robot with the ground rail are respectively arranged on two sides of the third horizontal chain conveyor and the second horizontal chain conveyor in the non-conveying direction, wherein the clamping jaws of the gantry frame movable industrial robot are supported above the second horizontal chain conveyor and the third horizontal chain conveyor to run;
and the clamping jaws of the gantry type frame movable industrial robot and the clamping jaws of the movable industrial robot with the ground rail respectively clamp two ends of a non-fixed-length bar on the third horizontal chain conveyor and the second horizontal chain conveyor and convey the two ends to the lifting non-fixed-length conveying roller way device.
Preferably, the secondary non-scale bar collecting module comprises a third conveying roller way, the third conveying roller way is in transmission connection with the lifting non-scale conveying roller way, and a discharging device is respectively installed on the third conveying roller of each third conveying roller way.
Preferably, the collecting module comprises a first material blocking device, a second material blocking device, a fourth horizontal chain conveyor, a third material blocking device and a second conveying roller way;
the first material blocking device is arranged on the second horizontal chain type conveyor, the second material blocking device is arranged on the third horizontal chain type conveyor, the first material blocking device is matched with a clamping jaw of the gantry type frame movable industrial robot and a non-fixed-length bar clamped by the clamping jaw of the movable industrial robot with the ground rail to be conveyed to the lifting non-fixed-length conveying roller way device, and the second material blocking device is used for being matched with the clamping jaw of the gantry type frame movable industrial robot and the non-fixed-length bar clamped by the clamping jaw of the movable industrial robot with the ground rail to be conveyed to the lifting non-fixed-length conveying roller way device;
the discharge end of the fourth horizontal chain conveyor is arranged perpendicular to the conveying direction of the fourth horizontal chain conveyor, the second conveying roller way is arranged, the fourth horizontal chain conveyor and the connecting portion of the second conveying roller way are arranged, the third material blocking device is used for blocking the fixed-length bars which are not arranged and are detected by the automatic counting device above the fourth horizontal chain conveyor.
Preferably, the first vision device comprises a first camera and a second camera which are arranged above the rolling line roller conveyor, and the first camera and the second camera are used for identifying the bars on the rolling line roller conveyor and judging whether the bars are non-fixed-length bars or not;
the second vision device comprises a third camera and a fourth camera which are arranged above the gantry type frame movable industrial robot, and the third camera and the fourth camera are used for identifying bars on the second horizontal chain conveyor and the third horizontal chain conveyor and judging whether the bars are non-fixed-length bars or not.
Preferably, the first lifting baffle, the second lifting baffle and the third lifting baffle are all structured to include:
the base, the vertical movable plate that sets up on the base, and, connect the connecting rod of movable plate bottom and the flexible end of cylinder, the middle part and the setting of connecting rod are in articulated on the bottom plate and rotate and be connected, the stiff end of cylinder is installed and is being set up on the lateral wall of the holding support on the base, the movable plate with set up the bolster between the holding support, wherein, the flexible end of cylinder stretches out, the connecting rod with the link of cylinder rotates to the base direction, the connecting rod drives movable plate rebound, the flexible end of cylinder is retracted, the connecting rod with the link of cylinder rotates to the cylinder direction, the movable plate moves down.
Preferably, the buffer member is a disc spring buffer, a guide rod of the disc spring buffer abuts against a side wall of the moving plate, and a fixed end of the disc spring buffer is mounted on the side wall of the holding bracket.
Preferably, the roll line rollgang includes drive mechanism to and through the shaft coupling with the roller that drive mechanism connects, roller one end and coupling joint, the other end is installed and is set up on the mounting panel lateral wall, the mounting panel with drive mechanism installs on the mounting bracket.
Preferably, a first fixed baffle is arranged at one side of the end part of the rolling line conveying roller way and far away from the first conveying roller way;
a second fixed baffle is arranged at one side of the end part of the third conveying roller way, which is far away from the lifting non-fixed-length conveying roller way;
the discharge end of the first horizontal chain conveyor is provided with a first collecting frame, and the discharge end of the third conveying roller way is provided with a second collecting frame.
A method for rejecting non-fixed-length bars by the non-fixed-length bar rejection system comprises the following steps:
s1: feeding materials from the first conveying roller way far away from the rolling line conveying roller way and conveying the bars to the rolling line conveying roller way;
s2: operating the roll line conveying roller way to rotate forwards and backwards, and knocking the first fixed baffle into a uniform bar;
s3: the method comprises the steps that a first camera and a second camera are operated to record bars on a rolling line conveying roller way, whether non-fixed-length bars exist in the bars is judged according to a recording result, if the non-fixed-length bars exist, a first lifting baffle plate adaptive to the non-fixed-length bars is started according to the size of the non-fixed-length bars, at least two first lifting baffle plates are started, the non-fixed-length bars are conveyed to a first swing chain type conveyor by the first lifting baffle plate, the non-fixed-length bars are conveyed to a first horizontal chain type conveyor by the first swing chain type conveyor, the non-fixed-length bars are conveyed to a first collecting frame by the first horizontal chain type conveyor, the bars which are not conveyed by the first lifting baffle plate are conveyed to a first conveying roller way by the rolling line conveying roller way, and at the moment, the first conveying roller way rotates reversely;
s4: lifting the third material baffle plate to baffle the rods on the first conveying roller bed;
s5: the second swing chain type conveyor conveys the bars onto a second horizontal chain type conveyor, the second horizontal chain type conveyor conveys the bars to a third horizontal chain type conveyor, wherein a third camera and a fourth camera identify the bars on the second horizontal chain type conveyor and the third horizontal chain type conveyor, a clamping jaw of a gantry type frame movable industrial robot and a clamping jaw of a movable industrial robot with a ground rail convey the sub-sized bars in the bars to a first material blocking device or/and a second material blocking device, the gantry type frame movable industrial robot and the movable industrial robot with the ground rail cooperate with the first material blocking device and the second material blocking device to convey the non-sized bars to a non-sized conveying roller way, the non-sized conveying roller way conveys the non-sized bars to a third conveying roller way, the third roller way conveys the non-sized bars to a second fixed baffle plate, a discharging device is started as required to discharge the non-sized bars into a second collecting frame, and when the non-sized bars are accumulated into bundles, the non-sized bars are manually bundled;
meanwhile, the rest fixed-length bars are conveyed to a fourth horizontal chain conveyor by a third horizontal chain conveyor, a third material blocking device is lifted, an automatic counting device counts the fixed-length bars, the third material blocking device is lowered, and the counted fixed-length bars are conveyed to a second conveying roller way to be conveyed and bundled;
s6: and finishing the task.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the method comprises the steps that a set of intelligent system for removing the non-fixed-length bars in a mechanical mode is established, the non-fixed-length bars are removed by the equipment, normal transportation and bundling of the fixed-length bars are guaranteed, and the problems that manual efficiency is low, misjudgment on the non-fixed-length bars is prone to occurring, production rhythm is influenced and the like are solved; secondly, the phenomenon that the cut bars, small-size bars and the like which are easy to be wound by the bars are not completely removed is eliminated by using the special far-end lifting baffle, so that the processing time is shortened; and thirdly, a visual judgment system is added, and the short ruler rejection industrial robot is humanized, so that the automation and intelligence degree is improved, the labor intensity is reduced, and the operation efficiency is improved. Compared with the existing equipment, the intelligent automatic control system has the advantages of being simple in operation, large in maintenance space, reliable in action and high in control precision, thereby realizing intellectualization, greatly reducing the number of watchmen, reducing the working intensity of the watchmen and reducing the operation cost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a plan view of the apparatus of the present invention;
FIG. 2 is a cross-sectional view of the roll line rollgang of the present invention;
FIG. 3 is a cross-sectional view of the lift stop of the present invention;
FIG. 4 is a plan view of an apparatus for a non-sizing collection stage according to the present invention;
FIG. 5 is a plan view of an apparatus for carrying out the first vision device of the present invention;
FIG. 6 is a top view of an industrial intelligent robot system of the present invention;
FIG. 7 is a plan view of the equipment process for the lifting non-sizing conveyor table system of the present invention;
FIG. 8 is a plan view of the tooling for the sizing inspection station of the present invention;
fig. 9 shows the bar classification trend according to the invention.
Description of the labeling:
1. a rolling line rollgang; 2. a first lifting baffle; 3. a non-sizing collection gantry; 4. a first vision device; 5. a sizing inspection bench; 6. lifting the non-fixed-length conveying roller bed; 7. an industrial intelligent robot system; 11. a transmission mechanism; 12. a roller; 13. a coupling; 14. a mounting frame; 15. mounting a plate; 21. a disc spring buffer; 22. a holding bracket; 23. a base; 24. a cylinder; 25. a connecting rod; 26. moving the plate; 31. a first swing chain conveyor; 32. a first horizontal chain conveyor; 33. a first collection frame; 34. a first fixed baffle; 41. a first camera; 42. a second camera; 51. a first conveying roller way; 52. a second swing chain conveyor; 53. a second horizontal chain conveyor; 54. a third horizontal chain conveyor; 55. a first material blocking device; 56. a second material blocking device; 57. a fourth horizontal chain conveyor; 58. an automatic counting device; 59. a third material blocking device; 510. a second conveying roller way; 511. a second lifting baffle; 512. a third lifting baffle; 61. lifting the non-fixed-length conveying roller way; 62. a third conveying roller way; 63. a second fixed baffle; 64. a discharge device; 65. a second collection frame; 71. a gantry-type frame movable industrial robot; 72. a movable industrial robot with a ground rail; 73. a third camera; 74. a fourth camera; a. sizing the bar; b. non-sized bars.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terms first, second, third, etc. are used herein to describe various components or features, but these components or features are not limited by these terms. These terms are only used to distinguish one element or part from another element or part. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. For convenience of description, spatially relative terms such as "inner", "outer", "upper", "lower", "left", "right", "upper", "left", "right", and the like are used herein to describe the orientation relation of the components or parts in the present embodiment, but these spatially relative terms do not limit the orientation of the technical features in practical use.
As shown in fig. 1 and 4 to 9, a non-sizing bar rejection system comprises: the sorting device comprises a rough sorting module and a secondary sorting module, wherein the rough sorting module is in transmission connection with the secondary sorting module;
the coarse sorting module comprises: the roll line conveying roller way 1 is connected with the secondary sorting module, the first vision device 4 is arranged above the roll line conveying roller way 1, the roll line conveying roller way 1 comprises a plurality of roll line conveying rollers, a swinging feeding section chain of a first swinging chain type conveyer 31 is arranged between every two roll line conveying rollers, the swinging feeding section chain of each first swinging chain type conveyer 31 is matched with a swinging discharging section chain of the first swinging chain type conveyer 31, the discharging end of the swinging discharging section chain of each first swinging chain type conveyer 31 is in transmission connection with a first horizontal chain type conveyer 32, first lifting baffles 2 are arranged between every two roll line conveying rollers, each first lifting baffle 2 supports independent lifting, and the distance between every two first lifting baffles 2 is equal; the secondary sorting module comprises: and a first conveying roller way 51 connected with the roll line conveying roller way 1, wherein the first conveying roller way 51 comprises a plurality of first conveying rollers, every two swinging feeding section chains of the second swinging chain conveyors 52 and swinging feeding section chains of each second swinging chain conveyor 52 are arranged between the first conveying rollers and are matched with a swinging blanking section chain of one second swinging chain conveyor 52, each swinging blanking section chain of the second swinging chain conveyor 52 is in transmission connection with the second horizontal chain conveyor 53, and are respectively arranged on a second lifting baffle 511 and a third lifting baffle 512 of two ports of the first conveying roller way 51, and are arranged on a second vision device and a lifting non-fixed length conveying roller way device above the second horizontal chain conveyor 53, wherein the lifting non-fixed length conveying roller way device conveys non-fixed length bars on the second horizontal chain conveyor 53 to a secondary non-fixed length bar collecting module, and the fixed length bars on the second horizontal chain conveyor 53 are collected by the collecting module.
The system specifically comprises equipment for rejecting non-fixed-length bars, wherein the equipment for rejecting the non-fixed-length bars comprises a rolling line conveying roller way 1, a first lifting baffle 2, a non-fixed-length collecting rack 3, a first vision device 4, a fixed-length inspection rack 5, a lifting non-fixed-length conveying roller way 6, an industrial intelligent robot system 7 and a detection control device for controlling the whole equipment. The industrial intelligent robot system 7 comprises a gantry-type frame movable industrial robot 71 and a belt ground rail movable industrial robot 72, and the sizing inspection rack 5 comprises a first conveying roller way 51, a second swinging chain type conveyor 52, a second horizontal chain type conveyor 53, a third horizontal chain type conveyor 54, a first material blocking device 55, a second material blocking device 56, a fourth horizontal chain type conveyor 57, an automatic counting device 58, a third material blocking device 59, a second conveying roller way 510, a second lifting baffle 511 and a third lifting baffle 512.
As shown in fig. 1, the rolling line rollgang 1 is installed on one side of the non-scale collection gantry 3; the first lifting baffle 2 is arranged inside the rolling line conveying roller table 1; the first vision device 4 comprises a first camera 41 and a second camera 42 fixed in an upper and lateral rear configuration; the software judges the starting equipment to complete the task for recording the field situation. The first camera and the second camera are only one embodiment here, and they monitor the bars on the roll line roller conveyor 1 from different angles. The first vision device 4 comprises a first camera 41 and a second camera 42 which are fixedly arranged at the upper part and the back side for identifying whether the non-fixed-length bar exists, if the non-fixed-length bar exists, the first vision device 4 starts the first swing chain type conveyor 31 to lift and rotate through a software system, and the non-fixed-length bar is conveyed to be separated from the rolling line conveying roller way 1.
The non-fixed-length collecting rack 3 comprises a first swinging chain conveyor 31, a first horizontal chain conveyor 32, a first collecting frame 33 and a first fixed baffle 34; the non-fixed length collecting rack 3 comprises a first fixed baffle 34, a rolling line conveying roller way 1 and a first lifting baffle 2 which are matched with each other, rollers 12 of the rolling line conveying roller way 1 rotate forwards and reversely and a first lifting baffle 2 moving plate 26 is lifted, the left non-fixed length bars are identified by a first vision device 4 comprising a first camera 41 and a second camera 42 which are arranged above and behind the rollers, if the non-fixed length bars exist, the first vision device 4 starts a first swing chain type conveyor 31 through a software system to lift and rotate the non-fixed length bars on the rolling line conveying roller way 1, the non-fixed length bars are conveyed to a first horizontal chain type conveyor 32 and then conveyed into a first collecting frame 33 according to needs, and the efficiency of removing the non-fixed length bars can reach more than 85%.
The system also comprises a third horizontal chain conveyor 54, a gantry type frame movable industrial robot 71 and a movable industrial robot with a ground rail; the third horizontal chain conveyor 54 is in transmission connection with one end of the second horizontal chain conveyor 53, which is far away from the swinging blanking section chain of the second swinging chain conveyor 52; the support of the gantry-type frame movable industrial robot 71 and the ground rail of the ground rail movable industrial robot are respectively arranged on both sides of the third horizontal chain conveyor 54 and the second horizontal chain conveyor 53 in the non-conveying direction, wherein the gripper of the gantry-type frame movable industrial robot 71 is supported to run above the second horizontal chain conveyor 53 and the third horizontal chain conveyor 54; the clamping jaws of the gantry type frame movable industrial robot 71 and the clamping jaws of the ground rail movable industrial robot respectively clamp two ends of the non-fixed-length bar materials on the third horizontal chain type conveyor 54 and the second horizontal chain type conveyor 53 and convey the two ends of the non-fixed-length bar materials to the lifting non-fixed-length conveying roller way device.
Preferably, the secondary non-fixed length bar collecting module includes a third conveying roller way 62, the third conveying roller way 62 is in transmission connection with the lifting non-fixed length conveying roller way 616, and a discharging device 64 is installed on each third conveying roller of each third conveying roller way 62.
The collecting module comprises a first material blocking device 55, a second material blocking device 56, a fourth horizontal chain conveyor 57, a third material blocking device 59 and a second conveying roller way 510;
the first material blocking device 55 is arranged on the second horizontal chain conveyor 53, the second material blocking device 56 is arranged on the third horizontal chain conveyor 54, the first material blocking device 55 is matched with the clamping jaws of the gantry type movable industrial robot 71 and the non-fixed-length bars clamped by the clamping jaws of the movable industrial robot with the ground rail to be conveyed to the lifting non-fixed-length conveying roller way device, and the second material blocking device 56 is used for being matched with the clamping jaws of the gantry type movable industrial robot 71 and the non-fixed-length bars clamped by the clamping jaws of the movable industrial robot with the ground rail to be conveyed to the lifting non-fixed-length conveying roller way device;
the discharge end of the fourth horizontal chain conveyor 57 is provided with a second conveying roller way 510 which is vertical to the conveying direction of the fourth horizontal chain conveyor 57, the connecting part of the fourth horizontal chain conveyor 57 and the second conveying roller way 510 is provided with a third blocking device 59, wherein the third blocking device 59 is used for blocking the fixed-length bars which are not arranged and are detected by the automatic counting device 58 above the fourth horizontal chain conveyor 57.
Preferably, the first vision device 4 comprises a first camera 41 and a second camera 42 which are arranged above the roll line rollgang 1, and the first camera 41 and the second camera 42 are used for identifying the bar on the roll line rollgang 1 and determining whether the bar is a non-fixed bar;
the second vision device includes a third camera 73 and a fourth camera 74 disposed above the gantry type frame movable industrial robot 71, and the third camera 73 and the fourth camera 74 are used to identify the bars on the second horizontal chain conveyor 53 and the third horizontal chain conveyor 54 and determine whether the bars are non-sized bars.
Preferably, the first lifting baffle 2, the second lifting baffle 511 and the third lifting baffle 512 are all structured to include: base 23, the vertical movable plate 26 that sets up on the base 23, and, connect the connecting rod 24 of the flexible end of movable plate 26 bottom and cylinder 24, the middle part of connecting rod 24 with set up articulated on the bottom plate and rotate and be connected, the stiff end of cylinder 24 is installed and is set up on the lateral wall of the last holding support 22 of base 23, the movable plate 26 with set up the bolster between the holding support 22, wherein, the flexible end of cylinder 24 stretches out, connecting rod 24 with the link of cylinder 24 rotates to base 23 direction, connecting rod 24 drives the movable plate 26 upwards moves, the flexible end of cylinder 24 contracts, connecting rod 24 with the link of cylinder 24 rotates to cylinder 24 direction, the movable plate 26 moves down.
A first fixed baffle 34 is arranged at one side of the end part of the rolling line conveying roller way 1, which is far away from the first conveying roller way 51; a second fixed baffle 63 is arranged at the end part of the third conveying roller way 62 and at one side far away from the lifting non-fixed-length conveying roller way 616; the discharge end of the first horizontal chain conveyor 32 is provided with a first collecting frame 33 and the discharge end of the third transfer table 62 is provided with a second collecting frame 65.
The fixed-length inspection rack 5 comprises a second lifting baffle 511 and a third lifting baffle 512 which respectively play a role of keeping the bars on the first conveying roller way 51, a second swing chain type conveyor 52 which is installed inside the first conveying roller way 51 in a crossed mode lifts and rotates the conveyed bars to be separated from the rolling line conveying roller way 1, the bars are conveyed to the second horizontal chain type conveyor 53 and the third horizontal chain type conveyor 54 and lifted through a first material stopping device 55 and a second material stopping device 56, the non-fixed-length bars sorted out by an artificial or industrial robot are conveyed to the upper portion of the lifting non-fixed-length conveying roller way 61 of the lifting non-fixed-length conveying roller way 6, the fixed-length bars are stopped outside the lifting non-fixed-length conveying roller way 61 of the lifting non-fixed-length conveying roller way 6, the lifting non-fixed-length conveying roller way 61 is lifted and rotated to convey the non-fixed-length bars onto the third conveying roller way 62, and the non-fixed-length inspection rack 5 is separated; the lifting non-sizing conveying roller way 61 descends, the first material blocking device 55 and the second material blocking device 56 descend, the sizing rods are conveyed to the upper side of the fourth horizontal chain type conveyor 57, counting and non-counting sizing rods are blocked through the automatic counting device 58, and the third material blocking device 59 controls the counting sizing rods to be conveyed to the upper side of the second conveying roller way 510 to be conveyed and bundled.
The lifting non-fixed-length conveying roller way 6 comprises a lifting non-fixed-length conveying roller way 61, a third conveying roller way 62, a second fixed baffle 63, a discharging device 64 and a second collecting frame 65; the lifting non-fixed-length conveying roller bed 6 comprises a lifting non-fixed-length conveying roller bed 61 matched with a third horizontal chain type conveyor 54 of the fixed-length inspection rack 5, the non-fixed-length bars are conveyed to the position above the lifting non-fixed-length conveying roller bed 61 of the lifting non-fixed-length conveying roller bed 6 by lifting through a first material blocking device 55 and a second material blocking device 56, the fixed-length bars are blocked outside the lifting non-fixed-length conveying roller bed 61 of the lifting non-fixed-length conveying roller bed 6, the lifting non-fixed-length conveying roller bed 61 is lifted and operated, the non-fixed-length bars are conveyed to the position above a third conveying roller bed 62 and are separated from the fixed-length inspection rack 5; the lifting non-sizing conveying roller way 61 descends, descends through a first material blocking device 55 and a second material blocking device 56, and conveys the sizing bars on a fourth horizontal chain conveyor 57; the third conveying roller way 62 transports the non-sized bars to the second fixed baffle 63, and the discharging device 64 is started as required to discharge the non-sized bars into the second collecting frame 65.
The industrial intelligent robot system 7 comprises a gantry type frame movable industrial robot 71, a movable industrial robot with a ground rail 72, a third camera 73 and a fourth camera 74 which are arranged and fixed above; the industrial intelligent robot system 7 comprises a gantry frame movable industrial robot 71, a gantry frame movable industrial robot 72, a gantry frame movable industrial robot system, a ground rail movable industrial robot system and a ground rail movable industrial robot system, wherein the gantry frame movable industrial robot system is arranged on the upper side and the side edge of the second horizontal chain conveyer 53 and the third horizontal chain conveyer 54, the ground rail movable industrial robot system runs on the side surfaces of the second horizontal chain conveyer 53 and the third horizontal chain conveyer 54, the ground rail movable industrial robot system monitors the non-fixed-length bars by arranging the third camera 73 and the fourth camera 74 above the second horizontal chain conveyer 53 and the third horizontal chain conveyer 54, and the industrial robot system is instructed to remove the non-fixed-length bars and the operation is repeated in a circulating mode.
As shown in fig. 2, the buffer member is a disc spring buffer 21, a guide rod of the disc spring buffer 21 abuts against a side wall of the moving plate 26, and a fixed end of the disc spring buffer 21 is attached to a side wall of the holding bracket 22. The rolling line conveying roller table 1 comprises a transmission mechanism 11, rollers 12, a coupler 13, a mounting frame 14 and a mounting plate 15; the roll line rollgang 1 comprises rollers 12 connected by a coupler 13, the rollers 12 are flat rollers, the transmission mechanism 11 drives the rollers 12 to rotate independently, and the mounting rack 14 supports the rollers 12 and the mounting rack 15, so that the bars can run according to the driving direction of the rollers 12.
As shown in fig. 3, the rolling line rollgang 1 includes a transmission mechanism 11, and a roller 12 connected with the transmission mechanism 11 through a coupling 13, one end of the roller 12 is connected with the coupling 13, the other end is installed on the side wall of the installation plate, and the installation plate and the transmission mechanism 11 are installed on the installation frame 14. The first elevating baffle 2 includes a disc spring damper 21, a holding bracket 22, a base 23, a cylinder 24, a link 25, and a moving plate 26. The first lifting baffle 2 comprises a holding bracket 22 which is supported by a base 23 and is provided with a disc spring buffer 21; wherein, the moving plate 26 is driven by the cylinder 24 through the connecting rod 25 to ascend and descend; is arranged below the conveying roller table 1 and is lifted by a moving plate 26 to block the non-fixed-length bars.
The system comprises equipment for removing the non-fixed-length bars, wherein the equipment for removing the non-fixed-length bars is provided with a rolling line conveying roller way, a lifting baffle plate, a non-fixed-length collecting rack, a vision device, a fixed-length inspection rack, a lifting non-fixed-length conveying roller way, an industrial intelligent robot system and a detection control device for controlling the whole equipment. Utilize equipment rejects non-scale rod to the rod, guarantees that scale rod normal transportation and bundle, establishes a whole set of equipment system of rejecting except scale rod, compares with current equipment, has easy operation, maintenance space big, the action is reliable, advantage that control accuracy is high to realize the intellectuality, the watch man that has significantly reduced has not only reduced watch man's working strength, has reduced the cost of operation moreover.
A method for rejecting non-fixed-length bars by the non-fixed-length bar rejection system comprises the following steps:
s1: feeding materials from the first conveying roller way 51 far away from the rolling line conveying roller way 1 and conveying the bars to the rolling line conveying roller way 1; s2: the operation rolling line conveying roller table 1 rotates forwards and backwards, and the first fixed baffle 34 bumps the bars; the fixed-length bars mixed with the non-fixed-length bars are transported by roller ways such as a first conveying roller way 51 and a rolling line conveying roller way 1 to reach the first fixed baffle 34 of the far-end non-fixed-length collecting rack 3 area, the rolling line conveying roller way 1 is operated to rotate forwards and backwards, the bars and the first fixed baffle 34 are enabled to be aligned in a collision mode, and the operation is repeated in a circulating mode.
S3: the method comprises the steps that a first camera 41 and a second camera 42 are operated to record bars on a rolling line conveying roller table 1, whether non-fixed-length bars exist in the bars is judged according to a recording result, if the non-fixed-length bars exist, a first lifting baffle 2 adaptive to the non-fixed-length bars is started according to the size of the non-fixed-length bars, at least two first lifting baffles 2 are started, the non-fixed-length bars are conveyed to a first swing chain type conveyor 31 through the first lifting baffles 2, the non-fixed-length bars are conveyed to a first horizontal chain type conveyor 32 through the first swing chain type conveyor 31, the non-fixed-length bars are conveyed to a first collecting frame 33 through the first horizontal chain type conveyor 32, the bars which are not conveyed through the first lifting baffles 2 are conveyed to a first conveying roller table 51 through the rolling line conveying roller table 1, and at the moment, the first conveying roller table 51 rotates reversely; the method comprises the steps of setting and operating a first vision device 4, recording the field situation by a first camera 41 and a second camera 42 which are fixedly arranged at the upper part and the rear side, judging and starting a first lifting baffle 2 through software to block non-fixed-length bars, lifting a first lifting baffle 2 moving plate 26 to lift the end parts of the bars, starting a roller 12 of a rolling line conveying roller way 1 to rotate reversely, moving the fixed-length bars along a roller way mounting plate at the moment, stopping most of the non-fixed-length bars mixed in the bars by the first lifting baffle 2 moving plate 26, not moving the bars along with the fixed-length bars, lifting the remaining non-fixed-length bars by a first swing chain type conveyer 31 inserted into the rolling line conveying roller way 1 and rotating the chains, lifting the bars from the upper part of the rolling line conveying roller way 1, conveying the bars to the upper part of a first horizontal chain type conveyer 32, conveying the bars into a first collecting frame 33 as required, manually bundling and conveying the bars away when the bars are accumulated, and circularly repeating the steps.
S4: the third material blocking plate is lifted to block the bar materials on the first conveying roller way 51;
s5: the second swing chain conveyor 52 conveys the bars onto a second horizontal chain conveyor 53, the second horizontal chain conveyor conveys the bars to a third horizontal chain conveyor, wherein a third camera 73 and a fourth camera 74 identify the bars on the second horizontal chain conveyor and the third horizontal chain conveyor, a clamping jaw of a gantry frame movable industrial robot 71 and a clamping jaw of a ground rail movable industrial robot 72 convey the sub-sized bars in the bars onto a first material blocking device 55 or/and a second material blocking device 56, the gantry frame movable industrial robot 71 and the ground rail movable industrial robot 72 cooperate with the first material blocking device 55 and the second material blocking device 56 to convey the non-sized bars to a non-sized conveying roller table, the non-sized conveying roller table conveys the non-sized bars onto a third conveying roller table 62, the third conveying roller table 62 conveys the non-sized bars to a second fixed baffle plate 63, a discharging device 64 is started as required to discharge the non-sized bars into a second collecting frame 65, and when the non-sized bars are bundled and conveyed to a manual operation;
meanwhile, the rest fixed-length bars are conveyed to a fourth horizontal chain conveyor by a third horizontal chain conveyor, a third material blocking device 59 is lifted, the automatic counting device 58 counts the fixed-length bars, the third material blocking device 59 is lowered, and the counted fixed-length bars are conveyed to a second conveying roller way 510 for conveying and bundling;
arranging a first conveying roller way 51 of an operation sizing inspection rack 5 to convey reverse bars, starting a third lifting baffle 512 to block the reverse bars, lifting the bars by a second swinging chain conveyor 52 inserted into the first conveying roller way 51 and rotating a chain, supporting the bars from the upper surface of the first conveying roller way 51, conveying the bars to the upper surface of a second horizontal chain conveyor 53, and repeating the steps in such a way;
the industrial intelligent robot system 7 is arranged and operated on the second horizontal chain conveyor 53 and the third horizontal chain conveyor 54 and on the side edge, the gantry type frame movable industrial robot 71 runs on the second horizontal chain conveyor 53 and the third horizontal chain conveyor 54, the ground rail movable industrial robot 72 runs on the side surfaces of the second horizontal chain conveyor 53 and the third horizontal chain conveyor 54, the non-fixed-length bars are monitored by arranging the third camera 73 and the fourth camera 74 above the second horizontal chain conveyor 53 and the third horizontal chain conveyor 54, the industrial robot is instructed to remove the non-fixed-length bars and separate the fixed-length bars from the fixed-length bars, the non-fixed-length bars are directly placed on the lifting non-fixed-length conveying roller way 61, the selective machine is placed on the lifting non-fixed-length conveying roller way, and the operation is repeated in such a circulating way.
S6: and finishing the task.
The method comprises the following specific operations: firstly, the bars conveyed back by the rolling line conveying roller way 1 stop on the first conveying roller way 51, the second swinging chain type conveyor 52 which is installed inside the first conveying roller way 51 in a crossed mode rises and rotates to convey the bars to be separated from the first conveying roller way 51, the bars are conveyed to the second horizontal chain type conveyor 53 and the third horizontal chain type conveyor 54, the bars are spread out and positioned on the two horizontal chain type conveyor chains, the visual recognition system is started, and when the bars enter the visual recognition area, the chain type conveyor chains stop moving. The third camera 73 performs visual recognition on the bar, and when a non-fixed-length bar is found, sends a coordinate and IO instruction to the gantry type frame movable industrial robot 71, the robot moves to a corresponding position, and the clamp is ready for clamping. The third camera 73 sends the calculated position coordinates of the current non-sized bar to the fourth camera 74. The fourth camera 74 determines the coordinates of the non-fixed-length bar according to the serial number of the bar sent by the third camera 73, sends the coordinates to the movable industrial robot with the ground rail 72, plans a path according to the coordinates to reach the position of the bar, and prepares for clamping by a clamp.
The gantry type frame movable industrial robot 71 and the ground rail movable industrial robot 72 lift the non-fixed-length bars simultaneously, after the non-fixed-length bars are separated from the fixed-length bars, when the non-fixed-length bars are placed on the lifting non-fixed-length conveying roller way 61, the clamps are loosened simultaneously, the system resets, whether the work is successful or not is judged, and the next work instruction is waited. The remaining 15% of non-fixed-length bars of the previous removing device can be removed in the process. The lifting of the first material blocking device 55 and the second material blocking device 56 is arranged to block the fixed-length bars outside the lifting non-fixed-length conveying roller way 61 of the lifting non-fixed-length conveying roller way 6, so that the lifting non-fixed-length conveying roller way 61 is lifted to convey the non-fixed-length bars onto the third conveying roller way 62 and is separated from the fixed-length inspection rack 5; the lifting non-fixed length conveying roller way 61 descends, the lifting non-fixed length conveying roller way descends through the first material blocking device 55 and the second material blocking device 56, the fixed length bars are conveyed on the fourth horizontal chain type conveyor 57, counting and blocking of the non-counted fixed length bars are achieved through the automatic counting device 58, the third material blocking device 59 controls the counted fixed length bars to be conveyed to the second conveying roller way 510 for conveying and bundling, and the operation is repeated in a circulating mode; setting the lifting of a lifting non-fixed length conveying roller way 61 for operating the lifting non-fixed length conveying roller way 6, matching with a third horizontal chain type conveyor 54 of a fixed length inspection rack 5, lifting through a first material stopping device 55 and a second material stopping device 56, conveying non-fixed length bars above the lifting non-fixed length conveying roller way 61 of the lifting non-fixed length conveying roller way 6, stopping the fixed length bars outside the lifting non-fixed length conveying roller way 61 of the lifting non-fixed length conveying roller way 6, lifting and operating the lifting non-fixed length conveying roller way 61, conveying the non-fixed length bars onto a third conveying roller way 62, and separating from the fixed length inspection rack 5; the lifting non-fixed-length conveying roller way 61 descends, and the lifting non-fixed-length conveying roller way descends through the first material blocking device 55 and the second material blocking device 56 to convey fixed-length bars on the fourth horizontal chain type conveyor 57; counting and blocking the non-counted fixed-length bars by the automatic counting device 58, and controlling the second conveying roller table 510 for conveying the counted fixed-length bars by the third blocking device 59 to carry out transportation and bundling treatment, and repeating the steps in a circulating way;
setting an operation lifting non-fixed length conveying roller way 61 to lift and operate, conveying non-fixed length bars onto a third conveying roller way 62, conveying the non-fixed length bars onto a second fixed baffle 63 by the third conveying roller way 62, starting a discharging device 64 as required to discharge the non-fixed length bars into a second collecting frame 65, manually bundling and conveying away when the non-fixed length bars are accumulated into bundles, and circularly repeating the steps;
arranging roller ways such as a first conveying roller way 51, a rolling line conveying roller way 1 and the like to convey the bar materials, and waiting for a next starting command; and the work is finished.
The swing chain conveyor and the conveying roller way are provided with the discharging device and the disc spring buffer, the concrete structure is omitted, the structure of the material blocking device can be a lifting arc plate and the like, the material blocking device is mounted on the corresponding conveying device and can lift the rod material in a lifting mode, in addition, the transmission mechanism can be a motor, the rod is driven to rotate through the coupler, and the concrete structure is omitted.
The system comprises equipment for removing the non-fixed-length bars, wherein the equipment for removing the non-fixed-length bars is provided with a rolling line conveying roller way, a lifting baffle plate, a non-fixed-length collecting rack, a vision device, a fixed-length inspection rack, a lifting non-fixed-length conveying roller way, an industrial intelligent robot system and a detection control device for controlling the whole equipment. The equipment is used for removing the non-fixed-length bars, so that the normal transportation and bundling of the fixed-length bars are ensured, and a whole set of equipment system for removing the non-fixed-length bars is established, and the problems that the manual efficiency is low, the non-fixed-length bars are easily misjudged, the production rhythm is influenced and the like are solved; secondly, the phenomenon that the bars are easily wound and the bars with small specifications and the like are not completely removed is eliminated by using the remote special lifting baffle, so that the processing time is shortened; and thirdly, a visual judgment system is added, and the short ruler rejection industrial robot is humanized, so that the automation and intelligence degree is improved, the labor intensity is reduced, and the operation efficiency is improved. Compared with the existing equipment, the intelligent automatic control system has the advantages of being simple in operation, large in maintenance space, reliable in action and high in control precision, thereby realizing intellectualization, greatly reducing the number of watchmen, reducing the working intensity of the watchmen and reducing the operation cost.
The method solves the problems that the manual efficiency is low, misjudgment on the non-fixed-length bars is easy to occur, the production rhythm is influenced, and the like; the remote special lifting baffle plate is used for eliminating the phenomenon that the cut bars, small-size bars and the like which are easy to be wound by bars are not completely eliminated, so that the processing time is shortened; the visual judgment system is added, and the short ruler rejection industrial robot is humanized, so that the automation and intelligence degree is improved, the labor intensity is reduced, and the operation efficiency is improved.
The invention utilizes the system and the method to establish a whole set of intelligent system for removing the non-fixed-length bars in a mechanical mode so as to improve the product quality, reduce operators and meet the requirements of users on products.
The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments may be combined with each other into a new embodiment. The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.

Claims (10)

1. A non-sizing bar removal system, comprising: the sorting device comprises a rough sorting module and a secondary sorting module, wherein the rough sorting module is in transmission connection with the secondary sorting module;
the coarse sorting module comprises: the second sorting module comprises a rolling line conveying roller bed and a first vision device, the rolling line conveying roller bed is connected with the second sorting module, the first vision device is arranged above the rolling line conveying roller bed, the rolling line conveying roller bed comprises a plurality of rolling line conveying rollers, a swinging feeding section chain of a first swinging chain type conveyer is arranged between every two rolling line conveying rollers, the swinging feeding section chain of each first swinging chain type conveyer is matched with a swinging discharging section chain of the first swinging chain type conveyer, the discharging end of the swinging discharging section chain of each first swinging chain type conveyer is in transmission connection with a first horizontal chain type conveyer, first lifting baffles are arranged between every two rolling line conveying rollers, each first lifting baffle supports independent lifting, and the distance between every two first lifting baffles is equal;
the secondary sorting module includes: and the first conveying roller way is connected with the roll line conveying roller way, wherein the first conveying roller way comprises a plurality of first conveying rollers, every two swinging feeding section chains of the second swinging chain type conveyer and swinging feeding section chains of every second swinging chain type conveyer are arranged between the first conveying rollers and are matched with a swinging blanking section chain of a second swinging chain type conveyer, every swinging blanking section chain of the second swinging chain type conveyer is in transmission connection with the second horizontal chain type conveyer, a second lifting baffle and a third lifting baffle which are respectively arranged at two ports of the first conveying roller way are arranged, a second vision device and a lifting non-fixed length conveying roller way device are arranged above the second horizontal chain type conveyer, the lifting non-fixed length conveying roller way device conveys non-fixed length bars on the second horizontal chain type conveyer to a secondary non-fixed length bar collecting module, and the fixed length bars on the second horizontal chain type conveyer are collected by the collecting module.
2. The non-sizing bar rejecting system according to claim 1 further comprising a third horizontal chain conveyor, a gantry mobile industrial robot and a mobile industrial robot with a ground rail;
the third horizontal chain conveyor is in transmission connection with one end, far away from the second swing blanking section chain, of the second horizontal chain conveyor;
the support of the gantry frame movable industrial robot and the ground rail of the movable industrial robot with the ground rail are respectively arranged on two sides of the third horizontal chain conveyor and the second horizontal chain conveyor in the non-conveying direction, wherein the clamping jaws of the gantry frame movable industrial robot are supported above the second horizontal chain conveyor and the third horizontal chain conveyor to run;
the clamping jaws of the gantry type frame movable industrial robot and the clamping jaws of the ground rail movable industrial robot respectively clamp two ends of a non-fixed-length bar on the third horizontal chain conveyor and the second horizontal chain conveyor and convey the two ends of the non-fixed-length bar to the lifting non-fixed-length conveying roller way device.
3. The non-sizing bar removal system according to claim 2 wherein the secondary non-sizing bar collection modules include third conveyor tables drivingly connected to the lifting non-sizing conveyor tables, and wherein each third conveyor table has a discharge device mounted to the third conveyor roll.
4. The non-sizing bar rejection system according to claim 3, wherein said collection modules comprise a first stop, a second stop, a fourth horizontal chain conveyor, a third stop and a second conveyor table;
the first material blocking device is arranged on the second horizontal chain type conveyor, the second material blocking device is arranged on the third horizontal chain type conveyor, the first material blocking device is matched with a clamping jaw of the gantry frame movable industrial robot and a non-fixed-length bar clamped by the clamping jaw of the movable industrial robot with the ground rail to be conveyed to the lifting non-fixed-length conveying roller way device, and the second material blocking device is used for being matched with the clamping jaw of the gantry frame movable industrial robot and the non-fixed-length bar clamped by the clamping jaw of the movable industrial robot with the ground rail to be conveyed to the lifting non-fixed-length conveying roller way device;
the discharge end of the fourth horizontal chain conveyor is arranged perpendicular to the conveying direction of the fourth horizontal chain conveyor, the second conveying roller way is arranged, the fourth horizontal chain conveyor and the connecting portion of the second conveying roller way are arranged, the third material blocking device is used for blocking the fixed-length bars which are not arranged and are detected by the automatic counting device above the fourth horizontal chain conveyor.
5. The non-sizing bar removal system according to claim 4, wherein the first vision device comprises a first camera and a second camera arranged above the roll line rollgang, the first camera and the second camera being configured to identify the bar on the roll line rollgang and determine whether the bar is a non-sizing bar;
the second vision device comprises a third camera and a fourth camera which are arranged above the gantry type frame movable industrial robot, and the third camera and the fourth camera are used for identifying bars on the second horizontal chain conveyor and the third horizontal chain conveyor and judging whether the bars are non-fixed-length bars or not.
6. The non-sizing bar rejection system according to claim 5, wherein said first lifting baffle, said second lifting baffle and said third lifting baffle are configured to include:
the base, the vertical movable plate that sets up on the base, and, connect the connecting rod of movable plate bottom and the flexible end of cylinder, the middle part and the setting of connecting rod are in articulated on the bottom plate and rotate and be connected, the stiff end of cylinder is installed and is being set up on the lateral wall of the holding support on the base, the movable plate with set up the bolster between the holding support, wherein, the flexible end of cylinder stretches out, the connecting rod with the link of cylinder rotates to the base direction, the connecting rod drives movable plate rebound, the flexible end of cylinder is retracted, the connecting rod with the link of cylinder rotates to the cylinder direction, the movable plate moves down.
7. The non-sizing bar removing system according to claim 6, wherein the buffer is a disc spring buffer, a guide rod of the disc spring buffer abuts against a side wall of the moving plate, and a fixed end of the disc spring buffer is mounted on the side wall of the holding bracket.
8. The non-sizing bar removal system according to claim 7, wherein the roller conveyor includes a transmission mechanism and rollers connected to the transmission mechanism via a coupling, one end of the rollers is connected to the coupling, the other end of the rollers is mounted on a side wall of a mounting plate, and the mounting plate and the transmission mechanism are mounted on a mounting frame.
9. The non-sizing bar removal system according to claim 8, wherein a first fixed baffle is provided at the end of the roll line rollgang and on the side of the roll line rollgang remote from the first conveyor roller;
a second fixed baffle is arranged at one side of the end part of the third conveying roller way, which is far away from the lifting non-fixed-length conveying roller way;
the discharge end of the first horizontal chain conveyor is provided with a first collecting frame, and the discharge end of the third conveying roller way is provided with a second collecting frame.
10. A method of rejecting non-sized bars by a non-sized bar rejecting system according to any one of claims 1 to 9, comprising:
s1: feeding materials from the first conveying roller way far away from the rolling line conveying roller way and conveying the bars to the rolling line conveying roller way;
s2: operating the roll line conveying roller way to rotate forwards and backwards, and knocking the first fixed baffle into a uniform bar;
s3: the method comprises the steps that a first camera and a second camera are operated to record bars on a rolling line conveying roller way, whether non-fixed-length bars exist in the bars is judged according to a recording result, if the non-fixed-length bars exist, a first lifting baffle adaptive to the non-fixed-length bars is started according to the size of the non-fixed-length bars, at least two first lifting baffles are started, the non-fixed-length bars are conveyed to a first swing chain type conveyor by the first lifting baffles, the non-fixed-length bars are conveyed to a first horizontal chain type conveyor by the first swing chain type conveyor, the non-fixed-length bars are conveyed to a first collecting frame by the first horizontal chain type conveyor, the bars which are not conveyed by the first lifting baffles are conveyed to a first conveying roller way by the rolling line conveying roller way, and the first conveying roller way rotates reversely at the moment;
s4: lifting the third material blocking plate to block the bar materials on the first conveying roller way;
s5: the second swing chain type conveyor conveys the bars onto a second horizontal chain type conveyor, the second horizontal chain type conveyor conveys the bars to a third horizontal chain type conveyor, wherein a third camera and a fourth camera identify the bars on the second horizontal chain type conveyor and the third horizontal chain type conveyor, a clamping jaw of a gantry type frame movable industrial robot and a clamping jaw of a movable industrial robot with a ground rail convey the sizing bars to a first material stopping device or/and a second material stopping device, the gantry type frame movable industrial robot and the movable industrial robot with the ground rail cooperate with the first material stopping device and the second material stopping device to convey the non-sizing bars to the non-sizing conveying roller way, the non-sizing conveying roller way conveys the non-sizing bars to a third conveying roller way, the third conveying roller way conveys the non-sizing bars to a second fixed baffle, a discharging device is started as required to discharge the non-sizing bars into a second collecting frame, and when the non-sizing bars are accumulated into bundles, the non-sizing bars are manually bundled;
meanwhile, the rest fixed-length bars are conveyed to a fourth horizontal chain conveyor by a third horizontal chain conveyor, a third material blocking device is lifted, an automatic counting device counts the fixed-length bars, the third material blocking device is lowered, and the counted fixed-length bars are conveyed to a second conveying roller way to be conveyed and bundled;
s6: and finishing the task.
CN202211208744.3A 2022-09-30 2022-09-30 Non-fixed-length bar removing system and non-fixed-length bar removing method thereof Active CN115535563B (en)

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Publication number Priority date Publication date Assignee Title
CN212639190U (en) * 2020-05-12 2021-03-02 中冶南方工程技术有限公司 Profile steel stacking line and profile steel rolling production line
CN215696005U (en) * 2021-07-28 2022-02-01 中冶南方工程技术有限公司 Steel conveying device with short ruler removing function and section collecting system
CN114147068A (en) * 2021-11-03 2022-03-08 中冶华天南京工程技术有限公司 Intelligent automatic rejection system for non-fixed-length bars
CN217492458U (en) * 2022-07-08 2022-09-27 中天钢铁集团(南通)有限公司 Can reject regional screw-thread steel alignment device of finishing cold shear of non-scale

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN212639190U (en) * 2020-05-12 2021-03-02 中冶南方工程技术有限公司 Profile steel stacking line and profile steel rolling production line
CN215696005U (en) * 2021-07-28 2022-02-01 中冶南方工程技术有限公司 Steel conveying device with short ruler removing function and section collecting system
CN114147068A (en) * 2021-11-03 2022-03-08 中冶华天南京工程技术有限公司 Intelligent automatic rejection system for non-fixed-length bars
CN217492458U (en) * 2022-07-08 2022-09-27 中天钢铁集团(南通)有限公司 Can reject regional screw-thread steel alignment device of finishing cold shear of non-scale

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