WO2015062450A1

WO2015062450A1 - Automatic material distribution machine and method for controlling automatic material distribution machine

Info

Publication number: WO2015062450A1
Application number: PCT/CN2014/089439
Authority: WO
Inventors: 徐鑫; 陈国柱; 李兆龙
Original assignee: 三一汽车制造有限公司
Priority date: 2013-10-30
Filing date: 2014-10-24
Publication date: 2015-05-07
Also published as: CN103586968A; CN103586968B; RU2016114496A

Abstract

Disclosed is an automatic material distribution machine comprising a controller, a sensor (3), a material distributing main machine and at least one unloading hatch (2) provided below the material distributing main machine. A method for controlling the automatic material distribution machine involves the sensor (3) in real time acquiring a signal of an area below the material distributing device, the controller, after processing the signal, determining whether there is an area to be cast below the material distributing device, and controlling the opening and closing of the corresponding unloading hatch (2) on the material distributing main machine. The material distribution machine operates with precision and has a high level of automation.

Description

Automatic cloth machine and automatic cloth machine control method

This application claims priority to Chinese Patent Application No. 201310526218.6, entitled "Automatic Dispenser and Automatic Dispenser Control Method" on October 30, 2013, the entire contents of which are incorporated by reference. In this application.

Technical field

The invention relates to the field of engineering machinery, in particular to an automatic distributing machine for watering concrete precast parts and a control method of the automatic distributing machine.

Background technique

The automatic cloth machine is a device installed on the concrete prefabrication production line to pour concrete on the mold table of the concrete precast production line. The mold table is provided with a plurality of side molds and steel meshes, and the steel mesh is located in a plurality of side molds. within the area. The mold table casting area is designed according to the shape of the concrete preform.

At present, there are two main types of automatic distributing machines for concrete prefabricated parts: one is that the casting area of the mold table is to automatically feed the cloth by manually inputting graphic information to the distributing machine; the other is to directly import the drawing through the upper computer, and the distributing machine receives the sending from the upper computer. The data information of the prefabricated parts of the fabric to be delivered is realized by automatic cloth. The automatic cloth machine adopting the manual input graphic information method completely relies on the manually input graphic information. When the input information is deviated, the prefabricated parts will be scrapped and the work efficiency is low; the upper machine is used to import the drawing mode, when the upper computer and the distributing machine When the communication fails, automatic fabric cannot be performed.

Summary of the invention

In view of this, the present invention provides an automatic cloth machine and an automatic cloth machine control method to solve the problem that the automatic cloth machine has strong dependence on the person and the upper machine.

In one aspect, the present invention provides an automatic cloth machine control method for obtaining a signal of a region under the cloth machine in real time through a sensor. After the signal processing, the controller determines whether the underside of the cloth machine is a region to be poured, and controls the corresponding unloading on the cloth host. The door is opened and closed.

Further, the area signal under the distributing machine is obtained by the distance measuring sensor.

Further, the ranging sensor is an ultrasonic sensor or a laser sensor.

Further, the area signal under the distributing machine is acquired by the imaging sensor.

Further, the area signal includes a die stage signal, a side mode signal, and a reinforcing mesh signal under the distributing machine.

Further, the controller controls the opening and closing time, the opening and closing size of the discharge door according to the area signal, and/or the controller further controls the start and stop of the distributing machine according to the area signal, Moving speed.

An automatic distributing machine is further provided, comprising a controller and a cloth main body and at least one discharging door, the discharging door is opened under the cloth main body, and further comprises a sensor for acquiring a signal in a lower area of the distributing machine; the controller is used for real time Get the signal from the sensor and control the opening and closing of the discharge door.

Further, the sensor is a distance measuring sensor, and the distance measuring sensor is installed on one side of the cloth machine to be clothed, and each of the discharging doors is correspondingly provided with at least one distance measuring sensor.

Further, the ranging sensor is an ultrasonic sensor or a laser sensor.

Further, the sensor is an imaging sensor, the imaging sensor is mounted under the cloth machine, and the imaging sensor is a camera.

Further, the area signal includes a mold stage signal, a side mode signal, and a reinforcing mesh signal.

Further, the controller is configured to control an opening and closing time, an opening and closing size of the discharge door according to the area signal, and/or the controller is further configured to control the cloth machine according to the area signal Start and stop, move speed.

The invention provides an automatic distributing machine and an automatic distributing machine control method, which can obtain real-time underneath the distributing machine by the sensor, and control the opening and closing of the discharging door to realize automatic cloth, without relying on manual input or upper machine importing. The graphic information has high work efficiency and reduces the working intensity of the operator, and also avoids the problems caused by the deviation of the manual input information. The sensor may be a ranging sensor or an imaging sensor. After the imaging sensor acquires the image of the template, it is processed by the image processing software to obtain shape data information of the area to be poured.

DRAWINGS

1 is a schematic view showing a control method of an automatic distributing machine according to the present invention;

2 is a schematic structural view of an automatic distributing machine of the present invention.

detailed description

It should be noted that the embodiments in the present invention and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The automatic distributing machine is a device for installing concrete on a concrete prefabricated part production line, and a plurality of side molds are arranged on the mold table, and a plurality of side molds are enclosed in a to-be-cast area, usually a pouring area. A steel mesh is arranged inside, and the steel mesh is located in an area surrounded by a plurality of side molds, and the arrangement of the steel mesh can increase the structural strength of the preform. The casting area on the die table is designed according to the shape of the concrete preform.

As shown in FIG. 1 , the automatic cloth machine control method includes real-time acquisition of the signal of the area under the distributing machine through the sensor 3, and after the signal processing, the controller determines whether the underside of the distributing machine is the area to be poured, and controls the corresponding discharging door on the cloth host. Opening and closing. Generally, a die table is arranged under the cloth machine, a plurality of side molds are placed on the die table, and a steel mesh is installed in the side mold, and the sensor platform 3 can obtain the mold table signal, the steel mesh signal and the side mode signal under the cloth machine in real time. The signal, according to the requirements of different prefabricated parts production, may also include other regional signals. Usually the area to be poured is the area of the steel mesh in the side mold. For the case where the prefabricated parts are not used, the area to be poured may also be in the side mold. Die table area. The sensor 3 may be a distance measuring sensor, and the distance measuring sensor obtains the height data information of the die table area under the distributing machine to the distributing machine in real time, and then determines whether the underside of the sensor is a to-be-cast area by data information processing, specifically, according to the ranging sensor. The length of the signal can determine the die area and the side mode area. The mesh area can be judged according to the magnitude and frequency of the change of the distance sensor signal. Because the side mold is located on the die table, the height is higher than the die table, and the distance between the two is large. At the same time, the width of the side mode is wider, the frequency of the change of the range sensor is low, and the frequency of the change of the signal of the distance measuring sensor is high, and the signal changes greatly. According to the characteristics of different areas, different areas can be determined. Finally, the automatic opening of the discharge machine is controlled by the controller to control the opening and closing of the discharge door 2. The sensor 3 may be an ultrasonic sensor or a laser sensor to acquire an area signal under the distributing machine. In addition, it is also possible to obtain a picture under the cloth machine by an image sensor such as a camera, and then determine whether the underside of the cloth machine is a region to be poured by image processing, and the image recognition method can accurately and quickly determine various regions. Finally, the controller is controlled to open and close the discharge door 2 to be poured Note area casting.

It is within the scope of the invention to obtain the die casting area by whatever sensor 3 is obtained.

It should be noted that the automatic cloth machine control method can control the opening and closing of the discharge door 2 according to the area signal under the cloth machine, and the key point is that the opening and closing of the discharge door is no longer dependent on the input of the graphic information by the person and the upper computer. Since the cloth machine needs to move along the guide rail when working, so that the cloth can be carried out in the entire die table area, further, the opening and closing of the discharge door 2 can be combined with the movement of the distributing machine, for example, the controller is also based on the area. The signal simultaneously controls the opening and closing time of the discharge door 2, the opening and closing size, and/or the start and stop, the moving speed of the distributing machine, etc., so that the fabric of the distributing machine can be more precise, and the working efficiency and the intelligence degree are higher.

As shown in FIG. 2, a preferred automatic distributing machine of the present invention comprises a controller and a cloth main body and a plurality of discharge doors 2, and the discharge door 2 is opened under the cloth main body, specifically on the bottom or the side, and includes A sensor 3 for acquiring a casting area of the die table, the controller is for acquiring the signal of the sensor 3 and controlling the opening and closing of the discharge door 2. The controller can determine whether it is the area to be poured according to the area signal, thereby controlling the opening and closing of the discharge door. The area signal includes the die table signal, the steel mesh signal and the side mode signal under the distributing machine. According to the requirements of different prefabricated parts production, other area signals may also be included. Usually, the area to be poured is the reinforcing mesh area in the side mold, for the prefabricated parts. In the case where the reinforcing mesh is not used, the area to be poured may also be the die table area in the side mold. The sensor 3 can be a distance measuring sensor, and the distance measuring sensor can be installed on the distributing machine at any position where the distance between the distributing machine and the die table can be detected, preferably installed on the side of the cloth machine to be clothed, so that the measuring distance is not affected by the cloth. Each of the discharge doors 2 is correspondingly provided with at least one ranging sensor 3, and how many of the discharging doors 2 have at least a plurality of ranging sensors. The distance measuring sensor measures the distance from the main body of the fabric to the object below, and then determines whether the underside of the distributing machine is the area to be poured through the signal processing. Finally, the discharge door 2 is controlled to open and close by the controller, and only the pouring area is poured, specifically, according to The length of the distance obtained by the ranging sensor can determine the die area and the side mode area. The mesh area can be judged according to the magnitude and frequency of the change of the range sensor signal, because the side mold is located on the die table and the height is higher than the die stage. The distance difference is large, and the width of the side mode is wide, the frequency of the range sensor signal is low, and the frequency of the change of the signal of the distance measuring sensor is high, and the signal changes greatly. According to the characteristics of different areas, different signals can be determined. region. The sensor 3 may be a distance measuring sensor such as an ultrasonic sensor or a laser sensor, and acquires distance information of the distributing machine to the object below. In addition, it is also possible to obtain an image of the object under the cloth machine through an imaging sensor such as a camera, and then pass through the image. Technically processed to determine the area to be poured. Finally, the controller is controlled to open and close the discharge door 2 to realize pouring in the pouring area.

It should be noted that the distributing machine of the present invention can control the opening and closing of the discharging door 2 according to the area signal under the distributing machine, and the emphasis is that the opening and closing of the discharging door is no longer dependent on the input of graphic information by the person and the upper computer. Since the cloth machine needs to move along the guide rail when working, so that the cloth can be carried out in the entire die table area, further, the opening and closing of the discharge door 2 can be combined with the movement of the distributing machine, for example, the controller is also used according to the area. The signal simultaneously controls the opening and closing time of the discharge door 2, the opening and closing size, and/or the start and stop, the moving speed of the distributing machine, etc., so that the fabric of the distributing machine can be more precise, and the working efficiency and the intelligence degree are higher.

The invention provides an automatic distributing machine and an automatic distributing machine control method, and the sensor 3 is used to obtain the to-be-casting area, and does not need to rely on the manually input or the graphical information imported by the upper computer, the working efficiency is high, and the working strength of the operator is reduced. In addition, it also avoids the problem that when the manual input information is deviated, the prefabricated parts are scrapped or the communication between the upper computer and the distributing machine cannot be automatically clothed. The sensor 3 may be a distance measuring sensor or an imaging sensor such as a camera. After the camera acquires an image, the camera processes the image to obtain information about whether the underside of the distributing machine is a region to be poured.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., which are included in the spirit and scope of the present invention, should be included in the present invention. Within the scope of protection.

Claims

The utility model relates to an automatic cloth machine control method, which is characterized in that the signal of the area under the distributing machine is obtained in real time by the sensor (3), and after the signal processing, the controller determines whether the underside of the distributing machine is the area to be poured, and controls the corresponding unloading on the cloth host. The door (2) opens and closes.
The automatic distributing machine control method according to claim 1, wherein the area signal under the distributing machine is acquired by the distance measuring sensor.
The automatic spreader control method according to claim 2, wherein the distance measuring sensor is an ultrasonic sensor or a laser sensor.
The automatic distributing machine control method according to claim 1, wherein the area signal under the distributing machine is acquired by the imaging sensor.
The automatic distributing machine control method according to any one of claims 1 to 4, wherein the area signal comprises a die stage signal, a side mode signal and a reinforcing mesh signal under the distributing machine.
The automatic distributing machine control method according to any one of claims 1 to 4, wherein the controller controls opening and closing time, opening and closing size of the discharge door (2) according to the area signal, and And, the controller further controls the start and stop and the moving speed of the distributing machine according to the area signal.
An automatic distributing machine comprises a controller and a cloth main body and at least one discharging door (2). The discharging door (2) is opened under the cloth main body, and is characterized in that it further comprises a signal for acquiring the area under the distributing machine. The sensor (3), the controller is used to acquire the signal of the sensor (3) in real time, and controls the opening and closing of the discharge door (2).
The automatic distributing machine according to claim 7, wherein the sensor (3) is a distance measuring sensor, the distance measuring sensor is installed on a side of the distributing machine to be cloth, and each of the discharging doors (2) is provided with at least one corresponding to each other. Ranging sensor.
The automatic spreader according to claim 8, wherein the distance measuring sensor is an ultrasonic sensor or a laser sensor.
The automatic distributing machine according to claim 7, wherein the sensor (3) is an imaging sensor, the imaging sensor is mounted under the distributing machine, and the imaging sensor is a camera.
The automatic distributing machine according to any one of claims 7 to 10, wherein the area signal comprises a die stage signal, a side mode signal, and a reinforcing mesh signal.
The automatic distributing machine according to any one of claims 7 to 10, wherein the controller is configured to control opening and closing time, opening and closing size, and/or opening of the discharge door (2) according to the area signal. Alternatively, the controller is further configured to control start and stop and moving speed of the distributing machine according to the area signal.