CN117622784A - Automatic split type threading steel bar semi-finished product transport vehicle and application method thereof - Google Patents
Automatic split type threading steel bar semi-finished product transport vehicle and application method thereof Download PDFInfo
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- CN117622784A CN117622784A CN202310018568.5A CN202310018568A CN117622784A CN 117622784 A CN117622784 A CN 117622784A CN 202310018568 A CN202310018568 A CN 202310018568A CN 117622784 A CN117622784 A CN 117622784A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000011265 semifinished product Substances 0.000 title claims description 81
- 229910000831 Steel Inorganic materials 0.000 title claims description 73
- 239000010959 steel Substances 0.000 title claims description 73
- 239000000463 material Substances 0.000 claims abstract description 112
- 239000000835 fiber Substances 0.000 claims abstract description 48
- 238000003860 storage Methods 0.000 claims abstract description 47
- 238000004519 manufacturing process Methods 0.000 claims description 65
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000002787 reinforcement Effects 0.000 claims description 26
- 230000003139 buffering effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 10
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
Classifications
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
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Abstract
The application provides an automatic split type mantle fiber bar semi-manufactured goods transport vechicle and application method thereof, including split type material receiving rack group, split type transport vechicle group and storage rack group, be equipped with the walking route between split type material receiving rack group and the storage rack group, split type transport vechicle group is along walking route come and go between split type material receiving rack group and the storage rack group, has changed mantle fiber bar semi-manufactured goods tradition transportation mode, has solved mantle fiber bar semi-manufactured goods and has transported the inefficiency problem.
Description
Technical Field
The invention relates to the field of automatic production of reinforcing steel bars for buildings, in particular to an automatic split type threading reinforcing steel bar semi-finished product transport vehicle and a use method thereof.
Background
In bridge construction, a mantle fiber bar semi-finished product is one of the most commonly used types of bar semi-finished products, and is often produced in a bar processing plant through a mantle fiber bar production line. Generally, the number of semi-finished product of the mantle fiber reinforcement bar which can be simultaneously received by the material receiving rack of the mantle fiber reinforcement bar production line is limited, so that in the production process, the number of semi-finished product of the mantle fiber reinforcement bar which is processed in the same batch of production line often depends on the number of simultaneously received material receiving racks. After the processing of a batch of the semi-finished product of the threading steel bar is finished, the batch of the semi-finished product of the steel bar is manually lifted into a storage rack of the corresponding semi-finished product of the threading steel bar through a crane, so that the in-factory production of the batch of the semi-finished product of the threading steel bar is finished.
The existing threading steel bar semi-finished product production line can complete all automatic processing from raw materials to semi-finished products, so that the labor intensity of workers is greatly reduced, the production efficiency is improved, and in the production flow in the threading steel bar semi-finished product factory, the lifting process of the steel bar semi-finished product from the production line to the storage material rack is mainly concentrated by relying on the working procedure of manual operation, and the main defects are as follows:
(1) After a batch of threading steel bar semi-finished products are produced, the follow-up lifting process needs to be manually participated in the whole process, and the production line is in a standby state in practice. Because the running speed of the travelling crane in the steel bar factory is usually slower, and the structure of the batched steel bar semi-finished products is softer and the weight is larger, a special lifting appliance or a steel wire rope is required to be used for temporary fixing in the travelling crane process of the hook, so that the production line is easy to be left idle for a long time, the production efficiency is reduced, and the labor frequency and the intensity of workers are increased intangibly;
(2) In engineering construction, due to the requirements of safety and standardization management, a crane usually needs to be controlled by a worker with a related operation certificate, but most workers do not have the certificate at present, so that the skill requirement on the worker is increased intangibly in the traditional lifting mode, and the personnel cost is further increased;
(3) The crane in the steel bar factory often needs to serve a plurality of stations, so that the situation that other station cranes are in use exists when the sleeve wire steel bar semi-finished product is lifted, and the crane needs to wait for at the moment, so that the production time is further reduced, and the production efficiency is influenced.
In summary, the existing threading steel bar semi-finished product lifting mode is still manually operated, and the problems of low automation degree, mismatching between production and lifting and the like, which cause the problems of incapability of ensuring production time, reduced production efficiency, high labor frequency of workers, high labor intensity and the like. Therefore, an automatic split type threading steel bar semi-finished product transport vehicle and a use method thereof are provided, the purpose is to change the traditional mode, the operation work of threading steel bar semi-finished products from a material receiving rack to a material storage rack group is completed through a special automatic transport vehicle, manual intervention is not needed in the whole process, the labor frequency and the intensity of workers are reduced, meanwhile, the threading steel bar production line can be continuously produced, the production efficiency is further improved, and the automation and the intellectualization of the production of a steel bar processing factory are further improved.
Disclosure of Invention
The invention provides an automatic split type threading steel bar semi-finished product transport vehicle and a use method thereof, and solves the problem of low conveying efficiency of threading steel bar semi-finished products.
In order to solve the technical problems, the invention adopts the following technical scheme: an automatic split type threading steel bar semi-finished product transport vehicle comprises a split type material receiving frame set, a split type transport vehicle set and a material storage frame set, wherein a walking path is arranged between the split type material receiving frame set and the material storage frame set, and the split type transport vehicle set moves back and forth between the split type material receiving frame set and the material storage frame set along the walking path.
In the preferred scheme, split type material receiving frame group is including a plurality of material receiving frame modules that are a word interval arrangement, and material receiving frame module is including receiving the material receiving frame base, is equipped with liftable work or material rest on the material receiving frame base.
In the preferred scheme, split type transport vechicle group includes a plurality of transport module cars that are a word interval arrangement, and transport module car includes the automobile body, is equipped with the frame of liftable on the automobile body, and the automobile body lower extreme is equipped with the walking assembly in four corners at least, and the walking assembly is including the walking wheel that can turn to horizontally.
In the preferred scheme, the walking assembly still includes the lower extreme landing leg, and the lower extreme landing leg is equipped with rotatable landing leg pivot, and the walking wheel is established in landing leg pivot lower extreme, is equipped with gyration drive assembly in the landing leg pivot, and gyration drive assembly includes intermeshing's worm wheel and worm, and worm wheel cup joints with the landing leg pivot, and worm one side is equipped with rotatable steering motor, and the walking wheel axle head is equipped with the walking motor.
In the preferred scheme, the frame is equipped with the direction of V type structure and keeps off the frame, and the direction keeps off the frame and is close to the bottom and be equipped with the buffering shelf, and the buffering shelf is used for placing mantle fiber bar semi-manufactured goods, is equipped with a plurality of springs on the frame, and each spring upper end supports and leans on buffering shelf lower extreme face, and buffering shelf both ends are equipped with the linking board, and linking board one end is articulated with buffering shelf, and the linking board other end supports and leans on the oblique guide surface of direction keeps off the frame.
In the preferred scheme, one end of the magnetic column, which is close to the inclined guide surface of the guide baffle frame, is provided with the magnetic column.
In the preferred scheme, the storage rack group comprises a baffle, one side of the baffle is provided with a plurality of rack bodies which are arranged at intervals in a straight line, and one end of each rack body, far away from the baffle, is lower.
In the preferred scheme, be equipped with UWB module, forward infrared sensor module and side direction infrared sensor module on the walking assembly, forward infrared sensor module and side direction infrared sensor module are used for discernment walking route.
In the preferred scheme, still be equipped with forward laser range finder and side direction laser range finder on the walking assembly, forward laser range finder and side direction laser range finder are used for detecting transport module car to the distance of production line unloading mechanism, split type material receiving frame group and storage frame group.
The method comprises the following steps: after the production of the mantle fiber reinforced bar semi-finished product is finished, the material rack of each material receiving rack module rises, and the production line blanking mechanism dials the mantle fiber reinforced bar semi-finished product to the material rack of each material receiving rack module;
each transport module vehicle walks along a walking path, the lateral infrared sensor module identifies the walking path, and meanwhile, the lateral laser range finder detects the distance between each transport module vehicle and the blanking mechanism of the production line to keep the synchronism of each transport module vehicle;
the transport module vehicle stops after walking below the threading steel bar semi-finished product, and the UWB module performs position detection and feedback;
the material rack of each material receiving rack module descends;
lifting the semi-finished product of the threading steel bar by the frame of each transport module vehicle;
the split type transport vehicle group integrally moves along a walking path, a lateral infrared sensor module identifies the walking path, and a lateral laser range finder detects the distance between each transport module vehicle and a production line blanking mechanism so as to enable each transport module vehicle to walk synchronously;
when the transport module vehicle walks to a set position, the UWB module performs position detection and feedback, and the material rack of each material rack receiving module lifts and butts the next batch of threading steel bar semi-finished products;
the whole of each transport module car turns to, the whole of split type transport car set walks to the storage rack group along the walking route, the forward infrared sensor module discerns the walking route, the forward laser range finder detects the interval between each transport module car, UWB module detects and feeds back, make the whole of split type transport car set stop to the appointed position;
the whole transport module vehicles turn and walk towards the storage rack groups, and the lateral laser range finders, the lateral infrared sensor modules and the UWB modules work to stop the transport module vehicles to one side of each rack body;
the frame of each transport module car descends, and the threading steel bar semi-finished product is placed on the storage rack group;
the split type transport vehicle group returns along the original path of the travelling path and the transfer of the next batch of threading steel bar semi-finished products is repeated.
The beneficial effects of the invention are as follows: the multi-sensor based self-walking control system is combined with a cloud platform of a steel bar factory, and a threading steel bar semi-finished product at a material receiving frame of a production line is automatically operated to a storage frame in a ground transportation mode, so that the manual operation of the link is replaced, the labor intensity of workers is reduced, the production time of the threading steel bar production line is improved, the production efficiency of the threading steel bar semi-finished product is improved, the automation and the intellectualization of the production of a steel bar processing factory are improved, and the unmanned development of the steel bar processing factory is further improved; adopt split type transport string, cooperation split type material receiving frame group and split type storage frame group transport mantle fiber bar semi-manufactured goods, use in a flexible way, it is low to the field leveling requirement to also reduced the manufacturing and the equipment degree of difficulty of device, reduced equipment cost.
Drawings
The invention is further described below with reference to the drawings and examples.
Fig. 1 is a schematic layout of the present invention.
Fig. 2 is a schematic view of a split type material receiving rack set according to the present invention.
Fig. 3 is a block diagram of a rack module of the present invention.
FIG. 4 is a schematic view of a split transport vehicle consist of the present invention.
Fig. 5 is a schematic view of a transport module vehicle of the present invention.
Fig. 6 is a side view of the transport module cart of the present invention.
FIG. 7 is a schematic view of a magazine assembly according to the present invention.
Fig. 8 is a system diagram of the present invention.
Fig. 9 is a diagram of an implementation step of the present invention.
Fig. 10 is a second embodiment of the present invention.
Fig. 11 is a third step diagram of the invention.
Fig. 12 is a diagram of a step of the present invention.
Fig. 13 is a diagram of the steps in the practice of the present invention.
Fig. 14 is a diagram of an implementation step of the present invention.
Fig. 15 is a diagram of the steps performed in the present invention.
Fig. 16 is a diagram eight of an embodiment of the present invention.
Fig. 17 is a schematic view of the installation of the buffer shelf of the present invention.
Fig. 18 is a schematic diagram of the present invention at a road wheel.
In the figure: a production line blanking mechanism 1; a split material receiving frame group 2; a split transport vehicle group 3; a walking path 4; a storage rack group 5; a baffle 501; a frame 502; a material receiving frame module 6; a material receiving rack base 601; a material receiving rack cylinder 602; a material rack 603; a guide portion 604; a transport module vehicle 7; a walking assembly 701; a swing drive assembly 702; a vehicle body 703; a forward laser rangefinder 704; frame 705; a first battery 706; a lateral laser rangefinder 707; an industrial personal computer 708; an electric cylinder 709; a second battery 710; a forward infrared sensor module 711; a lateral infrared sensor module 712; a gateway module 713; a UWB module 714; a guide fence 715; a road wheel 716; worm wheel 717; a worm 718; a steering motor 719; leg shaft 720; a walk motor 721; a mantle fiber reinforcement bar semi-finished product 8; a buffer shelf 9; a connector plate 901; a magnetic pillar 902; spring 903.
Detailed Description
Example 1:
as shown in fig. 1-18, an automatic split type threading steel bar semi-finished product transport vehicle comprises a split type material receiving frame group 2, a split type transport vehicle group 3 and a material storage frame group 5, wherein a traveling path 4 is arranged between the split type material receiving frame group 2 and the material storage frame group 5, and the split type transport vehicle group 3 reciprocates between the split type material receiving frame group 2 and the material storage frame group 5 along the traveling path 4.
In the preferred scheme, split type material receiving frame group 2 includes a plurality of material receiving frame modules 6 that are a word interval arrangement, and material receiving frame module 6 includes material receiving frame base 601, is equipped with liftable work or material rest 603 on the material receiving frame base 601.
The material receiving frame base 601 and the material receiving frame 603 are of welded frame type structures, and a material receiving frame cylinder 602 is arranged on the material receiving frame base 601 to drive the material receiving frame 603 to move up and down.
A guiding part 604 is arranged on one side of the upper end of the material rack 603, and the guiding part 604 is in butt joint with the production line blanking mechanism 1.
In the preferred scheme, split type transport vechicle group 3 includes a plurality of transport module car 7 that are a word interval arrangement, and transport module car 7 includes automobile body 703, is equipped with liftable frame 705 on the automobile body 703, and the automobile body 703 lower extreme is equipped with walking assembly 701 at least four corners, and walking assembly 701 includes the walking wheel 716 that can turn to horizontally.
The vehicle body 703 and the vehicle frame 705 are both of a frame structure, and an electric cylinder 709 is provided on the vehicle body 703 to drive the vehicle frame 705 to move up and down.
In the preferred scheme, walking assembly 701 still includes the lower extreme landing leg, and the lower extreme landing leg is equipped with rotatable landing leg pivot 720, and walking wheel 716 establishes in landing leg pivot 720 lower extreme, and walking wheel 716 is rotatable, and walking wheel 716 axis is perpendicular with landing leg pivot 720 axis, is equipped with gyration drive assembly 702 on the landing leg pivot 720, and gyration drive assembly 702 includes intermeshing's worm wheel 717 and worm 718, and worm wheel 717 cup joints with landing leg pivot 720, and worm 718 one side is equipped with rotatable steering motor 719, and walking wheel 716 axle head is equipped with walking motor 721.
The fixed housing of the swing drive assembly 702 is connected to the fixed portion of the lower leg, and a worm wheel 717, a worm 718, and a steering motor 719 are mounted within the fixed housing.
The steering motor 719 drives the worm 718 to rotate so that the worm wheel 717 drives the supporting leg rotating shaft 720 to rotate, one side of one of the four traveling wheels 716 is provided with the traveling motor 721, the traveling motor 721 is a stepping motor or a servo motor with a speed reducer, and the traveling wheel 716 is driven to rotate.
The semi-finished product 8 of the threading steel bar is longer, the transport module carriages 7 need to walk and move, even if the heights of the transport module carriages 7 are adjusted in advance at the beginning, the height of the workshop floor where each transport module carriage 7 is positioned is different and is not very regular, once the position changes during walking, the heights of the transport module carriages 7 are changed, so that part of the transport module carriages 7 are separated from the semi-finished product 8 of the threading steel bar, and other transport module carriages 7 can be crushed.
Therefore, in a preferred scheme, the frame 705 is provided with a guide baffle frame 715 with a V-shaped structure, the guide baffle frame 715 is provided with a buffer shelf 9 near the bottom end, the buffer shelf 9 is used for placing a threading steel bar semi-finished product 8, the frame 705 is provided with a plurality of springs 903, the upper ends of the springs 903 are abutted against the lower end face of the buffer shelf 9, the two ends of the buffer shelf 9 are provided with connecting plates 901, one end of each connecting plate 901 is hinged with the corresponding buffer shelf 9, and the other end of each connecting plate 901 is abutted against an inclined guide face of the corresponding guide baffle frame 715.
When the semi-finished product 8 of the mantle fiber reinforcement is transferred to the transport module vehicle 7, the guide baffle frame 715 plays a role in guiding left and right, and meanwhile, the semi-finished product 8 of the mantle fiber reinforcement is restrained in the guide baffle frame 715, so that the semi-finished product 8 of the mantle fiber reinforcement is prevented from sliding out during transport.
A fixing sleeve or a fixing plate is welded on the inner side of the frame 705, the lower end of the spring 903 is sleeved or welded on the fixing sleeve or the fixing plate, and the upper end of the spring 903 is connected with the lower end face of the buffer shelf 9 into a whole.
The spring 903 has a relatively high stiffness, a small amount of compression, and a floating amplitude of about one to two centimeters, so that the up-and-down shaking amount of the sleeve wire steel bar semi-finished product 8 is reduced.
The joint plate 901 is hinged with the buffer shelf 9 and leans against the V-shaped surface of the guide baffle 715, and the joint end is thinned.
When the transport module car 7 is close to the position of the production line blanking mechanism 1, the empty load height of each buffer shelf 9 is adjusted to be consistent, after the threading steel bar semi-finished product 8 is put, the buffer shelf 9 is compressed, and when the split transport vehicle group 3 integrally walks, even if the local ground height changes, part of force can still be born due to the fact that the buffer shelf 9 is in a floating state, so that the stress of each transport module car 7 is uniform as much as possible.
The spring 903 can play a role in vibration reduction of movement, and prevent the threads of the mantle fiber reinforced bar semi-finished product 8 from being damaged by hard impact.
In a preferred embodiment, the magnetic post 902 is disposed at an end of the magnetic post 902 near the inclined guide surface of the guide rail 715.
The magnetic column 902 is inlaid at the thinned small head end of the connecting plate 901, and as one end of the connecting plate 901 is hinged, even if the buffer shelf 9 floats up and down, the small head end is always adsorbed on the V-shaped surface of the guide baffle frame 715, so that a butt joint gap is prevented from occurring, and the threading steel bar semi-finished product 8 is prevented from rolling off and being clamped at the position.
In the preferred scheme, the storage rack set 5 comprises a baffle 501, a plurality of rack bodies 502 which are arranged at intervals in a straight line are arranged on one side of the baffle 501, and one end, far away from the baffle 501, of each rack body 502 is lower.
One end of the frame 502 is inclined, so that the semi-finished product 8 of the mantle fiber reinforcement bar is gathered and arranged at one side, and the semi-finished product 8 of the mantle fiber reinforcement bar does not move to the other end of the frame 502 due to vibration or other slight collision.
The inclination of the frame 502 is small.
In a preferred embodiment, the walking assembly 701 is provided with a UWB module 714, a forward infrared sensor module 711 and a lateral infrared sensor module 712, and the forward infrared sensor module 711 and the lateral infrared sensor module 712 are used for identifying the walking path 4.
In the preferred scheme, still be equipped with forward laser range finder 704 and side direction laser range finder 707 on the walking assembly 701, forward laser range finder 704 and side direction laser range finder 707 are used for detecting transport module car 7 to the distance of production line unloading mechanism 1, split type material receiving rack group 2 and storage rack group 5.
The UWB module 714 is used for coarse positioning, on the basis of which the forward infrared sensor module 711 and the lateral infrared sensor module 712 recognize that the walking path 4 is walking, and finally, the forward laser range finder 704 and the lateral laser range finder 707 detect whether the docking position is suitable.
In the preferred scheme, after the production of the mantle fiber bar semi-finished product 8 is finished, the material racks 603 of the material rack modules 6 are lifted, and the production line blanking mechanism 1 dials the mantle fiber bar semi-finished product 8 to the material racks 603 of the material rack modules 6;
each transport module car 7 moves along the walking path 4, the lateral infrared sensor module 712 identifies the walking path 4, and the lateral laser range finder 707 detects the distance between each transport module car 7 and the production line blanking mechanism 1 to keep the synchronism of each transport module car 7;
the transport module car 7 stops after walking below the threading steel bar semi-finished product 8, and the UWB module 714 performs position detection and feedback;
the material rack 603 of each material rack receiving module 6 descends;
the frame 705 of each transport module car 7 lifts the threading bar semi-finished product 8;
the split type transport vehicle group 3 integrally moves along the walking path 4, the lateral infrared sensor module 712 identifies the walking path 4, and the lateral laser range finder 707 detects the distance between each transport module vehicle 7 and the production line blanking mechanism 1 so as to enable each transport module vehicle 7 to synchronously walk;
when the transport module car 7 walks to the set position, the UWB module 714 performs position detection and feedback, and the material rack 603 of each material rack receiving module 6 lifts and butts the next batch of threading steel bar semi-finished products 8;
the whole transport module vehicles 7 turn, the split transport vehicle group 3 wholly walks along the walking path 4 to the storage rack group 5, the forward infrared sensor module 711 identifies the walking path 4, the forward laser range finder 704 detects the distance between the transport module vehicles 7, and the UWB module 714 detects and feeds back, so that the split transport vehicle group 3 wholly stops to a designated position;
the whole transportation module vehicles 7 turn and walk towards the material storage rack set 5, and the lateral laser range finder 707, the lateral infrared sensor module 712 and the UWB module 714 work to stop the transportation module vehicles 7 to one side of the rack body 502;
the frame 705 of each transport module car 7 descends, and the threading steel bar semi-finished product 8 is placed on the storage rack set 5;
the split type transport vehicle group 3 returns along the original path of the traveling path 4 and the transfer of the next batch of threading steel bar semi-finished products 8 is repeated.
Example 2:
the explanation is given by taking a certain reinforced concrete factory building as an example, and the upper, lower, left and right directions in the scheme are related directions without special meaning, and are not limiting conditions for limiting the technical scheme. The technical scheme mainly comprises a blanking mechanism 1, a split type receiving frame group 2, a split type transport vehicle group 3, a traveling path 4 and a storage frame group 5 of the mantle fiber reinforced bar production line.
The blanking mechanism 1 of the mantle fiber reinforcement production line is an end operation mechanism of the mantle fiber reinforcement production line and mainly dials the processed mantle fiber reinforcement semi-finished product to the split material receiving frame group 2.
The split type material receiving frame group 2 is of a split type structure and consists of a plurality of material receiving frame modules 6. The material receiving frame module 6 mainly comprises a material receiving frame base 601, a material receiving frame cylinder 602 and a material receiving frame 603. Wherein, the material receiving frame base 601 and the material receiving frame 603 form a sliding mechanism, the cylinder barrel of the material receiving frame cylinder 602 is fixedly connected with the material receiving frame base 601, the piston rod is fixedly connected with the material receiving frame 603, and the material receiving frame 603 can vertically move along the sliding mechanism formed by the material receiving frame cylinder 602 and the material receiving frame base 601. The split type receiving frame group 2 is mainly used for bearing a mantle fiber bar semi-finished product which is shifted by the mantle fiber bar production line blanking mechanism 1, and placing the mantle fiber bar semi-finished product on the split type transport vehicle group 3 through vertical movement.
The split type transport vehicle group 3 is of a split type structure and consists of a plurality of transport module vehicles 7. The transport module vehicle 7 mainly comprises a walking assembly 701, a rotary driving assembly 702, a vehicle body 703, a forward laser range finder 704, a vehicle frame 705, a first storage battery 706, a lateral laser range finder 707, an industrial personal computer 708, an electric cylinder 709, a second storage battery 710, a forward infrared sensor module 711, a lateral infrared sensor module 712, a gateway module 713 and a UWB module 714. Wherein, the automobile body 703 and the automobile frame 705 form a sliding mechanism, the cylinder barrel of the electric cylinder 709 is fixedly connected with the automobile body 703, the piston rod is fixedly connected with the automobile frame 705, and the automobile frame 705 can vertically move by the electric cylinder 709 along the sliding mechanism formed by the automobile body 703; the traveling assembly 701 is a traveling driving structure of the whole module vehicle and can control the speed; the rotary driving assembly 702 is connected with the walking assembly 701 and the upper vehicle body 703, so that the walking assembly 701 can rotate 360 degrees around the rotating shaft, and the modular vehicle can perform omnidirectional running; the body 703 carries all the other elements of the modular vehicle except the frame 705, the running gear 701, the cylinder barrel of the electric cylinder 709 and the UWB module 714; the forward laser range finder 704 and the lateral laser range finder 707 are respectively fixedly connected to the front and left middle positions of the vehicle body 703, and are mainly used for distance positioning feedback of the module vehicle to the external corresponding environment direction; frame 705 is mainly used for bearing the semi-finished product of mantle fiber steel bar; the first storage battery 706 and the second storage battery 710 are fixedly connected to the vehicle body 703 and are used for providing electric energy for the whole module vehicle; the industrial personal computer 708 is fixedly connected with the vehicle body 703 and mainly bears the overall control system of the module vehicle; the forward infrared sensor module 711 and the lateral infrared sensor module 712 are fixedly connected to the bottom of the vehicle body 703, and the detection directions are respectively along the front-back direction and the left-right direction of the module vehicle, and are mainly used for identifying and detecting the walking path 4 on the ground and guiding the module vehicle to walk along the walking path 4; the gateway module 713 is fixedly connected to the vehicle body 703 and is mainly used for wireless communication of all control and detection information of the module vehicle and the overall production control system of the reinforcement mill; the UWB module 714 is inserted in the gateway module 713, and is mainly used for collecting and feeding back positioning information of the module vehicle in the reinforcement factory. The split type transport vehicle group 3 is mainly used for bearing the mantle fiber reinforcement bar semi-finished product placed by the split type material receiving frame group 2, and then transported to the material storage frame group 5 along the walking path 4.
The walking path 4 is a black line drawn on the ground, and is mainly a walking path of the split type transport vehicle group 3 in the walking process from the material receiving frame 2 to the material storage frame group 5, and provides a path identification function for the split type transport vehicle group 3.
The material storage rack group 5 is composed of a baffle 501 and a rack body 502. Wherein, baffle 501 and support body 502 rigid coupling, and support body 502 upper surface be the inclined state, and be close to the baffle 501 side lower, keep away from the baffle 502 side higher, this inclined structure is mainly used for preventing the free roll of mantle fiber bar semi-manufactured goods on storage rack group 5. The storage rack set 5 is mainly used for storing semi-finished products of mantle fiber steel bars in a factory building.
The system also comprises a distributed control system based on a cloud platform, and mainly comprises a threading steel bar semi-finished product specification management system, a production plan management system and a threading steel bar semi-finished product quantity management system, wherein the cloud platform can arrange production plans such as threading steel bar semi-finished product specification, quantity and the like in a steel bar factory according to the production progress of a construction site; the cloud platform and the upper computer system realize information interaction by adopting a wireless communication technology, so that the real-time online interaction of the cloud platform to the upper computer system is realized; the upper computer system adopts a distributed control system, and can realize data interaction and control with a threading steel bar production line, a split type material receiving rack set and a split type transport vehicle set.
The split type transport vehicle set 3 further comprises a set of self-walking control system based on multiple sensors, firstly, a coarse positioning system based on a UWB positioning system is used for realizing coarse positioning of each transport module vehicle 7 according to UWB labels on the vehicle bodies of each transport module vehicle 7, namely UWB modules 714 (because the positioning accuracy of the UWB technology is difficult to meet the requirement that the split type transport vehicle set 3 carries out accurate control walking along a walking path 4), so that each transport module vehicle 7 can be positioned in a position interval with a controlled relative position; secondly, the tracking walking module based on the infrared sensing technology feeds back identification signals to the path tracking system of each transport module car 7 through the identification of the walking path 4 by the forward infrared sensor module 711 and the lateral infrared sensor module 712, and further controls the speed of the walking assembly 701, so that each transport module car 7 can accurately control and walk along the walking path 4; finally, the relative position positioning system based on the laser range finder can accurately feed back the distance between each transport module car 7 and the adjacent module car through the forward laser range finder 704, so that the relative distance and the position control between each module car are realized; through side direction laser range finder 707, each transport module car 7 can realize confirming the mutual distance between mantle fiber reinforcement bar production line feed mechanism 1 and the storage rack group 5, and then realizes the accurate control of distance between split type transport group 3 and mantle fiber reinforcement bar production line feed mechanism 1 and the storage rack group 5.
The using method is as follows:
(1) When a batch of threading steel bar semi-finished products 8 are produced, the threading steel bar semi-finished products are conveyed to the split type material receiving frame group 2 by the blanking mechanism 1 of the threading steel bar production line, at the moment, the material receiving frame air cylinders 602 of the material receiving frame modules 6 are all in a maximum stroke state, the electric cylinders 709 of the transport module carts 7 are in a minimum stroke state, and under the positioning control of a multi-sensor-based self-walking control system, the central lines of the transport module carts 7 in the front-rear direction are all right above the walking path 4;
(2) The split type module vehicle 3 walks leftwards and advances to the lower part of a batch of threading steel bar semi-finished products 8, in the process, the lateral infrared sensor module 712 identifies the walking path 4, synchronously controls each transport module vehicle 7 to walk along the corresponding walking path 4, simultaneously detects the distance between each transport module vehicle 7 and the threading steel bar production line blanking mechanism 1 through the lateral laser range finder 707, keeps the walking synchronism of each transport module vehicle, stops walking when the transport module vehicle 7 walks to a set distance from the corresponding position of the threading steel bar production line blanking mechanism, and meanwhile, the UWB module 714 detects and feeds back the position of each transport module vehicle 7 in real time;
(3) The material receiving frame cylinders 602 of the material receiving frame modules 6 are synchronously lowered to the minimum stroke, and a batch of threading steel bar semi-finished products 8 are placed on the split module vehicle 3;
(4) The electric cylinders 709 of the transport module carts 7 are synchronously lifted to the maximum travel, and a batch of threading steel bar semi-finished products 8 are synchronously jacked on the split module carts 3;
(5) The split type module car 3 walks rightwards, the center line in the left-right direction is stopped right above the walking path 4, the rotary driving assembly 702 controls the walking assembly 701 to rotate 90 degrees, in the process, the lateral infrared sensor module 712 identifies the walking path 4, each transport module car 7 is synchronously controlled to walk along the corresponding walking path 4, meanwhile, the distance between each transport module car 7 and the blanking mechanism 1 of the mantle fiber reinforcement bar production line is detected through the lateral laser range finder 707, the walking synchronism of each transport module car is kept, when the transport module car 7 walks to a set distance from the corresponding position of the blanking mechanism 1 of the mantle fiber reinforcement bar production line, the transport module car 7 stops walking, and meanwhile, the UWB module 714 carries out position detection and feedback on each transport module car 7 in real time; then, the material receiving frame cylinders 602 of the material receiving frame modules 6 are all lifted to the maximum travel state, the cloud platform can arrange production plans such as the specification, the number and the like of the next batch of threading steel bar semi-finished products in the steel bar factory according to the production progress of a construction site, and after the production plans interact with the upper computer system, the upper computer system controls the threading steel bar production line to continuously produce the next batch of threading steel bar semi-finished products;
(6) The split type module vehicles 3 walk along the walking paths 4 towards the direction of the storage rack set 5, travel to a designated position and stop, the rotary driving assembly 702 controls the walking assembly 701 to rotate 90 degrees, in the process, the forward infrared sensor module 711 recognizes the walking paths 4 and synchronously controls each transport module vehicle 7 to walk along the corresponding walking paths 4, and meanwhile, the forward laser range finders 704 detect and control the distance between adjacent module vehicles of each transport module vehicle 7, so that the travelling synchronism of each module vehicle is ensured; position detection and feedback are performed on each transport module car 7 in real time through the UWB module 714, and the split type module car 3 is stopped at a designated position by combining the forward infrared sensor module 711, and at the moment, the central lines of the front-back direction and the left-right direction of each transport module car 7 are all right above the walking path 4 at the corresponding positions;
(7) The split type module vehicle 3 walks leftwards and advances to a designated position in the storage rack set 5, in the process, the lateral infrared sensor module 712 identifies the walking path 4, synchronously controls each transport module vehicle 7 to walk along the corresponding walking path 4, simultaneously detects the distance between each transport module vehicle 7 and the baffle 501 through the lateral laser range finder 707, maintains the walking synchronism of each transport module vehicle, stops walking of the transport module vehicle 7 when the transport module vehicle 7 walks to a set distance from the corresponding position of the baffle 501, and simultaneously, the UWB module 714 detects and feeds back the position of each transport module vehicle 7 in real time;
(8) The electric cylinders 709 of the transport module trucks 7 are synchronously lowered to the minimum stroke, and a batch of threading steel bar semi-finished products 8 are placed on the storage rack set 5;
(9) The split type module vehicle 3 returns along the original route, and the working principle of each transport module vehicle 7 in the process is the same as that of the steps (2) - (8);
(10) Repeating the steps (1) - (9), and completing the operation of the next batch of mantle fiber reinforcement bar semi-finished products.
In the step (7), in the transportation process of each batch of threading steel bar semi-finished products, the distance between the split type module vehicle 3 and the baffle plate 501 is different, each distance is smaller than the last distance, and the distance difference is equal to the left width and the right width of the transportation module vehicle 7.
The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.
Claims (10)
1. An automatic split type mantle fiber bar semi-manufactured goods transport vechicle of change, characterized by: including split type material receiving frame group (2), split type transport string group (3) and storage frame group (5), be equipped with walking route (4) between split type material receiving frame group (2) and the storage frame group (5), split type transport string group (3) is along walking route (4) come and go between split type material receiving frame group (2) and the storage frame group (5).
2. The automated split-type mantle fiber reinforcement bar semi-manufactured carrier vehicle of claim 1, wherein: the split type material receiving frame group (2) comprises a plurality of material receiving frame modules (6) which are arranged at intervals in a line, each material receiving frame module (6) comprises a material receiving frame base (601), and a lifting material receiving frame (603) is arranged on each material receiving frame base (601).
3. The automated split-type mantle fiber bar semi-manufactured carrier vehicle of any one of claims 1 or 2, wherein: the split type transport vehicle unit (3) comprises a plurality of transport module vehicles (7) which are arranged at intervals in a line, each transport module vehicle (7) comprises a vehicle body (703), a liftable vehicle frame (705) is arranged on each vehicle body (703), at least four corners of the lower end of each vehicle body (703) are provided with a traveling assembly (701), and each traveling assembly (701) comprises traveling wheels (716) capable of horizontally steering.
4. The automated split-type mantle fiber bar semi-manufactured carrier vehicle of claim 3, wherein: the walking assembly (701) further comprises a lower-end supporting leg, the lower-end supporting leg is provided with a rotatable supporting leg rotating shaft (720), the walking wheel (716) is arranged at the lower end of the supporting leg rotating shaft (720), the supporting leg rotating shaft (720) is provided with a rotary driving assembly (702), the rotary driving assembly (702) comprises a worm wheel (717) and a worm (718) which are meshed with each other, the worm wheel (717) is sleeved with the supporting leg rotating shaft (720), one side of the worm (718) is provided with a rotatable steering motor (719), and the shaft end of the walking wheel (716) is provided with a walking motor (721).
5. The automated split-type mantle fiber reinforcement bar semi-manufactured carrier vehicle of claim 4, wherein: the frame (705) is equipped with guide baffle frame (715) of V type structure, guide baffle frame (715) are close to the bottom and are equipped with buffering shelf (9), buffering shelf (9) are used for placing mantle fiber bar semi-manufactured goods (8), be equipped with a plurality of springs (903) on frame (705), terminal surface under buffering shelf (9) is supported to each spring (903) upper end, buffering shelf (9) both ends are equipped with joint board (901), joint board (901) one end is articulated with buffering shelf (9), joint board (901) other end supports and leans on the inclined guide surface of guide baffle frame (715).
6. The automated split-type mantle fiber reinforcement bar semi-manufactured carrier vehicle of claim 5, wherein: one end of the magnetic column (902) close to the inclined guide surface of the guide baffle frame (715) is provided with the magnetic column (902).
7. The automated split-type mantle fiber reinforcement bar semi-manufactured carrier vehicle of claim 1, wherein: the material storage rack set (5) comprises a baffle plate (501), a plurality of rack bodies (502) which are arranged at intervals in a straight line are arranged on one side of the baffle plate (501), and one end, far away from the baffle plate (501), of each rack body (502) is lower.
8. The automated split-type mantle fiber bar semi-manufactured carrier vehicle of claim 3, wherein: the walking assembly (701) is provided with a UWB module (714), a forward infrared sensor module (711) and a lateral infrared sensor module (712), and the forward infrared sensor module (711) and the lateral infrared sensor module (712) are used for identifying a walking path (4).
9. The automated split-type mantle fiber reinforcement bar semi-manufactured carrier vehicle of claim 8, wherein: the walking assembly (701) is also provided with a forward laser range finder (704) and a lateral laser range finder (707), and the forward laser range finder (704) and the lateral laser range finder (707) are used for detecting the distance from the transport module vehicle (7) to the production line blanking mechanism (1), the split material receiving rack set (2) and the material storage rack set (5).
10. The method for using the automatic split type threading steel bar semi-finished product transport vehicle as claimed in claim 9, which is characterized in that: after the production of the threading steel bar semi-finished product (8) is finished, the material rack (603) of each material receiving rack module (6) rises, and the production line blanking mechanism (1) dials the threading steel bar semi-finished product (8) to the material rack (603) of each material receiving rack module (6);
each transport module car (7) walks along the walking path (4), the lateral infrared sensor module (712) identifies the walking path (4), and meanwhile, the lateral laser range finder (707) detects the distance between each transport module car (7) and the production line blanking mechanism (1) to keep the synchronism of each transport module car (7);
the transport module vehicle (7) stops after walking below the threading steel bar semi-finished product (8), and the UWB module (714) performs position detection and feedback;
the material rack (603) of each material rack receiving module (6) descends;
the frame (705) of each transport module car (7) rises to lift the mantle fiber reinforcement bar semi-finished product (8);
the split type transport vehicle group (3) integrally moves along the walking path (4), the lateral infrared sensor module (712) identifies the walking path (4), and the lateral laser range finder (707) detects the distance between each transport module vehicle (7) and the production line blanking mechanism (1) so as to enable each transport module vehicle (7) to synchronously walk;
when the transport module vehicle (7) walks to a set position, the UWB module (714) performs position detection and feedback, and the material rack (603) of each material rack receiving module (6) lifts and butts the next batch of threading steel bar semi-finished products (8);
all transport module vehicles (7) integrally turn, the split type transport vehicle group (3) integrally walks towards the storage rack group (5) along the walking path (4), the forward infrared sensor module (711) identifies the walking path (4), the forward laser range finder (704) detects the distance between all transport module vehicles (7), and the UWB module (714) detects and feeds back, so that the split type transport vehicle group (3) integrally stops to a designated position;
the transport module vehicles (7) integrally turn and walk towards the storage rack groups (5), and the lateral laser range finders (707), the lateral infrared sensor modules (712) and the UWB modules (714) work, so that the transport module vehicles (7) are stopped to one side of each rack body (502);
the frame (705) of each transport module car (7) descends, and the threading steel bar semi-finished product (8) is placed on the storage rack set (5);
the split type transport vehicle group (3) returns along the original path of the walking path (4) and repeats the transfer of the next batch of threading steel bar semi-finished products (8).
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